diff --git a/CHANGELOG.md b/CHANGELOG.md index 03560147..c858e133 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -31,6 +31,8 @@ will consitute of a breaking change warranting a new major release: - Service 5 now handles 40 events per cycle instead of 15 - Remove periodic SD card check. The file system is not mounted read-only anymore when using an ext4 filesystem +- ACS CTRL transition to DETUBMLE is now done in CTRL internally. No + system level handling necessary anymore. - More fixes and improvements for SD card handling. Extend SD card setup in core controller to create full initial state for SD card manager are core controller as early as possible, turn execution of setup file update blocking. This might solve the issue with the SD card manager diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp index 44c3914f..c6e45d49 100644 --- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp +++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 276 translations. * @details - * Generated on: 2023-03-10 19:05:58 + * Generated on: 2023-03-10 19:14:19 */ #include "translateEvents.h" diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp index 65d7a92c..82b361ce 100644 --- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp +++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 169 translations. - * Generated on: 2023-03-10 19:05:58 + * Generated on: 2023-03-10 19:14:19 */ #include "translateObjects.h" diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 44c3914f..c6e45d49 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 276 translations. * @details - * Generated on: 2023-03-10 19:05:58 + * Generated on: 2023-03-10 19:14:19 */ #include "translateEvents.h" diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index ce898894..c491e7b0 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-10 19:05:58 + * Generated on: 2023-03-10 19:14:19 */ #include "translateObjects.h" diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 44c3914f..c6e45d49 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 276 translations. * @details - * Generated on: 2023-03-10 19:05:58 + * Generated on: 2023-03-10 19:14:19 */ #include "translateEvents.h" diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index ce898894..c491e7b0 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-10 19:05:58 + * Generated on: 2023-03-10 19:14:19 */ #include "translateObjects.h" diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index ff0aa008..2ae2a7bd 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -198,6 +198,7 @@ void AcsController::performSafe() { detumbleCounter = 0; // Triggers detumble mode transition in subsystem triggerEvent(acs::SAFE_RATE_VIOLATION); + startTransition(mode, acs::SafeSubmode::DETUMBLE); } updateCtrlValData(errAng); @@ -245,6 +246,7 @@ void AcsController::performDetumble() { detumbleCounter = 0; // Triggers safe mode transition in subsystem triggerEvent(acs::SAFE_RATE_RECOVERY); + startTransition(mode, acs::SafeSubmode::DEFAULT); } disableCtrlValData(); diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index d407f2e8..873d88cf 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -8,81 +8,7 @@ AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) - : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) { - auto mqArgs = MqArgs(getObjectId(), static_cast(this)); - eventQueue = - QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); -} - -ReturnValue_t AcsSubsystem::initialize() { - EventManagerIF* manager = ObjectManager::instance()->get(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() { - // sif::debug << "ACS system thread running" << std::endl; - handleEventMessages(); - return Subsystem::performChildOperation(); -} - -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::SAFE, acs::SafeSubmode::DETUMBLE); - 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) { - CommandMessage msg; - ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT); - status = commandQueue->sendMessage(commandQueue->getId(), &msg); - if (status != returnvalue::OK) { - sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl; - } - } - break; - default: - sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe " - "to this event message" - << std::endl; - break; - } - } -} + : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {} void AcsSubsystem::announceMode(bool recursive) { const char* modeStr = acs::getModeStr(static_cast(mode)); diff --git a/mission/system/objects/AcsSubsystem.h b/mission/system/objects/AcsSubsystem.h index c6c77fef..fc6b238e 100644 --- a/mission/system/objects/AcsSubsystem.h +++ b/mission/system/objects/AcsSubsystem.h @@ -8,13 +8,7 @@ class AcsSubsystem : public Subsystem { AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables); private: - ReturnValue_t initialize() override; - void performChildOperation() override; void announceMode(bool recursive) override; - - void handleEventMessages(); - - MessageQueueIF* eventQueue = nullptr; }; #endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */ diff --git a/mission/system/objects/EiveSystem.cpp b/mission/system/objects/EiveSystem.cpp index 65711706..bb2a229d 100644 --- a/mission/system/objects/EiveSystem.cpp +++ b/mission/system/objects/EiveSystem.cpp @@ -1,10 +1,17 @@ #include "EiveSystem.h" +#include +#include +#include #include EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) - : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {} + : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) { + auto mqArgs = MqArgs(getObjectId(), static_cast(this)); + eventQueue = + QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); +} void EiveSystem::announceMode(bool recursive) { const char* modeStr = "UNKNOWN"; @@ -37,3 +44,44 @@ void EiveSystem::announceMode(bool recursive) { sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl; return Subsystem::announceMode(recursive); } + +void EiveSystem::performChildOperation() { + handleEventMessages(); + return Subsystem::performChildOperation(); +} + +ReturnValue_t EiveSystem::initialize() { + EventManagerIF* manager = ObjectManager::instance()->get(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; + } + return Subsystem::initialize(); +} + +void EiveSystem::handleEventMessages() { + EventMessage event; + for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK; + result = eventQueue->receiveMessage(&event)) { + switch (event.getMessageId()) { + case EventMessage::EVENT_MESSAGE: + break; + default: + sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe " + "to this event message" + << std::endl; + break; + } + } +} diff --git a/mission/system/objects/EiveSystem.h b/mission/system/objects/EiveSystem.h index 59acf82e..0d75b31a 100644 --- a/mission/system/objects/EiveSystem.h +++ b/mission/system/objects/EiveSystem.h @@ -8,7 +8,12 @@ class EiveSystem : public Subsystem { EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables); private: + ReturnValue_t initialize() override; + void performChildOperation() override; void announceMode(bool recursive) override; + void handleEventMessages(); + + MessageQueueIF* eventQueue = nullptr; }; #endif /* MISSION_SYSTEM_EIVESYSTEM_H_ */ diff --git a/unittest/mocks/EventManagerMock.cpp b/unittest/mocks/EventManagerMock.cpp index 383c755b..acbf1a0b 100644 --- a/unittest/mocks/EventManagerMock.cpp +++ b/unittest/mocks/EventManagerMock.cpp @@ -2,7 +2,7 @@ #include -EventManagerMock::EventManagerMock() : EventManager(objects::EVENT_MANAGER) {} +EventManagerMock::EventManagerMock() : EventManager(objects::EVENT_MANAGER, 80) {} ReturnValue_t EventManagerMock::performOperation(uint8_t opCode) { ReturnValue_t result = returnvalue::OK; @@ -60,4 +60,4 @@ bool EventManagerMock::isEventInEventList(object_id_t object, EventId_t eventId, } } return false; -} \ No newline at end of file +}