112 lines
4.1 KiB
C++
112 lines
4.1 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, public ConfirmsFailuresIF {
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public:
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static constexpr UniqueEventId_t TRANSITION_OTHER_SIDE_FAILED_ID = 0;
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static constexpr UniqueEventId_t NOT_ENOUGH_DEVICES_DUAL_MODE_ID = 1;
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static constexpr UniqueEventId_t POWER_STATE_MACHINE_TIMEOUT_ID = 2;
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static constexpr UniqueEventId_t SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID = 3;
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DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switches switch1,
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power::Switches switch2, Event pwrSwitchTimeoutEvent,
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Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
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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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Event sideSwitchNotAllowedEvent;
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Event transitionOtherSideFailedEvent;
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uint8_t powerRetryCounter = 0;
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bool tryingOtherSide = false;
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bool dualModeErrorSwitch = true;
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bool dualToSingleSideTransition = false;
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duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
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enum SideSwitchState { NONE, REQUESTED, TO_DUAL, DISABLE_OTHER_SIDE };
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SideSwitchState sideSwitchState = SideSwitchState::NONE;
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duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
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power::RecoveryCustomStates customRecoveryStates = power::RecoveryCustomStates::IDLE;
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MessageQueueIF* eventQueue = nullptr;
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/**
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* To be called in mode command packer function of the child class.
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* @param submode
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* @param needsSecondStep
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*/
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void handleSideSwitchStates(uint8_t& submode, bool& needsSecondStep);
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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 isModeCommandable(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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ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
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/**
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* Custom recovery implementation to ensure that the power lines are commanded off for a
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* recovery.
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* @return
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*/
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virtual bool checkAndHandleRecovery() override;
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void setPreferredSide(duallane::Submodes submode);
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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 handleChildrenLostMode(ReturnValue_t result) override;
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virtual void handleModeTransitionFailed(ReturnValue_t result) override;
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virtual void handleModeReached() override;
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ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
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MessageQueueId_t getEventReceptionQueue() override;
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bool sideSwitchTransition(Mode_t mode, Submode_t submode);
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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();
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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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modeTable.insert(entry);
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}
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#endif /* MISSION_SYSTEM_DUALLANEASSEMBLYBASE_H_ */
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