Robin Mueller
a8a0299b46
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
450 lines
16 KiB
C++
450 lines
16 KiB
C++
#include <fsfw/health/HealthTableIF.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <mission/tcs/HeaterHandler.h>
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#include <stdexcept>
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#include "devices/powerSwitcherList.h"
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#include "fsfw/subsystem/helper.h"
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HeaterHandler::HeaterHandler(object_id_t setObjectId_, GpioIF* gpioInterface_, HeaterHelper helper,
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PowerSwitchIF* mainLineSwitcher_, power::Switch_t mainLineSwitch_)
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: SystemObject(setObjectId_),
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helper(helper),
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modeHelper(this),
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gpioInterface(gpioInterface_),
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mainLineSwitcher(mainLineSwitcher_),
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mainLineSwitch(mainLineSwitch_),
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actionHelper(this, nullptr) {
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for (const auto& heater : helper.heaters) {
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if (heater.first == nullptr) {
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throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Heater Object");
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}
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}
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if (gpioInterface_ == nullptr) {
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throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid Gpio IF");
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}
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if (mainLineSwitcher == nullptr) {
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throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
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}
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handlerLock = MutexFactory::instance()->createMutex();
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if (handlerLock == nullptr) {
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throw std::runtime_error("HeaterHandler::HeaterHandler: Creating Mutex failed");
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}
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auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
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commandQueue = QueueFactory::instance()->createMessageQueue(
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cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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HeaterHandler::~HeaterHandler() = default;
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ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
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try {
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readCommandQueue();
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for (const auto& heater : helper.heaters) {
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heater.first->performOperation(0);
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}
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handleSwitchHandling();
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if (waitForSwitchOff) {
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == SWITCH_OFF) {
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waitForSwitchOff = false;
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mode = MODE_OFF;
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modeHelper.modeChanged(mode, submode);
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}
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}
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} catch (const std::out_of_range& e) {
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sif::warning << "HeaterHandler::performOperation: "
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"Out of range error | "
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<< e.what() << std::endl;
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}
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return returnvalue::OK;
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}
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ReturnValue_t HeaterHandler::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = initializeHeaterMap();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
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if (ipcStore == nullptr) {
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sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = modeHelper.initialize();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t HeaterHandler::initializeHeaterMap() {
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for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
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heaterVec.push_back(HeaterWrapper(helper.heaters[switchNr], SwitchState::OFF));
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}
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return returnvalue::OK;
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}
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void HeaterHandler::readCommandQueue() {
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ReturnValue_t result = returnvalue::OK;
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CommandMessage command;
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do {
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result = commandQueue->receiveMessage(&command);
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if (result == MessageQueueIF::EMPTY) {
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break;
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} else if (result != returnvalue::OK) {
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sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
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break;
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}
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result = actionHelper.handleActionMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = modeHelper.handleModeCommand(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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} while (result == returnvalue::OK);
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}
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ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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if (data == nullptr or size < 3) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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if (actionId != SWITCH_HEATER) {
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return COMMAND_NOT_SUPPORTED;
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}
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auto switchNr = data[0];
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if (switchNr > 7) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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auto& heater = heaterVec.at(switchNr);
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auto actionRaw = data[1];
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if (actionRaw != 0 and actionRaw != 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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auto action = static_cast<SwitchAction>(data[1]);
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// Always accepts OFF commands
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if (action == SwitchAction::SET_SWITCH_ON) {
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HasHealthIF::HealthState health;
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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health = heater.healthDevice->getHealth();
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}
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if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY or
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health == HasHealthIF::NEEDS_RECOVERY) {
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return HasHealthIF::OBJECT_NOT_HEALTHY;
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}
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CmdSourceParam cmdSource = CmdSourceParam::EXTERNAL;
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uint8_t cmdSourceRaw = data[2];
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if (cmdSourceRaw > 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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cmdSource = static_cast<CmdSourceParam>(data[2]);
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if (health == HasHealthIF::EXTERNAL_CONTROL and cmdSource == CmdSourceParam::INTERNAL) {
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return HasHealthIF::IS_EXTERNALLY_CONTROLLED;
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}
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}
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if (heater.cmdActive) {
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return COMMAND_ALREADY_WAITING;
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}
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heater.action = action;
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heater.cmdActive = true;
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heater.replyQueue = commandedBy;
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return returnvalue::OK;
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}
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ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
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ReturnValue_t result;
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store_address_t storeAddress;
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uint8_t commandData[3] = {};
