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handle ACS event in AcsSubsystem
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This commit is contained in:
Marius Eggert 2023-02-22 15:02:15 +01:00
parent 83b81e1ba8
commit 67a14ca6f6
1 changed files with 7 additions and 1 deletions
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8
mission/system/objects/AcsSubsystem.cpp
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@ -47,6 +47,11 @@ ReturnValue_t AcsSubsystem::initialize() {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl; 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(); return Subsystem::initialize();
} }
@ -71,7 +76,8 @@ void AcsSubsystem::handleEventMessages() {
} }
} }
if (event.getEvent() == acs::SAFE_RATE_RECOVERY || if (event.getEvent() == acs::SAFE_RATE_RECOVERY ||
event.getEvent() == acs::MULTIPLE_RW_INVALID) { event.getEvent() == acs::MULTIPLE_RW_INVALID ||
event.getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
CommandMessage msg; CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0); ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
status = commandQueue->sendMessage(commandQueue->getId(), &msg); status = commandQueue->sendMessage(commandQueue->getId(), &msg);