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started SUS assembly
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fixes for PCDU code and switcher list handling
This commit is contained in:
Robin Müller
2022-03-03 15:37:36 +01:00
parent 1586c3e69a
commit ff0da65662
11 changed files with 418 additions and 309 deletions
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52
mission/system/SusAssembly.h Normal file
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#ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
#define MISSION_SYSTEM_SUSASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
struct SusAssHelper {
public:
SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
std::array<object_id_t, 12> susIds = {objects::NO_OBJECT};
std::array<Mode_t, 12> susModes = {HasModesIF::MODE_OFF};
};
class PowerSwitchIF;
class SusAssembly : AssemblyBase {
public:
static constexpr uint8_t NUMBER_SUN_SENSORS = 12;
static constexpr Submode_t NOMINAL = 0;
static constexpr Submode_t REDUNDANT = 1;
static constexpr Submode_t DUAL_MODE = 2;
SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper);
private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
SusAssHelper helper;
PowerSwitchIF* pwrSwitcher = nullptr;
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 isModeCombinationValid(Mode_t mode, Submode_t submode) override;
/**
* 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);
void powerStateMachine(Mode_t mode, Submode_t submode);
void refreshHelperModes();
};
#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */