#ifndef MISSION_SYSTEM_TCSSUBSYSTEM_H_ #define MISSION_SYSTEM_TCSSUBSYSTEM_H_ #include <fsfw/container/FixedArrayList.h> #include <fsfw/devicehandlers/AssemblyBase.h> #include <fsfw/power/PowerSwitcher.h> #include "events/subsystemIdRanges.h" #include "returnvalues/classIds.h" struct TcsBoardHelper { TcsBoardHelper(std::array<std::pair<object_id_t, std::string>, 16> rtdInfos) : rtdInfos(std::move(rtdInfos)) {} std::array<std::pair<object_id_t, std::string>, 16> rtdInfos = {}; }; class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF { public: static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_BOARD_ASS; static constexpr Event CHILDREN_LOST_MODE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM); TcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher, TcsBoardHelper helper); ReturnValue_t initialize() override; private: static constexpr uint8_t NUMBER_RTDS = 16; PowerSwitcher switcher; bool warningSwitch = true; TcsBoardHelper helper; FixedArrayList<ModeListEntry, NUMBER_RTDS> modeTable; MessageQueueIF* eventQueue = nullptr; ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode); /** * 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); // ConfirmFailureIF implementation MessageQueueId_t getEventReceptionQueue() override; // AssemblyBase implementation void performChildOperation() override; 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; void startTransition(Mode_t mode, Submode_t submode) override; void handleModeReached() override; // These two overrides prevent a transition of the whole assembly back to off just because // some devices are not working void handleChildrenLostMode(ReturnValue_t result) override; void handleModeTransitionFailed(ReturnValue_t result) override; }; #endif /* MISSION_SYSTEM_TCSSUBSYSTEM_H_ */