Merge remote-tracking branch 'origin/develop' into refactor_tm_handling

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

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"
 

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"
 

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"
 

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"
 

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"
 

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"
 

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();

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) {
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
-  auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
-  eventQueue =
-      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
-}
-
-ReturnValue_t AcsSubsystem::initialize() {
-  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(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;
-    }
-  }
-}
 
 void AcsSubsystem::announceMode(bool recursive) {
   const char* modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));

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_ */

mission/system/objects/EiveSystem.cpp

@@ -1,10 +1,17 @@
 #include "EiveSystem.h"
 
+#include <eive/objects.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
 #include <mission/acsDefs.h>
 
 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<void*>(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<EventManagerIF>(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;
+    }
+  }
+}

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_ */

unittest/mocks/EventManagerMock.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 
-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;