Robin Mueller
8c41669d1f
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74 lines
2.6 KiB
C++
74 lines
2.6 KiB
C++
#ifndef MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
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#define MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_
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#include <fsfw/devicehandlers/AssemblyBase.h>
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#include <mission/system/DualLanePowerStateMachine.h>
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/**
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* @brief Encapsulates assemblies which are also responsible for dual lane power switching
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* @details
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* This is the base class for both the ACS board and the SUS board. Both boards have redundant
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* power lanes and are required for the majority of satellite modes. Therefore, there is a lot
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* of common code, for example the power switching.
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*/
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class DualLaneAssemblyBase : public AssemblyBase {
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public:
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static constexpr uint8_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
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static constexpr uint8_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
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static constexpr uint8_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
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DualLaneAssemblyBase(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
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pcduSwitches::Switches switch1, pcduSwitches::Switches switch2,
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Event pwrSwitchTimeoutEvent);
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protected:
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// This helper object complete encapsulates power switching
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DualLanePowerStateMachine pwrStateMachine;
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Event pwrTimeoutEvent;
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uint8_t powerRetryCounter = 0;
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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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/**
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* Thin wrapper function which is required because the helper class
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* can not access protected member functions.
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* @param mode
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* @param submode
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*/
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virtual ReturnValue_t pwrStateMachineWrapper();
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virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
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virtual void performChildOperation() override;
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virtual void startTransition(Mode_t mode, Submode_t submode) override;
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virtual void handleModeReached();
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/**
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* Implemented by user. Will be called if a full mode operation has finished.
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* This includes both the regular mode state machine operations and the power state machine
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* operations
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*/
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virtual void finishModeOp() = 0;
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template <size_t MAX_SIZE>
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void initModeTableEntry(object_id_t id, ModeListEntry& entry,
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FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable);
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private:
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};
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template <size_t MAX_SIZE>
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inline void DualLaneAssemblyBase::initModeTableEntry(
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object_id_t id, ModeListEntry& entry, FixedArrayList<ModeListEntry, MAX_SIZE>& modeTable) {
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entry.setObject(id);
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entry.setMode(MODE_OFF);
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entry.setSubmode(SUBMODE_NONE);
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entry.setInheritSubmode(false);
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modeTable.insert(entry);
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}
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#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */
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