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ACS Modes Refactoring #455

Merged
muellerr merged 10 commits from acs-modes-refactoring into develop 2023-03-10 15:02:26 +01:00
Conversation 0 Commits 10 Files Changed 11 +2 -12
1 changed files with 2 additions and 12 deletions
Showing only changes of commit c80426309d - Show all commits

14
mission/system/objects/AcsSubsystem.cpp

@ -42,16 +42,6 @@ ReturnValue_t AcsSubsystem::initialize() {
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
}
result =
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::MULTIPLE_RW_INVALID));
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
}
result = manager->subscribeToEvent(eventQueue->getId(),
event::getEventId(acs::MEKF_INVALID_MODE_VIOLATION));
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: Subscribing for acs::MULTIPLE_RW_INVALID failed" << std::endl;
}
return Subsystem::initialize();
}
@ -70,7 +60,7 @@ void AcsSubsystem::handleEventMessages() {
case EventMessage::EVENT_MESSAGE:
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, acs::AcsMode::DETUMBLE);
status = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (result != returnvalue::OK) {
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@ -78,7 +68,7 @@ void AcsSubsystem::handleEventMessages() {
}
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
CommandMessage msg;
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, SUBMODE_NONE);
status = commandQueue->sendMessage(commandQueue->getId(), &msg);
if (status != returnvalue::OK) {
sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;