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continued ACS board + SUS board assemblies
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- Handling and Testing of basic FDIR
This commit is contained in:
Robin Müller
2022-03-17 19:23:39 +01:00
parent e373fe0769
commit acd0307591
16 changed files with 381 additions and 191 deletions
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53
mission/system/SusAssembly.cpp
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@ -7,7 +7,8 @@
SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper)
: DualLaneAssemblyBase(objectId, parentId, pwrSwitcher, SWITCH_NOM, SWITCH_RED,
POWER_STATE_MACHINE_TIMEOUT),
POWER_STATE_MACHINE_TIMEOUT, SIDE_SWITCH_TRANSITION_NOT_ALLOWED,
TRANSITION_OTHER_SIDE_FAILED),
helper(helper),
pwrSwitcher(pwrSwitcher) {
ModeListEntry entry;
@ -19,16 +20,15 @@ SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitch
ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
refreshHelperModes();
powerStateMachine(mode, submode);
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
if (state == States::MODE_COMMANDING) {
// Initialize the mode table to ensure all devices are in a defined state
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; 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) {
handleNormalOrOnModeCmd(mode, submode);
}
} else {
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
modeTable[idx].setMode(MODE_OFF);
modeTable[idx].setSubmode(SUBMODE_NONE);
}
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
@ -39,20 +39,26 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
using namespace duallane;
ReturnValue_t result = RETURN_OK;
auto cmdSeq = [&](object_id_t objectId, uint8_t tableIdx) {
if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, mode)) {
if (helper.susModes[tableIdx] != MODE_OFF) {
bool needsSecondStep = false;
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
if (mode == devMode) {
modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(submode);
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, devMode)) {
if (devMode == MODE_ON) {
modeTable[tableIdx].setMode(mode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
} else {
result = NEED_SECOND_STEP;
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
if (internalState != STATE_SECOND_STEP) {
needsSecondStep = true;
}
}
}
} else if (mode == MODE_ON) {
if (isUseable(objectId, mode)) {
if (isUseable(objectId, devMode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
@ -61,30 +67,33 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
switch (submode) {
case (A_SIDE): {
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS_ONE_SIDE; idx++) {
cmdSeq(helper.susIds[idx], idx);
cmdSeq(helper.susIds[idx], helper.susModes[idx], idx);
// Switch off devices on redundant side
modeTable[idx + NUMBER_SUN_SENSORS_ONE_SIDE].setMode(MODE_OFF);
modeTable[idx + NUMBER_SUN_SENSORS_ONE_SIDE].setSubmode(SUBMODE_NONE);
}
return result;
break;
}
case (B_SIDE): {
for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
cmdSeq(helper.susIds[idx], idx);
cmdSeq(helper.susIds[idx], helper.susModes[idx], idx);
// Switch devices on nominal side
modeTable[idx - NUMBER_SUN_SENSORS_ONE_SIDE].setMode(MODE_OFF);
modeTable[idx - NUMBER_SUN_SENSORS_ONE_SIDE].setSubmode(SUBMODE_NONE);
}
return result;
break;
}
case (DUAL_MODE): {
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
cmdSeq(helper.susIds[idx], idx);
cmdSeq(helper.susIds[idx], helper.susModes[idx], idx);
}
return result;
break;
}
}
return RETURN_OK;
if (needsSecondStep) {
result = NEED_SECOND_STEP;
}
return result;
}
ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {