update eive system FDIR

mission/controller/ThermalController.cpp

@@ -1028,7 +1028,7 @@ void ThermalController::ctrlMgt() {
   PoolReadGuard pg(&imtqThermalSet);
   auto heaterReq =
       static_cast<ThermalComponentIF::StateRequest>(imtqThermalSet.heaterRequest.value);
- // TODO: remove heaterReq?
+  // TODO: remove heaterReq?
   if (heaterReq == ThermalComponentIF::STATE_REQUEST_OPERATIONAL) {
     sensors[0].first = sensorTemperatures.mgt.isValid();
     sensors[0].second = sensorTemperatures.mgt.value;

mission/system/objects/ComSubsystem.cpp

@@ -23,6 +23,7 @@ ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequence
 }
 
 void ComSubsystem::performChildOperation() {
+  Subsystem::performChildOperation();
   readEventQueue();
   if (performRecoveryToRxOnly and not isInTransition) {
     startRxOnlyRecovery(true);
@@ -37,8 +38,6 @@ void ComSubsystem::performChildOperation() {
   if (countdownActive) {
     checkTransmitterCountdown();
   }
-
-  Subsystem::performChildOperation();
 }
 
 MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }

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); }

mission/system/objects/EiveSystem.h

@@ -9,7 +9,7 @@ class EiveSystem : public Subsystem {
 
  private:
   MessageQueueIF* eventQueue = nullptr;
-  Countdown fallbackCommandCd = Countdown(30000);
+  bool performSafeRecovery = false;
 
   ReturnValue_t initialize() override;
   void performChildOperation() override;