eive-obsw/mission/system/acs/DualLaneAssemblyBase.h
Robin Mueller c9cc1d4cfe
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2023-04-11 22:58:13 +02:00

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C++

#ifndef MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
#include <mission/system/DualLanePowerStateMachine.h>
/**
* @brief Encapsulates assemblies which are also responsible for dual lane power switching
* @details
* This is the base class for both the ACS board and the SUS board. Both boards have redundant
* power lanes and are required for the majority of satellite modes. Therefore, there is a lot
* of common code, for example the power switching.
*/
class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
public:
static constexpr UniqueEventId_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
static constexpr UniqueEventId_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switches switch1,
power::Switches switch2, Event pwrSwitchTimeoutEvent,
Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
protected:
// This helper object complete encapsulates power switching
DualLanePowerStateMachine pwrStateMachine;
Event pwrTimeoutEvent;
Event sideSwitchNotAllowedEvent;
Event transitionOtherSideFailedEvent;
uint8_t powerRetryCounter = 0;
bool tryingOtherSide = false;
bool dualModeErrorSwitch = true;
bool dualToSingleSideTransition = false;
duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
enum SideSwitchState { NONE, REQUESTED, TO_DUAL, DISABLE_OTHER_SIDE };
SideSwitchState sideSwitchState = SideSwitchState::NONE;
duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
MessageQueueIF* eventQueue = nullptr;
/**
* To be called in mode command packer function of the child class.
* @param submode
* @param needsSecondStep
*/
void handleSideSwitchStates(uint8_t& submode, bool& needsSecondStep);
/**
* Check whether it makes sense to send mode commands to the device.
* @param object
* @param mode
* @return
*/
bool isModeCommandable(object_id_t object, Mode_t mode);
/**
* Thin wrapper function which is required because the helper class
* can not access protected member functions.
* @param mode
* @param submode
*/
virtual ReturnValue_t pwrStateMachineWrapper();
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
/**
* Custom recovery implementation to ensure that the power lines are commanded off for a
* recovery.
* @return
*/
virtual bool checkAndHandleRecovery() override;
void setPreferredSide(duallane::Submodes submode);
virtual void performChildOperation() override;
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void handleChildrenLostMode(ReturnValue_t result) override;
virtual void handleModeTransitionFailed(ReturnValue_t result) override;
virtual void handleModeReached() override;
ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
MessageQueueId_t getEventReceptionQueue() override;
bool sideSwitchTransition(Mode_t mode, Submode_t submode);
/**
* Implemented by user. Will be called if a full mode operation has finished.
* This includes both the regular mode state machine operations and the power state machine
* operations
*/
virtual void finishModeOp();
template <size_t MAX_SIZE>
void initModeTableEntry(object_id_t id, ModeListEntry& entry,
FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable);
private:
};
template <size_t MAX_SIZE>
inline void DualLaneAssemblyBase::initModeTableEntry(
object_id_t id, ModeListEntry& entry, FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable) {
entry.setObject(id);
entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE);
modeTable.insert(entry);
}
#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */