73 lines
2.6 KiB
C++
73 lines
2.6 KiB
C++
#pragma once
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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/PowerSwitcher.h>
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#include <fsfw/power/definitions.h>
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#include <fsfw/subsystem/ModeTreeChildIF.h>
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#include <fsfw/subsystem/ModeTreeConnectionIF.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 : public SystemObject,
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public ExecutableObjectIF,
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public ModeTreeChildIF,
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public ModeTreeConnectionIF,
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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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ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
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ModeTreeChildIF &getModeTreeChildIF() override;
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protected:
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PowerSwitcher switcher;
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private:
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MessageQueueIF *queue = nullptr;
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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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ReturnValue_t performOperation(uint8_t opCode) override;
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ReturnValue_t initialize() override;
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[[nodiscard]] 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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virtual void performFaultyOperation();
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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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[[nodiscard]] object_id_t getObjectId() const override;
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[[nodiscard]] const HasHealthIF *getOptHealthIF() const override;
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[[nodiscard]] const HasModesIF &getModeIF() const override;
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};
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