started integrating new base obj into sus assembly

common/config/commonSubsystemIds.h

@@ -21,6 +21,7 @@ enum: uint8_t {
 	STR_HELPER = 120,
 	PL_PCDU_HANDLER = 121,
 	ACS_BOARD_ASS = 122,
+	SUS_BOARD_ASS = 123,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

mission/system/AcsBoardAssembly.cpp

@@ -201,14 +201,6 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   return result;
 }
 
-ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  using namespace duallane;
-  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
 void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
   using namespace duallane;
   // Some ACS board components are required for Safe-Mode. It would be good if the software

mission/system/AcsBoardAssembly.h

@@ -115,7 +115,6 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   // AssemblyBase overrides
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
-  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
 
   void handleModeTransitionFailed(ReturnValue_t result) override;
   void handleChildrenLostMode(ReturnValue_t result) override;

mission/system/DualLaneAssemblyBase.cpp

@@ -79,6 +79,14 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
   return RETURN_OK;
 }
 
+ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  using namespace duallane;
+  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 void DualLaneAssemblyBase::handleModeReached() {
   using namespace duallane;
   if (targetMode == MODE_OFF) {

mission/system/DualLaneAssemblyBase.h

@@ -14,9 +14,6 @@ class DualLaneAssemblyBase : public AssemblyBase {
                        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;
@@ -37,6 +34,9 @@ class DualLaneAssemblyBase : public AssemblyBase {
    * @param submode
    */
   virtual ReturnValue_t pwrStateMachineWrapper();
+  virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  virtual void performChildOperation() override;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
   virtual void handleModeReached();
 
   /**

mission/system/SusAssembly.cpp

@@ -6,10 +6,13 @@
 
 SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
                          SusAssHelper helper)
-    : AssemblyBase(objectId, parentId), helper(helper), pwrSwitcher(pwrSwitcher) {
+    : DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
+                           POWER_STATE_MACHINE_TIMEOUT),
+      helper(helper),
+      pwrSwitcher(pwrSwitcher) {
   ModeListEntry entry;
   for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
-    initModeTableEntry(helper.susIds[idx], entry);
+    initModeTableEntry(helper.susIds[idx], entry, modeTable);
   }
 }
 
@@ -34,6 +37,7 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
 }
 
 ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  using namespace duallane;
   ReturnValue_t result = RETURN_OK;
   auto cmdSeq = [&](object_id_t objectId, uint8_t tableIdx) {
     if (mode == DeviceHandlerIF::MODE_NORMAL) {
@@ -55,7 +59,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
     }
   };
   switch (submode) {
-    case (NOMINAL): {
+    case (A_SIDE): {
       for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
         cmdSeq(helper.susIds[idx], idx);
         // Switch off devices on redundant side
@@ -64,7 +68,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
       }
       return result;
     }
-    case (REDUNDANT): {
+    case (B_SIDE): {
       for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
         cmdSeq(helper.susIds[idx], idx);
         // Switch devices on nominal side
@@ -84,15 +88,16 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
 }
 
 ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  using namespace duallane;
   refreshHelperModes();
-  if (wantedSubmode == NOMINAL) {
+  if (wantedSubmode == A_SIDE) {
     for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
       if (helper.susModes[idx] != wantedMode) {
         return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
       }
     }
     return RETURN_OK;
-  } else if (wantedSubmode == REDUNDANT) {
+  } else if (wantedSubmode == B_SIDE) {
     for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
       if (helper.susModes[idx] != wantedMode) {
         return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
@@ -108,13 +113,6 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
   return RETURN_OK;
 }
 
-ReturnValue_t SusAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (submode != NOMINAL and submode != REDUNDANT and submode != DUAL_MODE) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
 ReturnValue_t SusAssembly::initialize() {
   ReturnValue_t result = RETURN_OK;
   for (const auto& id : helper.susIds) {
@@ -142,92 +140,13 @@ bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-void SusAssembly::powerStateMachine(Mode_t mode, Submode_t submode) {
-  ReturnValue_t switchStateNom = RETURN_OK;
-  ReturnValue_t switchStateRed = RETURN_OK;
-  if (state == States::IDLE or state == States::SWITCHING_POWER) {
-    switchStateNom = pwrSwitcher->getSwitchState(SWITCH_NOM);
-    switchStateRed = pwrSwitcher->getSwitchState(SWITCH_RED);
-  } else {
-    return;
-  }
-  if (mode == MODE_OFF) {
-    if (switchStateNom == PowerSwitchIF::SWITCH_OFF and
-        switchStateRed == PowerSwitchIF::SWITCH_OFF) {
-      state = States::MODE_COMMANDING;
-      return;
-    }
-  } else {
-    if (state == States::IDLE) {
-      if (mode == MODE_OFF) {
-        if (switchStateNom != PowerSwitchIF::SWITCH_OFF) {
-          pwrSwitcher->sendSwitchCommand(SWITCH_NOM, false);
-        }
-        if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-          pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-        }
-      } else {
-        switch (submode) {
-          case (NOMINAL): {
-            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            }
-            if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-            }
-            break;
-          }
-          case (REDUNDANT): {
-            if (switchStateRed != PowerSwitchIF::SWITCH_OFF) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_RED, false);
-            }
-            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            }
-            break;
-          }
-          case (DUAL_MODE): {
-            if (switchStateNom != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_NOM, true);
-            }
-            if (switchStateRed != PowerSwitchIF::SWITCH_ON) {
-              pwrSwitcher->sendSwitchCommand(SWITCH_RED, true);
-            }
-            break;
-          }
-        }
-      }
-      state = States::SWITCHING_POWER;
-    }
-    if (state == States::SWITCHING_POWER) {
-      // TODO: Could check for a timeout (temporal or cycles) here and resend command
-    }
-  }
-}
-
 void SusAssembly::handleModeReached() {
   AssemblyBase::handleModeReached();
   state = States::IDLE;
 }
 
-void SusAssembly::handleModeTransitionFailed(ReturnValue_t result) {
-  // The sun-sensors are required for the Safe-Mode. It would be good if the software
-  // transitions from nominal side to redundant side and from redundant side to dual mode
-  // autonomously to ensure that that enough sensors are available witout an operators intervention.
-  // Therefore, the failure handler is overriden to perform these steps.
-  // TODO: Implement transitions mentioned above
-}
-
 void SusAssembly::refreshHelperModes() {
   for (uint8_t idx = 0; idx < helper.susModes.size(); idx++) {
     helper.susModes[idx] = childrenMap[helper.susIds[idx]].mode;
   }
 }
-
-void SusAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
-  entry.setObject(id);
-  entry.setMode(MODE_OFF);
-  entry.setSubmode(SUBMODE_NONE);
-  entry.setInheritSubmode(false);
-  modeTable.insert(entry);
-}

mission/system/SusAssembly.h

@@ -4,6 +4,8 @@
 #include <devices/powerSwitcherList.h>
 #include <fsfw/devicehandlers/AssemblyBase.h>
 
+#include "DualLaneAssemblyBase.h"
+
 struct SusAssHelper {
  public:
   SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
@@ -13,14 +15,18 @@ struct SusAssHelper {
 
 class PowerSwitchIF;
 
-class SusAssembly : AssemblyBase {
+class SusAssembly : DualLaneAssemblyBase {
  public:
   static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
   static constexpr uint8_t NUMBER_SUN_SENSORS = 12;
 
-  static constexpr Submode_t NOMINAL = 0;
-  static constexpr Submode_t REDUNDANT = 1;
-  static constexpr Submode_t DUAL_MODE = 2;
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
+  static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, TRANSITION_OTHER_SIDE_FAILED_ID, severity::HIGH);
+  static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
+      event::makeEvent(SUBSYSTEM_ID, NOT_ENOUGH_DEVICES_DUAL_MODE_ID, severity::HIGH);
+  static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
+      event::makeEvent(SUBSYSTEM_ID, POWER_STATE_MACHINE_TIMEOUT_ID, severity::MEDIUM);
 
   SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
               SusAssHelper helper);
@@ -54,7 +60,6 @@ class SusAssembly : AssemblyBase {
   bool isUseable(object_id_t object, Mode_t mode);
   void powerStateMachine(Mode_t mode, Submode_t submode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
-  void initModeTableEntry(object_id_t id, ModeListEntry& entry);
   void refreshHelperModes();
 };