51 lines
1.6 KiB
C++
51 lines
1.6 KiB
C++
#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
|
|
#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
|
|
|
|
#include <fsfw/devicehandlers/AssemblyBase.h>
|
|
|
|
#include "../devices/TestDeviceHandler.h"
|
|
|
|
class TestAssembly : public AssemblyBase {
|
|
public:
|
|
TestAssembly(object_id_t objectId, object_id_t parentId, ModeTreeChildIF& testDevice0,
|
|
ModeTreeChildIF& testDevice1);
|
|
virtual ~TestAssembly();
|
|
ReturnValue_t initialize() override;
|
|
|
|
enum submodes : Submode_t { SINGLE = 0, DUAL = 1 };
|
|
|
|
protected:
|
|
/**
|
|
* Command children to reach [mode,submode] combination
|
|
* Can be done by setting #commandsOutstanding correctly,
|
|
* or using executeTable()
|
|
* @param mode
|
|
* @param submode
|
|
* @return
|
|
* - @c returnvalue::OK if ok
|
|
* - @c NEED_SECOND_STEP if children need to be commanded again
|
|
*/
|
|
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
|
|
/**
|
|
* Check whether desired assembly mode was achieved by checking the modes
|
|
* or/and health states of child device handlers.
|
|
* The assembly template class will also call this function if a health
|
|
* or mode change of a child device handler was detected.
|
|
* @param wantedMode
|
|
* @param wantedSubmode
|
|
* @return
|
|
*/
|
|
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
|
|
|
|
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
|
|
|
|
private:
|
|
FixedArrayList<ModeListEntry, 2> commandTable;
|
|
ModeTreeChildIF& deviceHandler0;
|
|
ModeTreeChildIF& deviceHandler1;
|
|
|
|
bool isDeviceAvailable(object_id_t object);
|
|
};
|
|
|
|
#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */
|