update eive system FDIR

mission/system/objects/EiveSystem.cpp

@@ -7,6 +7,8 @@
 #include <mission/comDefs.h>
 #include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
 
+#include "mission/sysDefs.h"
+
 EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                        uint32_t maxNumberOfTables)
     : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
@@ -18,15 +20,15 @@ EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
 void EiveSystem::announceMode(bool recursive) {
   const char* modeStr = "UNKNOWN";
   switch (mode) {
-    case (acs::AcsMode::OFF): {
-      modeStr = "OFF";
+    case (satsystem::Mode::BOOT): {
+      modeStr = "OFF/BOOT";
       break;
     }
-    case (acs::AcsMode::SAFE): {
+    case (satsystem::Mode::SAFE): {
       modeStr = "SAFE";
       break;
     }
-    case (acs::AcsMode::PTG_IDLE): {
+    case (satsystem::Mode::PTG_IDLE): {
       modeStr = "POINTING IDLE";
       break;
     }
@@ -48,8 +50,12 @@ void EiveSystem::announceMode(bool recursive) {
 }
 
 void EiveSystem::performChildOperation() {
+  Subsystem::performChildOperation();
   handleEventMessages();
-  return Subsystem::performChildOperation();
+  if (not isInTransition and performSafeRecovery) {
+    commandSelfToSafe();
+    performSafeRecovery = false;
+  }
 }
 
 ReturnValue_t EiveSystem::initialize() {
@@ -85,6 +91,11 @@ void EiveSystem::handleEventMessages() {
         switch (event.getEvent()) {
           case tcsCtrl::OBC_OVERHEATING:
           case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
+            if (isInTransition) {
+              performSafeRecovery = true;
+              return;
+            }
+
             commandSelfToSafe();
             break;
           }
@@ -98,14 +109,5 @@ void EiveSystem::handleEventMessages() {
     }
   }
 }
-void EiveSystem::commandSelfToSafe() {
-  if (fallbackCommandCd.hasTimedOut()) {
-    CommandMessage msg;
-    ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
-    ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
-    if (result != returnvalue::OK) {
-      sif::error << "EiveSystem: Commanding EIVE-System to SAFE failed" << std::endl;
-    }
-    fallbackCommandCd.resetTimer();
-  }
-}
+
+void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }