add dual lane power switcher for PL PCDU

bsp_q7s/core/ObjectFactory.cpp

@@ -148,7 +148,7 @@ void ObjectFactory::produce(void* args) {
 
   createHeaterComponents();
   createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF);
+  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents();
 #endif /* OBSW_ADD_SYRLINKS == 1 */
@@ -1134,7 +1134,8 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
 #endif /* BOARD_TE0720 == 0 */
 }
 
-void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
+void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                                           PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   // Create all GPIO components first
   GpioCookie* plPcduGpios = new GpioCookie;
@@ -1180,9 +1181,10 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
                                        q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
                                        spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
-  auto plPcduHandler =
+  auto plPcduHandler = new PayloadPcduHandler(
-      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF,
+      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
-                             SdCardManager::instance(), false);
+      pwrSwitcher, pcduSwitches::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+      pcduSwitches::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
   static_cast<void>(plPcduHandler);
 #if OBSW_TEST_PL_PCDU == 1

bsp_q7s/core/ObjectFactory.h

@@ -15,7 +15,8 @@ void produce(void* args);
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
                                    SpiComIF** spiComIF, I2cComIF** i2cComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
-void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
+void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                            PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,

mission/devices/PayloadPcduHandler.cpp

@@ -14,12 +14,14 @@
 
 PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
                                        GpioIF* gpioIF, SdCardMountedIF* sdcMan,
-                                       bool periodicPrintout)
+                                       PowerSwitchIF* pwrSwitcher, pcduSwitches::Switches switchA,
+                                       pcduSwitches::Switches switchB, bool periodicPrintout)
     : DeviceHandlerBase(objectId, comIF, cookie),
       adcSet(this),
       periodicPrintout(periodicPrintout),
       gpioIF(gpioIF),
-      sdcMan(sdcMan) {}
+      sdcMan(sdcMan),
+      pwrStateMachine(switchA, switchB, pwrSwitcher) {}
 
 void PayloadPcduHandler::doStartUp() {
   if ((state != States::PL_PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
@@ -34,8 +36,8 @@ void PayloadPcduHandler::doStartUp() {
 
 void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
   using namespace plpcdu;
-  if(submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
+  if (submode == plpcdu::NORMAL_ALL_ON or submode == plpcdu::NORMAL_ADC_ONLY) {
-    if(state == States::PL_PCDU_OFF) {
+    if (state == States::PL_PCDU_OFF) {
       // TODO: Config error, emit error printout
       setMode(MODE_OFF);
     }
@@ -59,7 +61,7 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
         monMode = MonitoringMode::CLOSE_TO_ZERO;
       }
     }
-    if(state == States::ON_TRANS_ADC_CLOSE_ZERO) {
+    if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
       if (adcState == AdcStates::BOOT_DELAY) {
         if (adcCountdown.hasTimedOut()) {
           adcState = AdcStates::SEND_SETUP;
@@ -69,7 +71,7 @@ void PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subMode
       if (adcState == AdcStates::SEND_SETUP) {
         if (adcCmdExecuted) {
           adcState = AdcStates::NORMAL;
-          if(submode == plpcdu::NORMAL_ADC_ONLY) {
+          if (submode == plpcdu::NORMAL_ADC_ONLY) {
             setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
           }
           adcCountdown.setTimeout(100);

mission/devices/PayloadPcduHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <mission/system/DualLanePowerStateMachine.h>
 
 #include "events/subsystemIdRanges.h"
 #include "fsfw/FSFW.h"
@@ -60,7 +61,9 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   static constexpr Event I_HPA_OUT_OF_BOUNDS = event::makeEvent(SUBSYSTEM_ID, 11, severity::MEDIUM);
 
   PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
-                     SdCardMountedIF* sdcMan, bool periodicPrintout);
+                     SdCardMountedIF* sdcMan, PowerSwitchIF* pwrSwitcher,
+                     pcduSwitches::Switches switchA, pcduSwitches::Switches switchB,
+                     bool periodicPrintout);
 
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
@@ -133,6 +136,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   PoolEntry<float> processedValues =
       PoolEntry<float>({0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0});
   PoolEntry<float> tempC = PoolEntry<float>({0.0});
+  DualLanePowerStateMachine pwrStateMachine;
 
   void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
   void doStartUp() override;

mission/system/TcsBoardAssembly.h

@@ -14,8 +14,7 @@ struct TcsBoardHelper {
 class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS;
-  static constexpr Event CHILDREN_LOST_MODE =
+  static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-      event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
 
   TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
                    power::Switch_t switcher, TcsBoardHelper helper);