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#ifndef MISSION_DEVICES_HEATERHANDLER_H_
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#define MISSION_DEVICES_HEATERHANDLER_H_
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#include "devices/heaterSwitcherList.h"
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/devicehandlers/CookieIF.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/timemanager/Countdown.h>
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include <unordered_map>
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#include "devices/heaterSwitcherList.h"
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/**
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* @brief This class intends the control of heaters.
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*
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* @author J. Meier
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*/
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class HeaterHandler: public ExecutableObjectIF,
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public PowerSwitchIF,
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public SystemObject,
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public HasActionsIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::HEATER_HANDLER;
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class HeaterHandler : public ExecutableObjectIF,
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public PowerSwitchIF,
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public SystemObject,
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public HasActionsIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::HEATER_HANDLER;
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static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2);
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static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
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static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
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static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2);
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static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
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static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
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/** Device command IDs */
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static const DeviceCommandId_t SWITCH_HEATER = 0x0;
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/** Device command IDs */
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static const DeviceCommandId_t SWITCH_HEATER = 0x0;
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HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF * gpioCookie,
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object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
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HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF* gpioCookie,
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object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
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virtual ~HeaterHandler();
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virtual ~HeaterHandler();
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
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virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
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/**
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* @brief This function will be called from the Heater object to check
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* the current switch state.
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*/
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virtual ReturnValue_t getSwitchState( uint8_t switchNr ) const override;
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virtual ReturnValue_t getFuseState( uint8_t fuseNr ) const override;
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virtual uint32_t getSwitchDelayMs(void) const override;
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virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
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virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
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/**
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* @brief This function will be called from the Heater object to check
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* the current switch state.
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*/
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virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
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virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
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virtual uint32_t getSwitchDelayMs(void) const override;
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virtual MessageQueueId_t getCommandQueue() const override;
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virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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virtual ReturnValue_t initialize() override;
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virtual MessageQueueId_t getCommandQueue() const override;
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virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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virtual ReturnValue_t initialize() override;
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private:
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private:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
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static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
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static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
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static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
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static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
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static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
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static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
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static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
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static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
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static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
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static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW);
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static const MessageQueueId_t NO_COMMANDER = 0;
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static const MessageQueueId_t NO_COMMANDER = 0;
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enum SwitchState : bool { ON = true, OFF = false };
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enum SwitchState : bool {
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ON = true,
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OFF = false
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};
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/**
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* @brief Struct holding information about a heater command to execute.
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*
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* @param action The action to perform.
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* @param replyQueue The queue of the commander to which status replies
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* will be sent.
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* @param active True if command is waiting for execution, otherwise false.
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* @param waitSwitchOn True if the command is waiting for the main switch being set on.
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* @param mainSwitchCountdown Sets timeout to wait for main switch being set on.
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*/
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typedef struct HeaterCommandInfo {
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uint8_t action;
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MessageQueueId_t replyQueue;
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bool active = false;
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bool waitMainSwitchOn = false;
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Countdown mainSwitchCountdown;
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} HeaterCommandInfo_t;
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enum SwitchAction { SET_SWITCH_OFF, SET_SWITCH_ON };
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/**
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* @brief Struct holding information about a heater command to execute.
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*
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* @param action The action to perform.
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* @param replyQueue The queue of the commander to which status replies
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* will be sent.
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* @param active True if command is waiting for execution, otherwise false.
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* @param waitSwitchOn True if the command is waiting for the main switch being set on.
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* @param mainSwitchCountdown Sets timeout to wait for main switch being set on.
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*/
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typedef struct HeaterCommandInfo {
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uint8_t action;
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MessageQueueId_t replyQueue;
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bool active = false;
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bool waitMainSwitchOn = false;
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Countdown mainSwitchCountdown;
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} HeaterCommandInfo_t;
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using switchNr_t = uint8_t;
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using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
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using HeaterMapIter = HeaterMap::iterator;
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enum SwitchAction {
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SET_SWITCH_OFF,
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SET_SWITCH_ON
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};
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HeaterMap heaterMap;
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using switchNr_t = uint8_t;
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using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
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using HeaterMapIter = HeaterMap::iterator;
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bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
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HeaterMap heaterMap;
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/** Size of command queue */
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size_t cmdQueueSize = 20;
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bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
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/**
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* The object ID of the GPIO driver which enables and disables the
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* heaters.
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*/
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object_id_t gpioDriverId;
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/** Size of command queue */
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size_t cmdQueueSize = 20;
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CookieIF* gpioCookie;
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/**
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* The object ID of the GPIO driver which enables and disables the
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* heaters.
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*/
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object_id_t gpioDriverId;
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GpioIF* gpioInterface = nullptr;
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CookieIF * gpioCookie;
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/** Queue to receive messages from other objects. */
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MessageQueueIF* commandQueue = nullptr;
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GpioIF* gpioInterface = nullptr;
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object_id_t mainLineSwitcherObjectId;
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/** Queue to receive messages from other objects. */
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MessageQueueIF* commandQueue = nullptr;
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/** Switch number of the heater power supply switch */
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uint8_t mainLineSwitch;
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object_id_t mainLineSwitcherObjectId;
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/**
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* Power switcher object which controls the 8V main line of the heater
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* logic on the TCS board.
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*/
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PowerSwitchIF* mainLineSwitcher = nullptr;
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/** Switch number of the heater power supply switch */
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uint8_t mainLineSwitch;
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ActionHelper actionHelper;
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/**
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* Power switcher object which controls the 8V main line of the heater
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* logic on the TCS board.
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*/
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PowerSwitchIF *mainLineSwitcher = nullptr;
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StorageManagerIF* IPCStore = nullptr;
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ActionHelper actionHelper;
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void readCommandQueue();
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StorageManagerIF *IPCStore = nullptr;
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/**
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* @brief Returns the state of a switch (ON - true, or OFF - false).
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* @param switchNr The number of the switch to check.
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*/
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bool checkSwitchState(int switchNr);
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void readCommandQueue();
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/**
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* @brief Returns the ID of the GPIO related to a heater identified by the switch number
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* which is defined in the heaterSwitches list.
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*/
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gpioId_t getGpioIdFromSwitchNr(int switchNr);
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/**
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* @brief Returns the state of a switch (ON - true, or OFF - false).
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* @param switchNr The number of the switch to check.
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*/
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bool checkSwitchState(int switchNr);
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/**
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* @brief This function runs commands waiting for execution.
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*/
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void handleActiveCommands();
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/**
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* @brief Returns the ID of the GPIO related to a heater identified by the switch number
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* which is defined in the heaterSwitches list.
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*/
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gpioId_t getGpioIdFromSwitchNr(int switchNr);
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ReturnValue_t initializeHeaterMap();
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/**
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* @brief This function runs commands waiting for execution.
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*/
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void handleActiveCommands();
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/**
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* @brief Sets all switches to OFF.
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*/
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void setInitialSwitchStates();
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ReturnValue_t initializeHeaterMap();
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void handleSwitchOnCommand(HeaterMapIter heaterMapIter);
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/**
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* @brief Sets all switches to OFF.
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*/
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void setInitialSwitchStates();
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void handleSwitchOnCommand(HeaterMapIter heaterMapIter);
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void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
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/**
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* @brief Checks if all switches are off.
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* @return True if all switches are off, otherwise false.
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*/
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bool allSwitchesOff();
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void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
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/**
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* @brief Checks if all switches are off.
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* @return True if all switches are off, otherwise false.
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*/
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bool allSwitchesOff();
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};
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#endif /* MISSION_DEVICES_HEATERHANDLER_H_ */
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