eive-obsw/mission/devices/SolarArrayDeploymentHandler.h

#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_

#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <linux/gpio/GpioIF.h>
#include <unordered_map>

/**
 * @brief	This class is used to control the solar array deployment.
 *
 * @author	J. Meier
 */
class SolarArrayDeploymentHandler: public ExecutableObjectIF,
        public SystemObject,
        public HasReturnvaluesIF,
        public HasActionsIF {
public:

	static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;

	/**
	 * @brief constructor
	 *
	 * @param setObjectId   The object id of the SolarArrayDeploymentHandler.
	 * @param gpioDriverId  The id of the gpio com if.
	 * @param gpioCookie    GpioCookie holding information about the gpios used to switch the
	 *                      transistors.
	 * @param mainLineSwitcherObjectId  The object id of the object responsible for switching
	 *                                  the 8V power source. This is normally the PCDU.
	 * @param mainLineSwitch    The id of the main line switch. This is defined in
	 *                          powerSwitcherList.h.
	 * @param deplSA1   gpioId of the GPIO controlling the deployment 1 transistor.
	 * @param deplSA2   gpioId of the GPIO controlling the deployment 2 transistor.
	 * @param burnTimeMs  Time duration the power will be applied to the burn wires.
	 */
    SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
            CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch,
            gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs);

    virtual ~SolarArrayDeploymentHandler();

	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;

	virtual MessageQueueId_t getCommandQueue() const override;
    virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
            const uint8_t* data, size_t size) override;
	virtual ReturnValue_t initialize() override;

private:

	static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
	static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
	static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
	static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
	static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);

	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
	static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
	static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
	static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
	static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
	static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);


	enum StateMachine {
	    WAIT_ON_DELOYMENT_COMMAND,
	    SWITCH_8V_ON,
	    WAIT_ON_8V_SWITCH,
	    SWITCH_DEPL_GPIOS,
	    WAIT_ON_DEPLOYMENT_FINISH,
	    WAIT_FOR_MAIN_SWITCH_OFF
	};

	StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;

	/**
	 * This countdown is used to check if the PCDU sets the 8V line on in the intended time.
	 */
	Countdown mainSwitchCountdown;

	/**
	 * This countdown is used to wait for the burn wire being successful cut.
	 */
	Countdown deploymentCountdown;


	/**
	 * The message queue id of the component commanding an action will be stored in this variable.
	 * This is necessary to send later the action finish replies.
	 */
	MessageQueueId_t rememberCommanderId = 0;

    /** Size of command queue */
    size_t cmdQueueSize = 20;

    /** The object ID of the GPIO driver which switches the deployment transistors */
    object_id_t gpioDriverId;

    CookieIF * gpioCookie;

    /** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
    object_id_t mainLineSwitcherObjectId;

    /** Switch number of the 8V power switch */
    uint8_t mainLineSwitch;

    gpioId_t deplSA1;
    gpioId_t deplSA2;

    GpioIF* gpioInterface = nullptr;

    /** Time duration switches are active to cut the burn wire */
    uint32_t burnTimeMs;

    /** Queue to receive messages from other objects. */
    MessageQueueIF* commandQueue = nullptr;

    /**
     * After initialization this pointer will hold the reference to the main line switcher object.
     */
    PowerSwitchIF *mainLineSwitcher = nullptr;

    ActionHelper actionHelper;

	void readCommandQueue();

	/**
	 * @brief   This function performs actions dependent on the current state.
	 */
	void handleStateMachine();

	/**
	 * @brief   This function polls the 8V switch state and changes the state machine when the
	 *          switch has been enabled.
	 */
	void performWaitOn8VActions();

	/**
	 * @brief   This functions handles the switching of the solar array deployment transistors.
	 */
	void switchDeploymentTransistors();

	/**
	 * @brief   This function performs actions to finish the deployment. Essentially switches
	 *          are turned of after the burn time has expired.
	 */
	void handleDeploymentFinish();
};

#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */