From 868ba0cd0381033f213cabda1d8c382c4ecf29ce Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 28 Nov 2022 08:56:36 +0100
Subject: [PATCH] improvements for heater handler

---
 mission/controller/ThermalController.cpp | 18 ++++++++++--------
 mission/controller/ThermalController.h   |  3 +--
 mission/devices/HeaterHandler.cpp        |  9 +++++++--
 mission/devices/HeaterHandler.h          |  8 ++++----
 4 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index f4ada487..aeaeb209 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -105,23 +105,25 @@ void ThermalController::performControlOperation() {
   }
 
   // TODO: Heater control
-  //TODO: Hysterese offset
-  if(heaterHandler.heaterVec[heater::HEATER_4_CAMERA].switchState == HeaterHandler::SwitchState::OFF){
-    if(sensorTemperatures.sensor_4k_camera.value < cameraLimits.opLowerLimit) {
+  // TODO: Hysterese offset
+  if (heaterHandler.heaterVec[heater::HEATER_4_CAMERA].switchState ==
+      HeaterHandler::SwitchState::OFF) {
+    if (sensorTemperatures.sensor_4k_camera.value < cameraLimits.opLowerLimit) {
       heaterHandler.heaterVec[heater::HEATER_4_CAMERA].cmdActive = true;
       heaterHandler.heaterVec[heater::HEATER_4_CAMERA].action = HeaterHandler::SET_SWITCH_ON;
       heaterHandler.handleSwitchOnCommand(heater::HEATER_4_CAMERA);
       heater4Countdown.resetTimer();
     }
-  }else if(heaterHandler.heaterVec[heater::HEATER_4_CAMERA].switchState == HeaterHandler::SwitchState::ON){
-    if(sensorTemperatures.sensor_4k_camera.value < cameraLimits.opLowerLimit){
-      if(heater4Countdown.hasTimedOut()){
+  } else if (heaterHandler.heaterVec[heater::HEATER_4_CAMERA].switchState ==
+             HeaterHandler::SwitchState::ON) {
+    if (sensorTemperatures.sensor_4k_camera.value < cameraLimits.opLowerLimit) {
+      if (heater4Countdown.hasTimedOut()) {
         heaterHandler.heaterVec[heater::HEATER_4_CAMERA].cmdActive = true;
         heaterHandler.heaterVec[heater::HEATER_4_CAMERA].action = HeaterHandler::SET_SWITCH_OFF;
-        //triggerEvent(HEATER_TIMEOUT, heater::HEATER_4_CAMERA);
+        // triggerEvent(HEATER_TIMEOUT, heater::HEATER_4_CAMERA);
         heaterHandler.handleSwitchOffCommand(heater::HEATER_4_CAMERA);
       }
-    }else {
+    } else {
       heaterHandler.heaterVec[heater::HEATER_4_CAMERA].cmdActive = true;
       heaterHandler.heaterVec[heater::HEATER_4_CAMERA].action = HeaterHandler::SET_SWITCH_OFF;
       heaterHandler.handleSwitchOffCommand(heater::HEATER_4_CAMERA);
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index ab8eff0a..a91e531d 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -53,11 +53,10 @@ class ThermalController : public ExtendedControllerBase {
 
  private:
   static const uint32_t DELAY = 500;
-  static const uint32_t OP_TIME = 1000; //TODO to be changed
+  static const uint32_t OP_TIME = 1000;  // TODO to be changed
 
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
-
   InternalState internalState = InternalState::STARTUP;
 
   HeaterHandler& heaterHandler;
diff --git a/mission/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp
index 61a44de6..a2e4a451 100644
--- a/mission/devices/HeaterHandler.cpp
+++ b/mission/devices/HeaterHandler.cpp
@@ -321,8 +321,13 @@ HeaterHandler::SwitchState HeaterHandler::checkSwitchState(heater::Switchers swi
   return heaterVec.at(switchNr).switchState;
 }
 
-ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, ReturnValue_t onOff) {
-  return sendSwitchCommand(heater, onOff);
+ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState switchState) {
+  if (switchState == SwitchState::ON) {
+    return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
+  } else if (switchState == SwitchState::OFF) {
+    return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_OFF);
+  }
+  return returnvalue::FAILED;
 }
 
 bool HeaterHandler::allSwitchesOff() {
diff --git a/mission/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h
index 18bb7240..ede7c422 100644
--- a/mission/devices/HeaterHandler.h
+++ b/mission/devices/HeaterHandler.h
@@ -64,7 +64,10 @@ class HeaterHandler : public ExecutableObjectIF,
   virtual ~HeaterHandler();
 
  protected:
-  ReturnValue_t switchHeater(heater::Switchers heater, ReturnValue_t onOff);
+  enum SwitchState : bool { ON = true, OFF = false };
+  enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
+
+  ReturnValue_t switchHeater(heater::Switchers heater, SwitchState switchState);
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
   ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
@@ -96,9 +99,6 @@ class HeaterHandler : public ExecutableObjectIF,
 
   static const MessageQueueId_t NO_COMMANDER = 0;
 
-  enum SwitchState : bool { ON = true, OFF = false };
-  enum SwitchAction : uint8_t { SET_SWITCH_OFF, SET_SWITCH_ON, NONE };
-
   /**
    * @brief   Struct holding information about a heater command to execute.
    *