ACS updates

- Adapt ACS subsystem to handle events from ACS CTRL
- Some fixes and updates for ACS subsystem

mission/system/objects/AcsSubsystem.cpp

@@ -1,5 +1,81 @@
 #include "AcsSubsystem.h"
 
+#include <fsfw/events/EventManagerIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+
+#include "fsfw/modes/ModeMessage.h"
+#include "mission/acsDefs.h"
+
 AcsSubsystem::AcsSubsystem(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);
+}
+
+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;
+  }
+  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)) {
+    switch (event.getMessageId()) {
+      case EventMessage::EVENT_MESSAGE:
+        if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
+          CommandMessage msg;
+          ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
+          ReturnValue_t result = 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::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
+          ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
+          if (result != returnvalue::OK) {
+            sif::error << "AcsSubsystem: sending IDLE 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/AcsSubsystem.h

@@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
   AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
  private:
+  ReturnValue_t initialize() override;
+  void performChildOperation() override;
+
+  void handleEventMessages();
+
+  MessageQueueIF* eventQueue = nullptr;
 };
 
 #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */