Merge pull request 'Move acs event handling to system' (#448) from feature_move_acs_event_handling_to_system into develop

Reviewed-on: #448

CHANGELOG.md

@@ -22,6 +22,8 @@ will consitute of a breaking change warranting a new major release:
 
 ## Changed
 
+- 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 269 translations.
  * @details
- * Generated on: 2023-03-08 16:44:32
+ * Generated on: 2023-03-10 15:36:00
  */
 #include "translateEvents.h"
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 160 translations.
- * Generated on: 2023-03-08 16:44:32
+ * Generated on: 2023-03-10 15:36:00
  */
 #include "translateObjects.h"
 
@@ -138,7 +138,7 @@ const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
 const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
 const char *HEATER_5_STR_STRING = "HEATER_5_STR";
 const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
-const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
@@ -434,7 +434,7 @@ const char *translateObject(object_id_t object) {
     case 0x60000006:
       return HEATER_6_DRO_STRING;
     case 0x60000007:
-      return HEATER_7_HPA_STRING;
+      return HEATER_7_SYRLINKS_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:

generators/bsp_hosted_objects.csv

@@ -130,7 +130,7 @@
 0x60000004;HEATER_4_CAMERA
 0x60000005;HEATER_5_STR
 0x60000006;HEATER_6_DRO
-0x60000007;HEATER_7_HPA
+0x60000007;HEATER_7_SYRLINKS
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS

generators/bsp_q7s_objects.csv

@@ -135,7 +135,7 @@
 0x60000004;HEATER_4_CAMERA
 0x60000005;HEATER_5_STR
 0x60000006;HEATER_6_DRO
-0x60000007;HEATER_7_HPA
+0x60000007;HEATER_7_SYRLINKS
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 269 translations.
  * @details
- * Generated on: 2023-03-08 16:44:32
+ * Generated on: 2023-03-10 15:36:00
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 164 translations.
- * Generated on: 2023-03-08 16:44:32
+ * Generated on: 2023-03-10 15:36:00
  */
 #include "translateObjects.h"
 
@@ -143,7 +143,7 @@ const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
 const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
 const char *HEATER_5_STR_STRING = "HEATER_5_STR";
 const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
-const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
@@ -448,7 +448,7 @@ const char *translateObject(object_id_t object) {
     case 0x60000006:
       return HEATER_6_DRO_STRING;
     case 0x60000007:
-      return HEATER_7_HPA_STRING;
+      return HEATER_7_SYRLINKS_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 269 translations.
  * @details
- * Generated on: 2023-03-08 16:44:32
+ * Generated on: 2023-03-10 15:36:00
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 164 translations.
- * Generated on: 2023-03-08 16:44:32
+ * Generated on: 2023-03-10 15:36:00
  */
 #include "translateObjects.h"
 
@@ -143,7 +143,7 @@ const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
 const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
 const char *HEATER_5_STR_STRING = "HEATER_5_STR";
 const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
-const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
+const char *HEATER_7_SYRLINKS_STRING = "HEATER_7_SYRLINKS";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
@@ -448,7 +448,7 @@ const char *translateObject(object_id_t object) {
     case 0x60000006:
       return HEATER_6_DRO_STRING;
     case 0x60000007:
-      return HEATER_7_HPA_STRING;
+      return HEATER_7_SYRLINKS_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:

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) {
-  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;
-    }
-  }
-}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
 
 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_ */

tmtc

@@ -1 +1 @@
-Subproject commit 9f905524b6f2b10b1e8bcd9139c21a206cdf8aa3
+Subproject commit e32a6ded6661d450dbc75a7ab0194e8048af3d5c