Robin Mueller
66c6f08447
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52 lines
1.6 KiB
C++
52 lines
1.6 KiB
C++
#ifndef MISSION_SYSTEM_RWASS_H_
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#define MISSION_SYSTEM_RWASS_H_
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#include <fsfw/devicehandlers/AssemblyBase.h>
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#include <fsfw/power/PowerSwitcher.h>
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struct RwHelper {
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RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
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std::array<object_id_t, 4> rwIds = {};
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};
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class RwAssembly : public AssemblyBase {
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public:
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RwAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t switcher,
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RwHelper helper);
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private:
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static constexpr uint8_t NUMBER_RWS = 4;
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RwHelper helper;
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PowerSwitcher switcher;
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bool warningSwitch = true;
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bool modeTransitionFailedSwitch = true;
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FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
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ReturnValue_t initialize() override;
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ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
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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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// AssemblyBase implementation
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void performChildOperation() override;
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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 startTransition(Mode_t mode, Submode_t submode) override;
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void handleModeReached() override;
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// These two overrides prevent a transition of the whole assembly back to off just because
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// some devices are not working
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void handleChildrenLostMode(ReturnValue_t result) override;
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void handleModeTransitionFailed(ReturnValue_t result) override;
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};
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#endif /* MISSION_SYSTEM_RWASS_H_ */
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