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switch (onOff) {
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case PowerSwitchIF::SWITCH_ON:
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commandData[0] = switchNr;
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commandData[1] = SET_SWITCH_ON;
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commandData[2] = CmdSourceParam::INTERNAL;
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break;
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case PowerSwitchIF::SWITCH_OFF:
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commandData[0] = switchNr;
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commandData[1] = SET_SWITCH_OFF;
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commandData[2] = CmdSourceParam::INTERNAL;
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break;
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default:
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sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request" << std::endl;
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break;
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}
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result = ipcStore->addData(&storeAddress, commandData, sizeof(commandData));
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if (result == returnvalue::OK) {
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CommandMessage message;
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ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress);
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/* Send heater command to own command queue */
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result = commandQueue->sendMessage(commandQueue->getId(), &message, 0);
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if (result != returnvalue::OK) {
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sif::debug << "HeaterHandler::sendSwitchCommand: Failed to send switch"
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<< "message" << std::endl;
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}
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}
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return result;
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}
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void HeaterHandler::handleSwitchHandling() {
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for (uint8_t idx = 0; idx < heater::NUMBER_OF_SWITCHES; idx++) {
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auto health = heaterVec[idx].healthDevice->getHealth();
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if (heaterVec[idx].switchState == SwitchState::ON) {
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// If a heater is still on but the device was marked faulty by the operator, the SW
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// will shut down the heater
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if (health == HasHealthIF::FAULTY or health == HasHealthIF::PERMANENT_FAULTY) {
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heaterVec[idx].cmdActive = true;
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heaterVec[idx].action = SET_SWITCH_OFF;
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triggerEvent(FAULTY_HEATER_WAS_ON, idx, 0);
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handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
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continue;
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}
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}
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if (heaterVec[idx].cmdActive) {
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switch (heaterVec[idx].action) {
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case SET_SWITCH_ON:
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handleSwitchOnCommand(static_cast<heater::Switchers>(idx));
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break;
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case SET_SWITCH_OFF:
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handleSwitchOffCommand(static_cast<heater::Switchers>(idx));
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break;
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default:
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sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
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<< std::endl;
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break;
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}
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}
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}
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}
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void HeaterHandler::handleSwitchOnCommand(heater::Switchers heaterIdx) {
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ReturnValue_t result = returnvalue::OK;
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auto& heater = heaterVec.at(heaterIdx);
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if (waitForSwitchOff) {
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waitForSwitchOff = false;
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}
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/* Check if command waits for main switch being set on and whether the timeout has expired */
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if (heater.waitMainSwitchOn && heater.mainSwitchCountdown.hasTimedOut()) {
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// TODO - This requires the initiation of an FDIR procedure
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triggerEvent(MAIN_SWITCH_TIMEOUT);
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sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
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<< std::endl;
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heater.cmdActive = false;
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heater.waitMainSwitchOn = false;
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if (heater.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heater.replyQueue, heater.action, MAIN_SWITCH_SET_TIMEOUT);
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}
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return;
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}
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// Check state of main line switch
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ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
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if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
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if (getSwitchState(heaterIdx) == SwitchState::OFF) {
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gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullHigh(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id " << gpioId
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<< " high" << std::endl;
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triggerEvent(GPIO_PULL_HIGH_FAILED, result);
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} else {
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triggerEvent(HEATER_WENT_ON, heaterIdx, 0);
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = ON;
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}
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}
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} else {
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triggerEvent(SWITCH_ALREADY_ON, heaterIdx);
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}
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mode = HasModesIF::MODE_ON;
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modeHelper.modeChanged(mode, submode);
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// There is no need to send action finish replies if the sender was the
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// HeaterHandler itself
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if (heater.replyQueue != commandQueue->getId()) {
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if (result == returnvalue::OK) {
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actionHelper.finish(true, heater.replyQueue, heater.action, result);
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} else {
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actionHelper.finish(false, heater.replyQueue, heater.action, result);
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}
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}
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heater.cmdActive = false;
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heater.waitMainSwitchOn = false;
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} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF && heater.waitMainSwitchOn) {
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// Just waiting for the main switch being set on
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return;
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} else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF or
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mainSwitchState == PowerSwitchIF::SWITCH_UNKNOWN) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
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heater.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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heater.waitMainSwitchOn = true;
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} else {
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sif::debug << "HeaterHandler::handleSwitchOnCommand: Failed to get state of"
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<< " main line switch" << std::endl;
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if (heater.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heater.replyQueue, heater.action, mainSwitchState);
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}
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heater.cmdActive = false;
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}
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}
