created new dual lane assembly base

mission/system/DualLaneAssemblyBase.h

@@ -0,0 +1,66 @@
+#ifndef MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <mission/system/DualLanePowerStateMachine.h>
+
+class DualLaneAssemblyBase : public AssemblyBase {
+ public:
+  static constexpr uint8_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
+  static constexpr uint8_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
+  static constexpr uint8_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
+
+  DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                       pcduSwitches::Switches switch1, pcduSwitches::Switches switch2,
+                       Event pwrSwitchTimeoutEvent);
+
+  virtual void performChildOperation() override;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
+
+ protected:
+  // This helper object complete encapsulates power switching
+  DualLanePowerStateMachine pwrStateMachine;
+  Event pwrTimeoutEvent;
+  uint8_t powerRetryCounter = 0;
+
+  /**
+   * Check whether it makes sense to send mode commands to the device
+   * @param object
+   * @param mode
+   * @return
+   */
+  bool isUseable(object_id_t object, Mode_t mode);
+  /**
+   * Thin wrapper function which is required because the helper class
+   * can not access protected member functions.
+   * @param mode
+   * @param submode
+   */
+  virtual ReturnValue_t pwrStateMachineWrapper();
+  virtual void handleModeReached();
+
+  /**
+   * Implemented by user. Will be called if a full mode operation has finished.
+   * This includes both the regular mode state machine operations and the power state machine
+   * operations
+   */
+  virtual void finishModeOp() = 0;
+
+  template <size_t MAX_SIZE>
+  void initModeTableEntry(object_id_t id, ModeListEntry& entry,
+                          FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable);
+
+ private:
+};
+
+template <size_t MAX_SIZE>
+inline void DualLaneAssemblyBase::initModeTableEntry(
+    object_id_t id, ModeListEntry& entry, FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable) {
+  entry.setObject(id);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  entry.setInheritSubmode(false);
+  modeTable.insert(entry);
+}
+
+#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */