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This commit is contained in:
Robin Müller
2023-03-30 17:16:59 +02:00
parent 6426142039
commit 5f6f85a778
13 changed files with 108 additions and 68 deletions
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13
mission/system/acs/DualLaneAssemblyBase.cpp
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@ -46,6 +46,9 @@ void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
AssemblyBase::startTransition(mode, submode);
return;
}
if (sideSwitchState == SideSwitchState::NONE and sideSwitchTransition(mode, submode)) {
sideSwitchState = SideSwitchState::REQUESTED;
}
uint8_t pwrSubmode = submode;
if (sideSwitchState == SideSwitchState::REQUESTED) {
pwrSubmode = duallane::DUAL_MODE;
@ -61,7 +64,7 @@ void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
}
}
bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
bool DualLaneAssemblyBase::isModeCommandable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {
return false;
}
@ -70,10 +73,7 @@ bool DualLaneAssemblyBase::isUseable(object_id_t object, Mode_t mode) {
if (childrenMap[object].mode == mode) {
return true;
}
if (healthHelper.healthTable->isCommandable(object)) {
return true;
}
// Check for external control health state is done by base class.
return false;
}
@ -115,9 +115,6 @@ ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_
if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
return returnvalue::FAILED;
}
if (sideSwitchTransition(mode, submode)) {
sideSwitchState = SideSwitchState::REQUESTED;
}
return returnvalue::OK;
}