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void HeaterHandler::handleSwitchOffCommand(heater::Switchers heaterIdx) {
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ReturnValue_t result = returnvalue::OK;
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auto& heater = heaterVec.at(heaterIdx);
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// Check whether switch is already off
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if (getSwitchState(heaterIdx)) {
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gpioId_t gpioId = heater.gpioId;
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result = gpioInterface->pullLow(gpioId);
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if (result != returnvalue::OK) {
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sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id" << gpioId
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<< " low" << std::endl;
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triggerEvent(GPIO_PULL_LOW_FAILED, result);
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} else {
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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heater.switchState = OFF;
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}
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triggerEvent(HEATER_WENT_OFF, heaterIdx, 0);
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// When all switches are off, also main line switch will be turned off
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if (allSwitchesOff()) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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waitForSwitchOff = true;
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}
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}
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} else {
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sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
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triggerEvent(SWITCH_ALREADY_OFF, heaterIdx);
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}
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if (heater.replyQueue != NO_COMMANDER) {
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// Report back switch command reply if necessary
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if (result == returnvalue::OK) {
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actionHelper.finish(true, heater.replyQueue, heater.action, result);
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} else {
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actionHelper.finish(false, heater.replyQueue, heater.action, result);
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}
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}
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heater.cmdActive = false;
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}
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HeaterHandler::SwitchState HeaterHandler::getSwitchState(heater::Switchers switchNr) const {
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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return heaterVec.at(switchNr).switchState;
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}
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ReturnValue_t HeaterHandler::switchHeater(heater::Switchers heater, SwitchState switchState) {
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if (switchState == SwitchState::ON) {
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return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_ON);
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} else if (switchState == SwitchState::OFF) {
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return sendSwitchCommand(heater, PowerSwitchIF::SWITCH_OFF);
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}
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return returnvalue::FAILED;
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}
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void HeaterHandler::announceMode(bool recursive) {
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triggerEvent(MODE_INFO, mode, submode);
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std::array<SwitchState, 8> states;
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getAllSwitchStates(states);
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for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
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if (states[idx] == ON) {
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EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_ON, 0);
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} else {
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EventManagerIF::triggerEvent(helper.heaters[idx].first->getObjectId(), MODE_INFO, MODE_OFF,
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0);
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}
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}
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}
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void HeaterHandler::getMode(Mode_t* mode, Submode_t* submode) {
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if (!mode || !submode) {
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return;
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}
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*mode = this->mode;
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*submode = this->submode;
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}
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const HasHealthIF* HeaterHandler::getOptHealthIF() const { return nullptr; }
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const HasModesIF& HeaterHandler::getModeIF() const { return *this; }
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ReturnValue_t HeaterHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
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return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
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}
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ModeTreeChildIF& HeaterHandler::getModeTreeChildIF() { return *this; }
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object_id_t HeaterHandler::getObjectId() const { return SystemObject::getObjectId(); }
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ReturnValue_t HeaterHandler::getAllSwitchStates(std::array<SwitchState, 8>& statesBuf) {
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{
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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if (mg.getLockResult() != returnvalue::OK) {
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return returnvalue::FAILED;
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}
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for (unsigned idx = 0; idx < helper.heaters.size(); idx++) {
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statesBuf[idx] = heaterVec[idx].switchState;
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}
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}
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return returnvalue::OK;
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}
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bool HeaterHandler::allSwitchesOff() {
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bool allSwitchesOrd = false;
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
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for (power::Switch_t switchNr = 0; switchNr < heater::NUMBER_OF_SWITCHES; switchNr++) {
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allSwitchesOrd = allSwitchesOrd || heaterVec.at(switchNr).switchState;
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}
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return !allSwitchesOrd;
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}
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MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
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ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
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ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const {
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ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
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if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
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return PowerSwitchIF::SWITCH_OFF;
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}
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if (switchNr > 7) {
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return returnvalue::FAILED;
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}
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if (getSwitchState(static_cast<heater::Switchers>(switchNr)) == SwitchState::ON) {
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return PowerSwitchIF::SWITCH_ON;
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}
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return PowerSwitchIF::SWITCH_OFF;
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}
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ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
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uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
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HasHealthIF::HealthState HeaterHandler::getHealth(heater::Switchers heater) {
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auto* healthDev = heaterVec.at(heater).healthDevice;
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if (healthDev != nullptr) {
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MutexGuard mg(handlerLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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return healthDev->getHealth();
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}
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return HasHealthIF::HealthState::FAULTY;
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}
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