system folder restructuring

mission/system/objects/AcsBoardAssembly.h

@@ -0,0 +1,129 @@
+#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
+#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
+
+#include <common/config/commonSubsystemIds.h>
+#include <devices/powerSwitcherList.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+
+#include "DualLaneAssemblyBase.h"
+#include "DualLanePowerStateMachine.h"
+
+struct AcsBoardHelper {
+  AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
+                 object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
+                 object_id_t gpsId)
+      : mgm0Lis3IdSideA(mgm0Id),
+        mgm1Rm3100IdSideA(mgm1Id),
+        mgm2Lis3IdSideB(mgm2Id),
+        mgm3Rm3100IdSideB(mgm3Id),
+        gyro0AdisIdSideA(gyro0Id),
+        gyro1L3gIdSideA(gyro1Id),
+        gyro2AdisIdSideB(gyro2Id),
+        gyro3L3gIdSideB(gyro3Id),
+        gpsId(gpsId) {}
+
+  object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
+  object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
+  object_id_t mgm2Lis3IdSideB = objects::NO_OBJECT;
+  object_id_t mgm3Rm3100IdSideB = objects::NO_OBJECT;
+
+  object_id_t gyro0AdisIdSideA = objects::NO_OBJECT;
+  object_id_t gyro1L3gIdSideA = objects::NO_OBJECT;
+  object_id_t gyro2AdisIdSideB = objects::NO_OBJECT;
+  object_id_t gyro3L3gIdSideB = objects::NO_OBJECT;
+
+  object_id_t gpsId = objects::NO_OBJECT;
+
+  Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
+  Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
+  Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
+  Mode_t gyro3SideBMode = HasModesIF::MODE_OFF;
+  Mode_t mgm0SideAMode = HasModesIF::MODE_OFF;
+  Mode_t mgm1SideAMode = HasModesIF::MODE_OFF;
+  Mode_t mgm2SideBMode = HasModesIF::MODE_OFF;
+  Mode_t mgm3SideBMode = HasModesIF::MODE_OFF;
+  Mode_t gpsMode = HasModesIF::MODE_OFF;
+};
+
+enum ModeTableIdx : uint8_t {
+  MGM_0_A = 0,
+  MGM_1_A = 1,
+  MGM_2_B = 2,
+  MGM_3_B = 3,
+  GYRO_0_A = 4,
+  GYRO_1_A = 5,
+  GYRO_2_B = 6,
+  GYRO_3_B = 7,
+  GPS = 8
+};
+
+class PowerSwitchIF;
+class GpioIF;
+
+/**
+ * @brief  Assembly class which manages redundant ACS board sides
+ * @details
+ * This class takes care of ensuring that enough devices on the ACS board are available at all
+ * times. It does so by doing autonomous transitions to the redundant side or activating both sides
+ * if not enough devices are available.
+ *
+ * This class also takes care of switching on the A side and/or B side power lanes. Normally,
+ * doing this task would be performed by the device handlers, but this is not possible for the
+ * ACS board where multiple sensors share the same power supply.
+ */
+class AcsBoardAssembly : public DualLaneAssemblyBase {
+ public:
+  // Use these variables instead of magic numbers when generator was updated
+  // TRANSITION_OTHER_SIDE_FAILED_ID
+  // NOT_ENOUGH_DEVICES_DUAL_MODE_ID
+  // POWER_STATE_MACHINE_TIMEOUT_ID
+  // SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
+  static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
+      event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
+  static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
+      event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
+  static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
+      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] Not implemented, would increase already high complexity. Operator
+  //! should instead command the assembly off first and then command the assembly on into the
+  //! desired mode/submode combination
+  static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
+      event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
+
+  static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
+
+  AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
+                   AcsBoardHelper helper, GpioIF* gpioIF);
+
+  /**
+   * In dual mode, the A side or the B side GPS device can be used, but not both.
+   * This function can be used to switch the used GPS device.
+   * @param side
+   */
+  void selectGpsInDualMode(duallane::Submodes side);
+
+ private:
+  static constexpr pcdu::Switches SWITCH_A = pcdu::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
+  static constexpr pcdu::Switches SWITCH_B = pcdu::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
+
+  bool tryingOtherSide = false;
+  bool dualModeErrorSwitch = true;
+  AcsBoardHelper helper;
+  GpioIF* gpioIF = nullptr;
+
+  FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
+  void gpioHandler(gpioId_t gpio, bool high, std::string error);
+
+  ReturnValue_t initialize() override;
+
+  // AssemblyBase overrides
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+
+  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
+  void refreshHelperModes();
+};
+
+#endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */