move acs event handling to system

CHANGELOG.md

@@ -26,6 +26,7 @@ will consitute of a breaking change warranting a new major release:
 
 ## Changed
 
+- Move ACS event handling to system component.
 - Persistent TM stores will now create new files on each reboot.
 - Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
 - Star Tracker: Use ground confguration for EM and flight config for FM by default.

mission/system/objects/AcsSubsystem.cpp

@@ -8,90 +8,7 @@
 
 AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                            uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-}
-
-ReturnValue_t AcsSubsystem::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
-  if (manager == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  ReturnValue_t result = manager->registerListener(eventQueue->getId());
-  if (result != returnvalue::OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
-                    "listener"
-                 << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-    ;
-  }
-  result =
-      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
-  if (result != returnvalue::OK) {
-    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
-  }
-  result =
-      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
-  if (result != returnvalue::OK) {
-    sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
-  }
-  result =
-      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::MULTIPLE_RW_INVALID));
-  if (result != returnvalue::OK) {
-    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
-  }
-  result = manager->subscribeToEvent(eventQueue->getId(),
-                                     event::getEventId(acs::MEKF_INVALID_MODE_VIOLATION));
-  if (result != returnvalue::OK) {
-    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
-  }
-  return Subsystem::initialize();
-}
-
-void AcsSubsystem::performChildOperation() {
-  handleEventMessages();
-  return Subsystem::performChildOperation();
-}
-
-void AcsSubsystem::handleEventMessages() {
-  EventMessage event;
-  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
-       result = eventQueue->receiveMessage(&event)) {
-    ReturnValue_t status;
-    switch (event.getMessageId()) {
-      case EventMessage::EVENT_MESSAGE:
-        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
-          CommandMessage msg;
-          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
-          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
-          if (result != returnvalue::OK) {
-            sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
-          }
-        }
-        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
-          CommandMessage msg;
-          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
-          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
-          if (status != returnvalue::OK) {
-            sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
-          }
-        }
-        break;
-      default:
-        sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
-                      "to this event message"
-                   << std::endl;
-        break;
-    }
-  }
-}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
 
 void AcsSubsystem::announceMode(bool recursive) {
   const char* modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));

mission/system/objects/AcsSubsystem.h

@@ -8,13 +8,7 @@ class AcsSubsystem : public Subsystem {
   AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
  private:
-  ReturnValue_t initialize() override;
-  void performChildOperation() override;
   void announceMode(bool recursive) override;
-
-  void handleEventMessages();
-
-  MessageQueueIF* eventQueue = nullptr;
 };
 
 #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */

mission/system/objects/EiveSystem.cpp

@@ -1,10 +1,16 @@
 #include "EiveSystem.h"
 
+#include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
 #include <mission/acsDefs.h>
 
 EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                        uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
+  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+}
 
 void EiveSystem::announceMode(bool recursive) {
   const char* modeStr = "UNKNOWN";
@@ -41,3 +47,72 @@ void EiveSystem::announceMode(bool recursive) {
   sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
   return Subsystem::announceMode(recursive);
 }
+
+void EiveSystem::performChildOperation() {
+  handleEventMessages();
+  return Subsystem::performChildOperation();
+}
+
+ReturnValue_t EiveSystem::initialize() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  ReturnValue_t result = manager->registerListener(eventQueue->getId());
+  if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "AcsSubsystem::registerListener: Failed to register as "
+                    "listener"
+                 << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+    ;
+  }
+  result =
+      manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::MULTIPLE_RW_INVALID));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
+  }
+  result = manager->subscribeToEvent(eventQueue->getId(),
+                                     event::getEventId(acs::MEKF_INVALID_MODE_VIOLATION));
+  if (result != returnvalue::OK) {
+    sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
+  }
+  return returnvalue::OK;
+}
+
+void EiveSystem::handleEventMessages() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
+       result = eventQueue->receiveMessage(&event)) {
+    ReturnValue_t status;
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
+          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (result != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
+          }
+        }
+        if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
+          status = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (status != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
+          }
+        }
+        break;
+      default:
+        sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
+                      "to this event message"
+                   << std::endl;
+        break;
+    }
+  }
+}

mission/system/objects/EiveSystem.h

@@ -8,7 +8,12 @@ class EiveSystem : public Subsystem {
   EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
  private:
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
   void announceMode(bool recursive) override;
+  void handleEventMessages();
+
+  MessageQueueIF* eventQueue = nullptr;
 };
 
 #endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */