eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

merged develop

Browse Source
This commit is contained in:
Jakob Meier
2023-02-20 14:34:57 +01:00
parent bf65d13849 a918d61f2b
commit 6074e9246e
66 changed files with 1460 additions and 771 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
mission/system/objects/AcsSubsystem.cpp
View File

@ -42,6 +42,11 @@ ReturnValue_t AcsSubsystem::initialize() {
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;
}
return Subsystem::initialize();
}
@ -54,22 +59,24 @@ 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);
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
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) {
if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
event.getEvent() == acs::MULTIPLE_RW_INVALID) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::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;
status = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (status != returnvalue::OK) {
sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
}
}
break;

7
mission/system/objects/RwAssembly.cpp
View File

@ -167,7 +167,12 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
return false;
}
ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
ReturnValue_t RwAssembly::initialize() {
for (auto objId : helper.rwIds) {
updateChildModeByObjId(objId, MODE_OFF, SUBMODE_NONE);
}
return AssemblyBase::initialize();
}
void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
if (targetMode == MODE_OFF) {