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9 Commits
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85a6e4b129
Author | SHA1 | Date | |
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85a6e4b129 | |||
f94bc02b6c | |||
5bda877d97 | |||
51e7f1c2f2 | |||
4dc903fe20 | |||
3325cc18fc | |||
7df51f7202 | |||
7530c44849 | |||
518666f822 |
@@ -13,7 +13,7 @@
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uint16_t Clock::leapSeconds = 0;
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MutexIF* Clock::timeMutex = NULL;
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void handleClockError();
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void handleClockError(const char* func);
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uint32_t Clock::getTicksPerSecond(void) {
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uint32_t ticks = sysconf(_SC_CLK_TCK);
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@@ -29,7 +29,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
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int status = clock_settime(CLOCK_REALTIME, &timeUnix);
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if (status != 0) {
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handleClockError();
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handleClockError("setClock");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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@@ -41,27 +41,17 @@ ReturnValue_t Clock::setClock(const timeval* time) {
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timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
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int status = clock_settime(CLOCK_REALTIME, &timeUnix);
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if (status != 0) {
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handleClockError();
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handleClockError("setClock");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void handleClockError() {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "Clock::setClock: Failed with code " << errno << ": " << strerror(errno)
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<< std::endl;
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#else
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sif::printWarning("Clock::setClock: Failed with code %d: %s\n", errno, strerror(errno));
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#endif
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#endif
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}
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ReturnValue_t Clock::getClock_timeval(timeval* time) {
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timespec timeUnix;
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int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
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if (status != 0) {
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handleClockError("getClock_timeval");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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time->tv_sec = timeUnix.tv_sec;
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@@ -164,3 +154,15 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
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*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
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return HasReturnvaluesIF::RETURN_OK;
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}
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void handleClockError(const char* func) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "Clock::" << func << ": Failed with code " << errno << ": " << strerror(errno)
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<< std::endl;
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#else
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sif::printWarning("Clock::%s: Failed with code %d: %s\n", func, errno, strerror(errno));
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#endif
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#endif
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}
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@@ -4,4 +4,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
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PowerSensor.cpp
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PowerSwitcher.cpp
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DummyPowerSwitcher.cpp
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PowerSwitcherComponent.cpp
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)
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108
src/fsfw/power/PowerSwitcherComponent.cpp
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108
src/fsfw/power/PowerSwitcherComponent.cpp
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@@ -0,0 +1,108 @@
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#include "PowerSwitcherComponent.h"
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/power/PowerSwitchIF.h>
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PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher, power::Switch_t pwrSwitch)
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: SystemObject(objectId), switcher(pwrSwitcher, pwrSwitch), modeHelper(this),
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healthHelper(this, objectId) {
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queue = QueueFactory::instance()->createMessageQueue();
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}
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ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
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ReturnValue_t result;
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CommandMessage command;
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for (result = queue->receiveMessage(&command); result == RETURN_OK;
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result = queue->receiveMessage(&command)) {
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result = healthHelper.handleHealthCommand(&command);
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if (result == RETURN_OK) {
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continue;
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}
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result = modeHelper.handleModeCommand(&command);
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if (result == RETURN_OK) {
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continue;
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}
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}
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if(switcher.active()) {
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switcher.doStateMachine();
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auto currState = switcher.getState();
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if (currState == PowerSwitcher::SWITCH_IS_OFF) {
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setMode(MODE_OFF, 0);
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} else if(currState == PowerSwitcher::SWITCH_IS_ON) {
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setMode(MODE_ON, 0);
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t PowerSwitcherComponent::initialize() {
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ReturnValue_t result = modeHelper.initialize();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = healthHelper.initialize();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return SystemObject::initialize();
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}
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MessageQueueId_t PowerSwitcherComponent::getCommandQueue() const {
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return queue->getId();
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}
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void PowerSwitcherComponent::getMode(Mode_t *mode, Submode_t *submode) {
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*mode = this->mode;
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*submode = this->submode;
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}
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ReturnValue_t PowerSwitcherComponent::setHealth(HealthState health) {
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healthHelper.setHealth(health);
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return RETURN_OK;
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}
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ReturnValue_t PowerSwitcherComponent::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) {
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*msToReachTheMode = 5000;
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if(mode != MODE_ON and mode != MODE_OFF) {
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return TRANS_NOT_ALLOWED;
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}
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return RETURN_OK;
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}
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void PowerSwitcherComponent::startTransition(Mode_t mode, Submode_t submode) {
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if(mode == MODE_OFF) {
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switcher.turnOff(true);
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switcher.doStateMachine();
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if(switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
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setMode(MODE_OFF, 0);
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}
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} else if (mode == MODE_ON) {
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switcher.turnOn(true);
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switcher.doStateMachine();
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if(switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
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setMode(MODE_ON, 0);
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}
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}
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}
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void PowerSwitcherComponent::setToExternalControl() {
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healthHelper.setHealth(HasHealthIF::EXTERNAL_CONTROL);
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}
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void PowerSwitcherComponent::announceMode(bool recursive) {
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triggerEvent(MODE_INFO, mode, submode);
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}
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void PowerSwitcherComponent::setMode(Mode_t newMode, Submode_t newSubmode) {
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this->mode = newMode;
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this->submode = newSubmode;
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modeHelper.modeChanged(mode, submode);
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announceMode(false);
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}
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HasHealthIF::HealthState PowerSwitcherComponent::getHealth() {
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return healthHelper.getHealth();
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}
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64
src/fsfw/power/PowerSwitcherComponent.h
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64
src/fsfw/power/PowerSwitcherComponent.h
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@@ -0,0 +1,64 @@
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#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
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#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
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#include <fsfw/health/HasHealthIF.h>
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#include <fsfw/health/HealthHelper.h>
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#include <fsfw/modes/HasModesIF.h>
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#include <fsfw/modes/ModeHelper.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/power/definitions.h>
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#include <fsfw/power/PowerSwitcher.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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class PowerSwitchIF;
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/**
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* @brief Allows to create an power switch object with its own mode and health
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* @details
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* This basic component allows to create an object which is solely responsible for managing a
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* switch. It also has a mode and a health by implementing the respective interface components
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* which allows integrating this component into a system mode tree.
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*
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* Commanding this component to MODE_OFF will cause the switcher to turn the switch off while
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* commanding in to MODE_ON will cause the switcher to turn the switch on.
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*/
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class PowerSwitcherComponent:
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public SystemObject,
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public HasReturnvaluesIF,
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public ExecutableObjectIF,
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public HasModesIF,
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public HasHealthIF {
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public:
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PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
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power::Switch_t pwrSwitch);
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private:
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MessageQueueIF* queue = nullptr;
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PowerSwitcher switcher;
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Mode_t mode = MODE_OFF;
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Submode_t submode = 0;
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ModeHelper modeHelper;
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HealthHelper healthHelper;
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void setMode(Mode_t newMode, Submode_t newSubmode);
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virtual ReturnValue_t performOperation(uint8_t opCode) override;
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ReturnValue_t initialize() override;
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MessageQueueId_t getCommandQueue() const override;
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void getMode(Mode_t *mode, Submode_t *submode) override;
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) override;
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void startTransition(Mode_t mode, Submode_t submode) override;
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void setToExternalControl() override;
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void announceMode(bool recursive) override;
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ReturnValue_t setHealth(HealthState health) override;
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HasHealthIF::HealthState getHealth() override;
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};
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#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */
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Reference in New Issue
Block a user