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This commit is contained in:
Robin Müller
2023-04-11 22:58:13 +02:00
parent 2bb0f530fe
commit c9cc1d4cfe
19 changed files with 200 additions and 149 deletions
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52
mission/system/acs/RwAssembly.cpp
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@ -1,8 +1,8 @@
#include "RwAssembly.h"
RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switchId,
RwHelper helper)
: AssemblyBase(objectId), helper(helper), switcher(pwrSwitcher, switcher) {
: SharedPowerAssemblyBase(objectId, pwrSwitcher, switchId), helper(helper) {
ModeListEntry entry;
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
entry.setObject(helper.rwIds[idx]);
@ -12,26 +12,8 @@ RwAssembly::RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::
}
}
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);
@ -76,36 +58,6 @@ ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode)
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();
}
}
ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = returnvalue::OK;
object_id_t objId = 0;