Robin Mueller
0595e29100
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105 lines
3.5 KiB
C++
105 lines
3.5 KiB
C++
#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
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#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
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#include <devices/powerSwitcherList.h>
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#include <fsfw/devicehandlers/AssemblyBase.h>
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#include <fsfw/objectmanager/frameworkObjects.h>
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struct AcsBoardHelper {
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AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
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object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
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object_id_t gpsId)
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: mgm0Lis3IdSideA(mgm0Id),
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mgm1Rm3100IdSideA(mgm1Id),
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mgm2Lis3IdSideB(mgm2Id),
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mgm3Rm3100IdSideB(mgm3Id),
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gyro0AdisIdSideA(gyro0Id),
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gyro1L3gIdSideA(gyro1Id),
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gyro2AdisIdSideB(gyro2Id),
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gyro3L3gIdSideB(gyro3Id) {}
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object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
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object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
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object_id_t mgm2Lis3IdSideB = objects::NO_OBJECT;
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object_id_t mgm3Rm3100IdSideB = objects::NO_OBJECT;
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object_id_t gyro0AdisIdSideA = objects::NO_OBJECT;
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object_id_t gyro1L3gIdSideA = objects::NO_OBJECT;
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object_id_t gyro2AdisIdSideB = objects::NO_OBJECT;
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object_id_t gyro3L3gIdSideB = objects::NO_OBJECT;
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object_id_t gpsId = objects::NO_OBJECT;
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Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
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Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
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Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
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Mode_t gyro3SideBMode = HasModesIF::MODE_OFF;
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Mode_t mgm0SideAMode = HasModesIF::MODE_OFF;
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Mode_t mgm1SideAMode = HasModesIF::MODE_OFF;
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Mode_t mgm2SideBMode = HasModesIF::MODE_OFF;
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Mode_t mgm3SideBMode = HasModesIF::MODE_OFF;
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Mode_t gpsMode = HasModesIF::MODE_OFF;
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};
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enum ModeTableIdx : uint8_t {
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MGM_0_A = 0,
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MGM_1_A = 1,
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MGM_2_B = 2,
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MGM_3_B = 3,
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GYRO_0_A = 4,
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GYRO_1_A = 5,
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GYRO_2_B = 6,
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GYRO_3_B = 7,
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GPS = 8
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};
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class PowerSwitchIF;
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class AcsBoardAssembly : public AssemblyBase {
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public:
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static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
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static constexpr Submode_t A_SIDE = 0;
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static constexpr Submode_t B_SIDE = 1;
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static constexpr Submode_t DUAL_MODE = 2;
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AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
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AcsBoardHelper helper);
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private:
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static constexpr pcduSwitches::Switches SWITCH_A =
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pcduSwitches::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
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static constexpr pcduSwitches::Switches SWITCH_B =
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pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
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enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
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PowerSwitchIF* pwrSwitcher = nullptr;
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AcsBoardHelper helper;
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FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
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ReturnValue_t initialize() override;
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// AssemblyBase overrides
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ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
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ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
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ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
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void handleModeReached() override;
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void handleModeTransitionFailed(ReturnValue_t result) override;
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/**
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* Check whether it makes sense to send mode commands to the device
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* @param object
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* @param mode
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* @return
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*/
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bool isUseable(object_id_t object, Mode_t mode);
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ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
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void powerStateMachine(Mode_t mode, Submode_t submode);
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void initModeTableEntry(object_id_t id, ModeListEntry& entry);
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void refreshHelperModes();
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};
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#endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */
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