I2C reboot procedure for EIVE system
This commit is contained in:
parent
d8ec121131
commit
3bd434bbc3
@ -5,7 +5,7 @@
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#include <fsfw/power/DummyPowerSwitcher.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <mission/power/gsDefs.h>
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#include <mission/system/tree/system.h>
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#include <mission/system/systemTree.h>
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#include <mission/utility/DummySdCardManager.h>
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#include "OBSWConfig.h"
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@ -16,7 +16,7 @@
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#include "fsfw/version.h"
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#include "mission/acs/defs.h"
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#include "mission/com/defs.h"
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#include "mission/system/tree/system.h"
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#include "mission/system/systemTree.h"
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#include "q7sConfig.h"
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#include "watchdog/definitions.h"
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@ -5,4 +5,6 @@ add_subdirectory(com)
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add_subdirectory(fdir)
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add_subdirectory(power)
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target_sources(${LIB_EIVE_MISSION} PRIVATE DualLanePowerStateMachine.cpp)
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target_sources(
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${LIB_EIVE_MISSION} PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp
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EiveSystem.cpp treeUtil.cpp)
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203
mission/system/EiveSystem.cpp
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203
mission/system/EiveSystem.cpp
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@ -0,0 +1,203 @@
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#include "EiveSystem.h"
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#include <eive/objects.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <mission/acs/defs.h>
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#include <mission/com/defs.h>
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#include <mission/controller/tcsDefs.h>
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#include "mission/power/bpxBattDefs.h"
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#include "mission/power/defs.h"
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#include "mission/sysDefs.h"
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EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
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uint32_t maxNumberOfTables)
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables),
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actionHelper(this, commandQueue) {
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auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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void EiveSystem::announceMode(bool recursive) {
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const char* modeStr = "UNKNOWN";
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switch (mode) {
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case (satsystem::Mode::BOOT): {
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modeStr = "OFF/BOOT";
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break;
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}
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case (satsystem::Mode::SAFE): {
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modeStr = "SAFE";
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break;
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}
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case (satsystem::Mode::PTG_IDLE): {
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modeStr = "POINTING IDLE";
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break;
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}
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case (acs::AcsMode::PTG_INERTIAL): {
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modeStr = "POINTING INERTIAL";
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break;
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}
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case (acs::AcsMode::PTG_TARGET): {
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modeStr = "POINTING TARGET";
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break;
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}
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case (acs::AcsMode::PTG_TARGET_GS): {
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modeStr = "POINTING TARGET GS";
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break;
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}
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}
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sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
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return Subsystem::announceMode(recursive);
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}
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void EiveSystem::performChildOperation() {
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ReturnValue_t result;
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Subsystem::performChildOperation();
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handleEventMessages();
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if (not isInTransition and performSafeRecovery) {
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commandSelfToSafe();
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performSafeRecovery = false;
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return;
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}
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if (not isInTransition and performI2cReboot) {
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if (i2cRebootState == I2cRebootState::SYSTEM_MODE_BOOT) {
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startTransition(satsystem::Mode::BOOT, 0);
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i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT;
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i2cRebootCountdown.resetTimer();
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} else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT) {
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if (mode == satsystem::Mode::BOOT) {
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result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
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PowerSwitchIF::SWITCH_OFF);
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if (result != returnvalue::OK) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
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performI2cReboot = false;
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}
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CommandMessage msg;
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ActionMessage::setCommand(&msg, BpxBattery::REBOOT, store_address_t());
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result = commandQueue->sendMessage(bpxBattQueueId, &msg);
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if (result != returnvalue::OK) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
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performI2cReboot = false;
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}
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i2cRebootState = I2cRebootState::SWITCH_3V3_STACK_ON;
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}
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if (i2cRebootCountdown.hasTimedOut()) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
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performI2cReboot = false;
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}
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} else if (i2cRebootState == I2cRebootState::SWITCH_3V3_STACK_ON) {
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result = powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
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PowerSwitchIF::SWITCH_ON);
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if (result != returnvalue::OK) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, result);
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performI2cReboot = false;
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}
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i2cRebootState = I2cRebootState::SYSTEM_MODE_SAFE;
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} else if (i2cRebootState == I2cRebootState::SYSTEM_MODE_SAFE) {
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if (powerSwitcher->getSwitchState(power::Switches::P60_DOCK_3V3_STACK) ==
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PowerSwitchIF::SWITCH_ON) {
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// This should always be accepted
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commandSelfToSafe();
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i2cRebootState = I2cRebootState::NONE;
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performI2cReboot = false;
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actionHelper.finish(true, actionCommandedBy, EXECUTE_I2C_REBOOT);
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}
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}
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// Timeout handling for the internal procedure.
