133 lines
3.5 KiB
C++
133 lines
3.5 KiB
C++
#ifndef MISSION_DEVICES_HEATERHANDLER_H_
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#define MISSION_DEVICES_HEATERHANDLER_H_
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/modes/HasModesIF.h>
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#include <fsfw/power/PowerSwitchIF.h>
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/**
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* @brief This class intends the control of heaters.
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*
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* @author J. Meier
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*/
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class HeaterHandler: public ExecutableObjectIF,
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public PowerSwitchIF,
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public SystemObject,
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public HasActionsIF,
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public HasModesIF,
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public HasReturnvaluesIF {
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public:
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/** Command not in heaterCommandMap */
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static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
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/** Heater mode is MODE_OFF */
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static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
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/** Device command IDs */
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static const DeviceCommandId_t SWITCH_HEATER;
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
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void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
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virtual void sendFuseOnCommand(uint8_t fuseNr) override;
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/**
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* @brief This function will be called from the Heater object to check
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* the current switch state.
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*/
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virtual ReturnValue_t getSwitchState( uint8_t switchNr ) override;
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virtual ReturnValue_t getFuseState( uint8_t fuseNr ) override;
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virtual uint32_t getSwitchDelayMs(void) override;
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ReturnValue_t executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data, size_t size)
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override;
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private:
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static const MessageQueueId_t NO_COMMANDER = 0;
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ReturnValue_t buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen);
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ReturnValue_t acceptExternalDeviceCommands();
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/**
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* @brief This function runs commands waiting for execution.
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*/
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void handlePendingCommand();
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/**
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* @brief Struct holding information about a heater command to execute.
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*
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* @param action The action to perform.
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* @param heaterSwitchNr The number of a switch which correlates with the
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* GPIO to drive.
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* @param replyQueue The queue of the commander to which status replies
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* will be sent.
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*/
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typedef struct HeaterCommand {
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HeaterCommand(uint8_t action_, uint8_t heaterSwitchNr,
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MessageQueueId_t replyQueue_) {
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action = action_;
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heaterSwitchNr = heaterSwitchNr_;
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replyQueue = replyQueue_;
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}
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uint8_t action;
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uint8_t heaterSwitchNr;
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MessageQueueId_t replyQueue;
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} HeaterCommand_t;
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enum SwitchAction {
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SET_SWITCH_ON,
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SET_SWITCH_OFF
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};
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/** This HeaterCommand instance holds the next heater command to execute */
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HeaterCommand_t heaterCommand;
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/**
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* This variable is set when the command stored in heaterCommand shall be
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* executed.
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*/
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bool commandPending;
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/** Size of command queue */
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size_t cmdQueueSize = 20;
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/**
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* Current mode of the HeaterHandler. Should only be changed with setMode().
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*/
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Mode_t mode;
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/**
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* Current submode of the HeaterHandler. Should only be change with
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* setMode().
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*/
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Submode_t submode;
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/**
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* The object ID of the GPIO driver which enables and disables the
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* heaters.
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*/
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object_id_t gpioDriverId;
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GpioIF* gpioInterface;
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/** Queue to receive messages from other objects. */
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MessageQueueIF* commandQueue = nullptr;
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/**
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* Power switcher object which controls the 8V main line of the heater
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* logic on the TCS board.
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*/
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PowerSwitchIF *powerSwitcher;
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HeaterHandler();
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virtual ~HeaterHandler();
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};
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#endif /* MISSION_DEVICES_HEATERHANDLER_H_ */
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