eive/eive-obsw
eive/eive-obsw
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added event handling for failure of more than one RW
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This commit is contained in:
Marius Eggert 2023-02-16 16:27:32 +01:00
parent 97f7f7c973
commit 8b1d6cf07d
1 changed files with 8 additions and 2 deletions
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10
mission/system/objects/AcsSubsystem.cpp
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@ -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();
}
@ -64,12 +69,13 @@ void AcsSubsystem::handleEventMessages() {
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;
sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
}
}
break;