Merge remote-tracking branch 'origin/develop' into thermal_controller

mission/system/acs/DualLaneAssemblyBase.h

@@ -0,0 +1,108 @@
+#ifndef MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+#include <mission/system/DualLanePowerStateMachine.h>
+
+/**
+ * @brief   Encapsulates assemblies which are also responsible for dual lane power switching
+ * @details
+ * This is the base class for both the ACS board and the SUS board. Both boards have redundant
+ * power lanes and are required for the majority of satellite modes. Therefore, there is a lot
+ * of common code, for example the power switching.
+ */
+class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
+ public:
+  static constexpr UniqueEventId_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
+  static constexpr UniqueEventId_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
+  static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
+  static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
+
+  DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switches switch1,
+                       power::Switches switch2, Event pwrSwitchTimeoutEvent,
+                       Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
+
+ protected:
+  // This helper object complete encapsulates power switching
+  DualLanePowerStateMachine pwrStateMachine;
+  Event pwrTimeoutEvent;
+  Event sideSwitchNotAllowedEvent;
+  Event transitionOtherSideFailedEvent;
+  uint8_t powerRetryCounter = 0;
+  bool tryingOtherSide = false;
+  bool dualModeErrorSwitch = true;
+  bool dualToSingleSideTransition = false;
+  duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
+
+  enum SideSwitchState { NONE, REQUESTED, TO_DUAL, DISABLE_OTHER_SIDE };
+
+  SideSwitchState sideSwitchState = SideSwitchState::NONE;
+  duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
+
+  enum RecoveryCustomStates {
+    IDLE,
+    POWER_SWITCHING_OFF,
+    POWER_SWITCHING_ON,
+    DONE
+  } customRecoveryStates = RecoveryCustomStates::IDLE;
+
+  MessageQueueIF* eventQueue = nullptr;
+
+  /**
+   * Check whether it makes sense to send mode commands to the device
+   * @param object
+   * @param mode
+   * @return
+   */
+  bool isUseable(object_id_t object, Mode_t mode);
+
+  /**
+   * Thin wrapper function which is required because the helper class
+   * can not access protected member functions.
+   * @param mode
+   * @param submode
+   */
+  virtual ReturnValue_t pwrStateMachineWrapper();
+  virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  /**
+   * Custom recovery implementation to ensure that the power lines are commanded off for a
+   * recovery.
+   * @return
+   */
+  virtual bool checkAndHandleRecovery() override;
+  void setPreferredSide(duallane::Submodes submode);
+  virtual void performChildOperation() override;
+  virtual void startTransition(Mode_t mode, Submode_t submode) override;
+  virtual void handleChildrenLostMode(ReturnValue_t result) override;
+  virtual void handleModeTransitionFailed(ReturnValue_t result) override;
+  virtual void handleModeReached() override;
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
+
+  MessageQueueId_t getEventReceptionQueue() override;
+
+  bool sideSwitchTransition(Mode_t mode, Submode_t submode);
+
+  /**
+   * Implemented by user. Will be called if a full mode operation has finished.
+   * This includes both the regular mode state machine operations and the power state machine
+   * operations
+   */
+  virtual void finishModeOp();
+
+  template <size_t MAX_SIZE>
+  void initModeTableEntry(object_id_t id, ModeListEntry& entry,
+                          FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable);
+
+ private:
+};
+
+template <size_t MAX_SIZE>
+inline void DualLaneAssemblyBase::initModeTableEntry(
+    object_id_t id, ModeListEntry& entry, FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable) {
+  entry.setObject(id);
+  entry.setMode(MODE_OFF);
+  entry.setSubmode(SUBMODE_NONE);
+  modeTable.insert(entry);
+}
+
+#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */