refactor power module

src/fsfw/power/CMakeLists.txt

@@ -1,7 +1,7 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
     Fuse.cpp
     PowerComponent.cpp
     PowerSensor.cpp
     PowerSwitcher.cpp
+    DummyPowerSwitcher.cpp
 )

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -0,0 +1,42 @@
+#include "DummyPowerSwitcher.h"
+
+DummyPowerSwitcher::DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs)
+: switcherList(numberOfSwitches), fuseList(numberOfFuses), switchDelayMs(switchDelayMs) {
+}
+
+void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
+  this->switcherList = switcherList;
+}
+
+void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
+  this->fuseList = fuseList;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {
+  if (switchNr < switcherList.capacity()) {
+    switcherList[switchNr] = onOff;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::sendFuseOnCommand(uint8_t fuseNr) {
+  if(fuseNr < fuseList.capacity()) {
+    fuseList[fuseNr] = FUSE_ON;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getSwitchState(power::Switch_t switchNr) const {
+  if (switchNr < switcherList.capacity()) {
+    return switcherList[switchNr];
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t DummyPowerSwitcher::getFuseState(uint8_t fuseNr) const {
+  return RETURN_OK;
+}
+
+uint32_t DummyPowerSwitcher::getSwitchDelayMs(void) const {
+  return 5000;
+}

src/fsfw/power/DummyPowerSwitcher.h

@@ -0,0 +1,31 @@
+#ifndef FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+#define FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_
+
+#include "PowerSwitchIF.h"
+#include "definitions.h"
+
+#include <vector>
+#include <cstddef>
+
+class DummyPowerSwitcher: public PowerSwitchIF {
+public:
+  DummyPowerSwitcher(size_t numberOfSwitches, size_t numberOfFuses, uint32_t switchDelayMs = 5000);
+
+  void setInitialSwitcherList(std::vector<ReturnValue_t> switcherList);
+  void setInitialFusesList(std::vector<ReturnValue_t> switcherList);
+
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const override;
+  virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
+  virtual uint32_t getSwitchDelayMs(void) const override;
+
+private:
+  std::vector<ReturnValue_t> switcherList;
+  std::vector<ReturnValue_t> fuseList;
+  uint32_t switchDelayMs = 5000;
+};
+
+
+
+#endif /* FSFW_SRC_FSFW_POWER_DUMMYPOWERSWITCHER_H_ */

src/fsfw/power/Fuse.h

@@ -34,14 +34,14 @@ class Fuse : public SystemObject,
   };
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(
+  //! PSS detected that current on a fuse is totally out of bounds.
-      1, severity::LOW);  //!< PSS detected that current on a fuse is totally out of bounds.
+  static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
-  static const Event FUSE_WENT_OFF =
+  //! PSS detected a fuse that went off.
-      MAKE_EVENT(2, severity::LOW);  //!< PSS detected a fuse that went off.
+  static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW);
-  static const Event POWER_ABOVE_HIGH_LIMIT =
+  //! PSS detected a fuse that violates its limits.
-      MAKE_EVENT(4, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW);
-  static const Event POWER_BELOW_LOW_LIMIT =
+  //! PSS detected a fuse that violates its limits.
-      MAKE_EVENT(5, severity::LOW);  //!< PSS detected a fuse that violates its limits.
+  static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW);
 
   typedef std::list<PowerComponentIF *> DeviceList;
   Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet, VariableIds ids,

src/fsfw/power/PowerSensor.cpp

@@ -15,7 +15,9 @@ PowerSensor::PowerSensor(object_id_t objectId, sid_t setId, VariableIds ids, Def
                    limits.currentMin, limits.currentMax, events.currentLow, events.currentHigh),
       voltageLimit(objectId, MODULE_ID_VOLTAGE, ids.pidVoltage, confirmationCount,
                    limits.voltageMin, limits.voltageMax, events.voltageLow, events.voltageHigh) {
-  commandQueue = QueueFactory::instance()->createMessageQueue();
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      3, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PowerSensor::~PowerSensor() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }

src/fsfw/power/PowerSwitchIF.h

@@ -1,6 +1,7 @@
 #ifndef FSFW_POWER_POWERSWITCHIF_H_
 #define FSFW_POWER_POWERSWITCHIF_H_
 
+#include "definitions.h"
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 /**
@@ -37,11 +38,11 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    * @param switchNr
    * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
    */
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const = 0;
+  virtual ReturnValue_t sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) = 0;
   /**
    * Sends a command to the Power Unit to enable a certain fuse.
    */
-  virtual void sendFuseOnCommand(uint8_t fuseNr) const = 0;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) = 0;
 
   /**
    * get the state of the Switches.
@@ -51,7 +52,7 @@ class PowerSwitchIF : public HasReturnvaluesIF {
    *     - @c SWITCH_OFF if the specified switch is off.
    *     - @c RETURN_FAILED if an error occured
    */
-  virtual ReturnValue_t getSwitchState(uint8_t switchNr) const = 0;
+  virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;
   /**
    * get state of a fuse.
    * @param fuseNr

src/fsfw/power/PowerSwitcher.cpp

@@ -1,19 +1,12 @@
+#include "definitions.h"
 #include "fsfw/power/PowerSwitcher.h"
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
+PowerSwitcher::PowerSwitcher(PowerSwitchIF* switcher, power::Switch_t setSwitch1,
-                             PowerSwitcher::State_t setStartState)
+                             power::Switch_t setSwitch2, PowerSwitcher::State_t setStartState)
-    : state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
+    : power(switcher), state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2) {}
-
-ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
-  power = ObjectManager::instance()->get<PowerSwitchIF>(powerSwitchId);
-  if (power == nullptr) {
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
   SwitchReturn_t result = howManySwitches();
@@ -52,18 +45,37 @@ void PowerSwitcher::commandSwitches(ReturnValue_t onOff) {
   return;
 }
 
-void PowerSwitcher::turnOn() {
+void PowerSwitcher::turnOn(bool checkCurrentState) {
+  if(checkCurrentState) {
+    if(getStateOfSwitches() == PowerSwitchIF::SWITCH_ON) {
+      state = SWITCH_IS_ON;
+      return;
+    }
+  }
   commandSwitches(PowerSwitchIF::SWITCH_ON);
   state = WAIT_ON;
 }
 
-void PowerSwitcher::turnOff() {
+void PowerSwitcher::turnOff(bool checkCurrentState) {
+  if(checkCurrentState) {
+    if(getStateOfSwitches() == PowerSwitchIF::SWITCH_OFF) {
+      state = SWITCH_IS_OFF;
+      return;
+    }
+  }
   commandSwitches(PowerSwitchIF::SWITCH_OFF);
   state = WAIT_OFF;
 }
 
+bool PowerSwitcher::active() {
+  if(state == WAIT_OFF or state == WAIT_ON) {
+    return true;
+  }
+  return false;
+}
+
 PowerSwitcher::SwitchReturn_t PowerSwitcher::howManySwitches() {
-  if (secondSwitch == NO_SWITCH) {
+  if (secondSwitch == power::NO_SWITCH) {
     return ONE_SWITCH;
   } else {
     return TWO_SWITCHES;

src/fsfw/power/PowerSwitcher.h

@@ -14,28 +14,28 @@ class PowerSwitcher : public HasReturnvaluesIF {
     SWITCH_IS_OFF,
     SWITCH_IS_ON,
   };
-  State_t state;
+
   static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
   static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
   static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-  PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+  PowerSwitcher(PowerSwitchIF* switcher, uint8_t setSwitch1, uint8_t setSwitch2 = power::NO_SWITCH,
                 State_t setStartState = SWITCH_IS_OFF);
-  ReturnValue_t initialize(object_id_t powerSwitchId);
+  void turnOn(bool checkCurrentState = true);
-  void turnOn();
+  void turnOff(bool checkCurrentState = true);
-  void turnOff();
+  bool active();
   void doStateMachine();
   State_t getState();
   ReturnValue_t checkSwitchState();
   uint32_t getSwitchDelay();
-  uint8_t getFirstSwitch() const;
+  power::Switch_t getFirstSwitch() const;
-  uint8_t getSecondSwitch() const;
+  power::Switch_t getSecondSwitch() const;
 
  private:
-  uint8_t firstSwitch;
-  uint8_t secondSwitch;
   PowerSwitchIF* power = nullptr;
+  State_t state;
+  power::Switch_t firstSwitch = power::NO_SWITCH;
+  power::Switch_t secondSwitch = power::NO_SWITCH;
 
-  static const uint8_t NO_SWITCH = 0xFF;
   enum SwitchReturn_t { ONE_SWITCH = 1, TWO_SWITCHES = 2 };
   ReturnValue_t getStateOfSwitches();
   void commandSwitches(ReturnValue_t onOff);

src/fsfw/power/definitions.h

@@ -0,0 +1,13 @@
+#ifndef FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_POWER_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace power {
+
+using Switch_t = uint8_t;
+static constexpr Switch_t NO_SWITCH = 0xFF;
+
+}
+
+#endif /* FSFW_SRC_FSFW_POWER_DEFINITIONS_H_ */