done

mission/system/acs/RwAssembly.cpp

@@ -0,0 +1,186 @@
+#include "RwAssembly.h"
+
+RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
+                       RwHelper helper)
+    : AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
+  ModeListEntry entry;
+  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+    entry.setObject(helper.rwIds[idx]);
+    entry.setMode(MODE_OFF);
+    entry.setSubmode(SUBMODE_NONE);
+    modeTable.insert(entry);
+  }
+}
+
+void RwAssembly::performChildOperation() {
+  auto state = switcher.getState();
+  if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
+    AssemblyBase::performChildOperation();
+    return;
+  }
+  switcher.doStateMachine();
+  if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+    // Indicator that a transition to off is finished
+    AssemblyBase::handleModeReached();
+  } else if (state == PowerSwitcher::WAIT_ON and
+             switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+    // Indicator that mode commanding can be performed now
+    AssemblyBase::startTransition(targetMode, targetSubmode);
+  }
+}
+
+ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = returnvalue::OK;
+  modeTransitionFailedSwitch = true;
+  // Initialize the mode table to ensure all devices are in a defined state
+  for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+    modeTable[idx].setMode(MODE_OFF);
+    modeTable[idx].setSubmode(SUBMODE_NONE);
+  }
+  if (recoveryState != RecoveryState::RECOVERY_STARTED) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+      result = handleNormalOrOnModeCmd(mode, submode);
+    }
+  }
+  HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
+  executeTable(tableIter);
+  return result;
+}
+
+ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  int devsInCorrectMode = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+      if (childrenMap.at(helper.rwIds[idx]).mode == wantedMode) {
+        devsInCorrectMode++;
+      }
+    }
+  } catch (const std::out_of_range& e) {
+    sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (devsInCorrectMode < 3) {
+    if (warningSwitch) {
+      sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
+                   << " devices in correct mode" << std::endl;
+      warningSwitch = false;
+    }
+    return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
+    return returnvalue::OK;
+  }
+  return HasModesIF::INVALID_MODE;
+}
+
+void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode != MODE_OFF) {
+    switcher.turnOn(true);
+    switcher.doStateMachine();
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
+      AssemblyBase::startTransition(mode, submode);
+    } else {
+      // Need to wait with mode commanding until power switcher is done
+      targetMode = mode;
+      targetSubmode = submode;
+    }
+  } else {
+    // Perform regular mode commanding first
+    AssemblyBase::startTransition(mode, submode);
+  }
+}
+
+void RwAssembly::handleModeReached() {
+  if (targetMode == MODE_OFF) {
+    switcher.turnOff(true);
+    switcher.doStateMachine();
+    // Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
+    if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
+      AssemblyBase::handleModeReached();
+    }
+  } else {
+    AssemblyBase::handleModeReached();
+  }
+}
+
+void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
+  AssemblyBase::handleChildrenLostMode(result);
+}
+
+ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
+  ReturnValue_t result = returnvalue::OK;
+  bool needsSecondStep = false;
+  Mode_t devMode = 0;
+  object_id_t objId = 0;
+  try {
+    for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
+      devMode = childrenMap.at(helper.rwIds[idx]).mode;
+      objId = helper.rwIds[idx];
+      if (mode == devMode) {
+        modeTable[idx].setMode(mode);
+      } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+        if (isUseable(objId, devMode)) {
+          if (devMode == MODE_ON) {
+            modeTable[idx].setMode(mode);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+          } else {
+            modeTable[idx].setMode(MODE_ON);
+            modeTable[idx].setSubmode(SUBMODE_NONE);
+            if (internalState != STATE_SECOND_STEP) {
+              needsSecondStep = true;
+            }
+          }
+        }
+      } else if (mode == MODE_ON) {
+        if (isUseable(objId, devMode)) {
+          modeTable[idx].setMode(MODE_ON);
+          modeTable[idx].setSubmode(SUBMODE_NONE);
+        }
+      }
+    }
+  } catch (const std::out_of_range& e) {
+    sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
+  }
+  if (needsSecondStep) {
+    result = NEED_SECOND_STEP;
+  }
+  return result;
+}
+
+bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
+  if (healthHelper.healthTable->isFaulty(object)) {
+    return false;
+  }
+
+  // Check if device is already in target mode
+  if (childrenMap[object].mode == mode) {
+    return true;
+  }
+
+  if (healthHelper.healthTable->isCommandable(object)) {
+    return true;
+  }
+  return false;
+}
+
+ReturnValue_t RwAssembly::initialize() {
+  for (auto objId : helper.rwIds) {
+    updateChildModeByObjId(objId, MODE_OFF, SUBMODE_NONE);
+  }
+  return AssemblyBase::initialize();
+}
+
+void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
+  if (targetMode == MODE_OFF) {
+    AssemblyBase::handleModeTransitionFailed(result);
+  } else {
+    if (modeTransitionFailedSwitch) {
+      // To avoid transitioning back to off
+      triggerEvent(MODE_TRANSITION_FAILED, result);
+      modeTransitionFailedSwitch = false;
+    }
+  }
+}