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if (i2cRebootState != I2cRebootState::NONE and i2cRebootCountdown.hasTimedOut()) {
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actionHelper.finish(false, actionCommandedBy, EXECUTE_I2C_REBOOT, returnvalue::FAILED);
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powerSwitcher->sendSwitchCommand(power::Switches::P60_DOCK_3V3_STACK,
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PowerSwitchIF::SWITCH_ON);
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// This should always be accepted
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commandSelfToSafe();
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}
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}
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}
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ReturnValue_t EiveSystem::initialize() {
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if (powerSwitcher == nullptr) {
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return ObjectManager::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = actionHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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auto* bpxDest = ObjectManager::instance()->get<HasActionsIF>(objects::BPX_BATT_HANDLER);
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if (bpxDest == nullptr) {
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return ObjectManager::CHILD_INIT_FAILED;
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}
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bpxBattQueueId = bpxDest->getCommandQueue();
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auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "AcsSubsystem::registerListener: Failed to register as "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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manager->subscribeToEvent(eventQueue->getId(),
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event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
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return Subsystem::initialize();
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}
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void EiveSystem::handleEventMessages() {
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EventMessage event;
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for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
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status = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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switch (event.getEvent()) {
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case tcsCtrl::OBC_OVERHEATING:
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case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
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if (isInTransition) {
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performSafeRecovery = true;
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return;
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}
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commandSelfToSafe();
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break;
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}
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}
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break;
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default:
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sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
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break;
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}
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}
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}
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MessageQueueId_t EiveSystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
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ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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switch (actionId) {
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case (EXECUTE_I2C_REBOOT): {
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performI2cReboot = true;
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i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
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this->actionCommandedBy = commandedBy;
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return returnvalue::OK;
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}
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default: {
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return HasActionsIF::INVALID_ACTION_ID;
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}
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}
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return returnvalue::OK;
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}
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void EiveSystem::setPowerSwitcher(PowerSwitchIF* pwrSwitcher) {}
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void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
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46
mission/system/EiveSystem.h
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46
mission/system/EiveSystem.h
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@ -0,0 +1,46 @@
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#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
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#define MISSION_SYSTEM_EIVESYSTEM_H_
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw/subsystem/Subsystem.h>
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class EiveSystem : public Subsystem, public HasActionsIF {
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public:
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static constexpr ActionId_t EXECUTE_I2C_REBOOT = 10;
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EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
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void setPowerSwitcher(PowerSwitchIF* pwrSwitcher);
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[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
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private:
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enum class I2cRebootState {
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NONE,
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SYSTEM_MODE_BOOT,
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SWITCH_3V3_STACK_OFF_AND_BATT_REBOOT,
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SWITCH_3V3_STACK_ON,
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SYSTEM_MODE_SAFE
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} i2cRebootState = I2cRebootState::NONE;
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MessageQueueIF* eventQueue = nullptr;
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bool performSafeRecovery = false;
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bool performI2cReboot = false;
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ActionHelper actionHelper;
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PowerSwitchIF* powerSwitcher = nullptr;
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MessageQueueId_t bpxBattQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
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Countdown i2cRebootCountdown = Countdown(10000);
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ReturnValue_t initialize() override;
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void performChildOperation() override;
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void announceMode(bool recursive) override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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void handleEventMessages();
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void commandSelfToSafe();
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};
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#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */
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#include "eive/objects.h"
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#include "mission/acs/defs.h"
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#include "mission/power/defs.h"
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#include "mission/system/tree/util.h"
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#include "mission/system/treeUtil.h"
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AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
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#include "eive/objects.h"
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#include "mission/com/defs.h"
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#include "mission/system/tree/util.h"
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#include "mission/system/treeUtil.h"
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const auto check = subsystem::checkInsert;
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@ -1,9 +1,4 @@
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target_sources(
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${LIB_EIVE_MISSION}
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PRIVATE EiveSystem.cpp
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CamSwitcher.cpp
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TcsSubsystem.cpp
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PayloadSubsystem.cpp
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Stack5VHandler.cpp
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PowerStateMachineBase.cpp
