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This commit is contained in:
Robin Müller
2022-03-22 15:49:22 +01:00
parent 73e3d29ed0
commit ce8253b940
12 changed files with 167 additions and 127 deletions
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61
mission/system/DualLanePowerStateMachine.cpp
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@ -7,37 +7,16 @@ DualLanePowerStateMachine::DualLanePowerStateMachine(pcduSwitches::Switches swit
pcduSwitches::Switches switchB,
PowerSwitchIF* pwrSwitcher,
dur_millis_t checkTimeout)
: SWITCH_A(switchA), SWITCH_B(switchB), pwrSwitcher(pwrSwitcher), checkTimeout(checkTimeout) {}
: PowerStateMachineBase(pwrSwitcher, checkTimeout), SWITCH_A(switchA), SWITCH_B(switchB) {}
void DualLanePowerStateMachine::setCheckTimeout(dur_millis_t timeout) {
checkTimeout.setTimeout(timeout);
}
void DualLanePowerStateMachine::start(Mode_t mode, Submode_t submode) {
reset();
checkTimeout.resetTimer();
targetMode = mode;
targetSubmode = submode;
state = duallane::PwrStates::SWITCHING_POWER;
}
duallane::PwrStates DualLanePowerStateMachine::getState() const { return state; }
bool DualLanePowerStateMachine::active() {
if (state == duallane::PwrStates::IDLE or state == duallane::PwrStates::MODE_COMMANDING) {
return false;
}
return true;
}
duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
power::OpCodes DualLanePowerStateMachine::fsm() {
using namespace duallane;
ReturnValue_t switchStateA = RETURN_OK;
ReturnValue_t switchStateB = RETURN_OK;
if (state == PwrStates::IDLE or state == PwrStates::MODE_COMMANDING) {
if (state == power::States::IDLE or state == power::States::MODE_COMMANDING) {
return opResult;
}
if (state == PwrStates::SWITCHING_POWER or state == PwrStates::CHECKING_POWER) {
if (state == power::States::SWITCHING_POWER or state == power::States::CHECKING_POWER) {
switchStateA = pwrSwitcher->getSwitchState(SWITCH_A);
switchStateB = pwrSwitcher->getSwitchState(SWITCH_B);
} else {
@ -45,8 +24,8 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
}
if (targetMode == HasModesIF::MODE_OFF) {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = PwrStates::IDLE;
opResult = OpCodes::TO_OFF_DONE;
state = power::States::IDLE;
opResult = power::OpCodes::TO_OFF_DONE;
return opResult;
}
} else {
@ -54,8 +33,8 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
case (A_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and
switchStateB == PowerSwitchIF::SWITCH_OFF) {
state = PwrStates::MODE_COMMANDING;
opResult = OpCodes::TO_NOT_OFF_DONE;
state = power::States::MODE_COMMANDING;
opResult = power::OpCodes::TO_NOT_OFF_DONE;
return opResult;
}
break;
@ -63,22 +42,22 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
case (B_SIDE): {
if (switchStateA == PowerSwitchIF::SWITCH_OFF and
switchStateB == PowerSwitchIF::SWITCH_ON) {
state = PwrStates::MODE_COMMANDING;
opResult = OpCodes::TO_NOT_OFF_DONE;
state = power::States::MODE_COMMANDING;
opResult = power::OpCodes::TO_NOT_OFF_DONE;
return opResult;
}
break;
}
case (DUAL_MODE): {
if (switchStateA == PowerSwitchIF::SWITCH_ON and switchStateB == PowerSwitchIF::SWITCH_ON) {
state = PwrStates::MODE_COMMANDING;
opResult = OpCodes::TO_NOT_OFF_DONE;
state = power::States::MODE_COMMANDING;
opResult = power::OpCodes::TO_NOT_OFF_DONE;
return opResult;
}
}
}
}
if (state == PwrStates::SWITCHING_POWER) {
if (state == power::States::SWITCHING_POWER) {
if (targetMode == HasModesIF::MODE_OFF) {
if (switchStateA != PowerSwitchIF::SWITCH_OFF) {
pwrSwitcher->sendSwitchCommand(SWITCH_A, PowerSwitchIF::SWITCH_OFF);
@ -121,20 +100,12 @@ duallane::OpCodes DualLanePowerStateMachine::powerStateMachine() {
}
}
}
state = PwrStates::CHECKING_POWER;
state = power::States::CHECKING_POWER;
}
if (state == PwrStates::CHECKING_POWER) {
if (state == power::States::CHECKING_POWER) {
if (checkTimeout.hasTimedOut()) {
return OpCodes::TIMEOUT_OCCURED;
return power::OpCodes::TIMEOUT_OCCURED;
}
}
return opResult;
}
void DualLanePowerStateMachine::reset() {
state = duallane::PwrStates::IDLE;
opResult = duallane::OpCodes::NONE;
targetMode = HasModesIF::MODE_OFF;
targetSubmode = 0;
checkTimeout.resetTimer();
}