73 lines
2.8 KiB
C++
73 lines
2.8 KiB
C++
#ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
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#define MISSION_SYSTEM_SUSASSEMBLY_H_
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#include <devices/powerSwitcherList.h>
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#include <fsfw/devicehandlers/AssemblyBase.h>
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#include "DualLaneAssemblyBase.h"
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struct SusAssHelper {
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public:
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SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
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std::array<object_id_t, 12> susIds = {objects::NO_OBJECT};
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std::array<Mode_t, 12> susModes = {HasModesIF::MODE_OFF};
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};
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class PowerSwitchIF;
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class SusAssembly : public DualLaneAssemblyBase {
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public:
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static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
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static constexpr uint8_t NUMBER_SUN_SENSORS = 12;
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// Use these variables instead of magic numbers when generator was updated
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// TRANSITION_OTHER_SIDE_FAILED_ID
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// NOT_ENOUGH_DEVICES_DUAL_MODE_ID
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// POWER_STATE_MACHINE_TIMEOUT_ID
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// SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
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static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
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event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
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static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
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event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
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static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
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event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
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//! [EXPORT] : [COMMENT] Not implemented, would increase already high complexity. Operator
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//! should instead command the assembly off first and then command the assembly on into the
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//! desired mode/submode combination
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static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
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event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
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SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
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SusAssHelper helper);
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private:
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enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
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static constexpr pcdu::Switches SWITCH_NOM = pcdu::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
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static constexpr pcdu::Switches SWITCH_RED = pcdu::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
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FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
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SusAssHelper helper;
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PowerSwitchIF* pwrSwitcher = nullptr;
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bool tryingOtherSide = false;
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bool dualModeErrorSwitch = true;
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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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/**
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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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void powerStateMachine(Mode_t mode, Submode_t submode);
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ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
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void refreshHelperModes();
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};
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#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */
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