56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
#ifndef MISSION_SYSTEM_RWASS_H_
|
|
#define MISSION_SYSTEM_RWASS_H_
|
|
|
|
#include <fsfw/devicehandlers/AssemblyBase.h>
|
|
#include <fsfw/power/PowerSwitcher.h>
|
|
|
|
struct RwHelper {
|
|
RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
|
|
|
|
std::array<object_id_t, 4> rwIds = {};
|
|
};
|
|
|
|
class RwAssembly : public AssemblyBase {
|
|
public:
|
|
RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
|
|
power::Switch_t switcher, RwHelper helper);
|
|
|
|
~RwAssembly() {}
|
|
|
|
ModeDefinitionHelper getModeDefinitionHelper() override;
|
|
|
|
private:
|
|
static constexpr uint8_t NUMBER_RWS = 4;
|
|
RwHelper helper;
|
|
PowerSwitcher switcher;
|
|
bool warningSwitch = true;
|
|
bool modeTransitionFailedSwitch = true;
|
|
FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
|
|
|
|
ReturnValue_t initialize() override;
|
|
|
|
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);
|
|
|
|
// 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_RWASS_H_ */
|