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TcsBoardAssembly.cpp)
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PRIVATE CamSwitcher.cpp TcsSubsystem.cpp PayloadSubsystem.cpp
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Stack5VHandler.cpp PowerStateMachineBase.cpp TcsBoardAssembly.cpp)
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@ -1,111 +0,0 @@
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#include "EiveSystem.h"
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#include <eive/objects.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <mission/acs/defs.h>
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#include <mission/com/defs.h>
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#include <mission/controller/tcsDefs.h>
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#include "mission/sysDefs.h"
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EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
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uint32_t maxNumberOfTables)
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
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auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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void EiveSystem::announceMode(bool recursive) {
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const char* modeStr = "UNKNOWN";
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switch (mode) {
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case (satsystem::Mode::BOOT): {
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modeStr = "OFF/BOOT";
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break;
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}
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case (satsystem::Mode::SAFE): {
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modeStr = "SAFE";
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break;
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}
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case (satsystem::Mode::PTG_IDLE): {
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modeStr = "POINTING IDLE";
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break;
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}
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case (acs::AcsMode::PTG_INERTIAL): {
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modeStr = "POINTING INERTIAL";
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break;
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}
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case (acs::AcsMode::PTG_TARGET): {
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modeStr = "POINTING TARGET";
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break;
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}
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case (acs::AcsMode::PTG_TARGET_GS): {
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modeStr = "POINTING TARGET GS";
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break;
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}
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}
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sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
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return Subsystem::announceMode(recursive);
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}
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void EiveSystem::performChildOperation() {
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Subsystem::performChildOperation();
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handleEventMessages();
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if (not isInTransition and performSafeRecovery) {
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commandSelfToSafe();
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performSafeRecovery = false;
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}
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}
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ReturnValue_t EiveSystem::initialize() {
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auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "AcsSubsystem::registerListener: Failed to register as "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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manager->subscribeToEvent(eventQueue->getId(),
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event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
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return Subsystem::initialize();
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}
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void EiveSystem::handleEventMessages() {
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EventMessage event;
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for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
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status = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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switch (event.getEvent()) {
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case tcsCtrl::OBC_OVERHEATING:
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case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
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if (isInTransition) {
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performSafeRecovery = true;
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return;
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}
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commandSelfToSafe();
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break;
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}
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}
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break;
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default:
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sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
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break;
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}
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}
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}
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void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
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@ -1,21 +0,0 @@
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#ifndef MISSION_SYSTEM_EIVESYSTEM_H_
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#define MISSION_SYSTEM_EIVESYSTEM_H_
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#include <fsfw/subsystem/Subsystem.h>
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class EiveSystem : public Subsystem {
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public:
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EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
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private:
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MessageQueueIF* eventQueue = nullptr;
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bool performSafeRecovery = false;
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ReturnValue_t initialize() override;
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void performChildOperation() override;
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void announceMode(bool recursive) override;
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void handleEventMessages();
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void commandSelfToSafe();
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};
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#endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */
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@ -1,4 +1,4 @@
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||||
#include "system.h"
|
||||
#include "systemTree.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/subsystem/Subsystem.h>
|
||||
@ -9,9 +9,9 @@
|
||||
#include "eive/objects.h"
|
||||
#include "mission/com/defs.h"
|
||||
#include "mission/system/acs/acsModeTree.h"
|
||||
#include "payloadModeTree.h"
|
||||
#include "tcsModeTree.h"
|
||||
#include "util.h"
|
||||
#include "mission/system/tree/payloadModeTree.h"
|
||||
#include "mission/system/tree/tcsModeTree.h"
|
||||
#include "treeUtil.h"
|
||||
|
||||
namespace {
|
||||
// Alias for checker function
|
@ -1,7 +1,7 @@
|
||||
#ifndef MISSION_SYSTEM_TREE_SYSTEM_H_
|
||||
#define MISSION_SYSTEM_TREE_SYSTEM_H_
|
||||
|
||||
#include <mission/system/objects/EiveSystem.h>
|
||||
#include <mission/system/EiveSystem.h>
|
||||
|
||||
namespace satsystem {
|
||||
|
@ -1,2 +1 @@
|
||||
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp
|
||||
system.cpp util.cpp)
|
||||
target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp tcsModeTree.cpp)
|
||||
|
@ -10,7 +10,7 @@
|
||||
#include "eive/objects.h"
|
||||
#include "mission/power/defs.h"
|
||||
#include "mission/system/objects/PayloadSubsystem.h"
|
||||
#include "util.h"
|
||||
#include "mission/system/treeUtil.h"
|
||||
|
||||
namespace {
|
||||
void initOffSequence(Subsystem& ss, ModeListEntry& eh);
|
||||
|
@ -3,7 +3,7 @@
|
||||
#include "eive/objects.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
|
||||
#include "fsfw/subsystem/Subsystem.h"
|
||||
#include "mission/system/tree/util.h"
|
||||
#include "mission/system/treeUtil.h"
|
||||
|
||||
TcsSubsystem satsystem::tcs::SUBSYSTEM(objects::TCS_SUBSYSTEM, 12, 24);
|
||||
|
||||
|
@ -1,4 +1,4 @@
|
||||
#include "util.h"
|
||||
#include "treeUtil.h"
|
||||
|
||||
#include "fsfw/container/FixedMap.h"
|
||||
#include "fsfw/serviceinterface.h"
|
Loading…
Reference in New Issue
Block a user