eive-obsw/mission/system/SusAssembly.h
Robin Mueller 3cfb58d681
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started integrating new base obj into sus assembly
2022-03-10 11:02:07 +01:00

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2.4 KiB
C++

#ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
#define MISSION_SYSTEM_SUSASSEMBLY_H_
#include <devices/powerSwitcherList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>
#include "DualLaneAssemblyBase.h"
struct SusAssHelper {
public:
SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
std::array<object_id_t, 12> susIds = {objects::NO_OBJECT};
std::array<Mode_t, 12> susModes = {HasModesIF::MODE_OFF};
};
class PowerSwitchIF;
class SusAssembly : DualLaneAssemblyBase {
public:
static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
static constexpr uint8_t NUMBER_SUN_SENSORS = 12;
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
event::makeEvent(SUBSYSTEM_ID, TRANSITION_OTHER_SIDE_FAILED_ID, severity::HIGH);
static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
event::makeEvent(SUBSYSTEM_ID, NOT_ENOUGH_DEVICES_DUAL_MODE_ID, severity::HIGH);
static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
event::makeEvent(SUBSYSTEM_ID, POWER_STATE_MACHINE_TIMEOUT_ID, severity::MEDIUM);
SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
SusAssHelper helper);
private:
enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
static constexpr pcduSwitches::Switches SWITCH_NOM =
pcduSwitches::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
static constexpr pcduSwitches::Switches SWITCH_RED =
pcduSwitches::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;
SusAssHelper helper;
PowerSwitchIF* pwrSwitcher = nullptr;
ReturnValue_t initialize() override;
// AssemblyBase overrides
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 handleModeReached() override;
void handleModeTransitionFailed(ReturnValue_t result) override;
/**
* 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);
void powerStateMachine(Mode_t mode, Submode_t submode);
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
void refreshHelperModes();
};
#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */