Robin Mueller
2153294e6f
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
112 lines
3.4 KiB
C++
112 lines
3.4 KiB
C++
#include "EiveSystem.h"
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#include <eive/objects.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <mission/acsDefs.h>
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#include <mission/comDefs.h>
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#include <mission/controller/controllerdefinitions/tcsCtrlDefs.h>
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#include "mission/sysDefs.h"
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EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
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uint32_t maxNumberOfTables)
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: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
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auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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void EiveSystem::announceMode(bool recursive) {
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const char* modeStr = "UNKNOWN";
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switch (mode) {
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case (satsystem::Mode::BOOT): {
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modeStr = "OFF/BOOT";
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break;
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}
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case (satsystem::Mode::SAFE): {
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modeStr = "SAFE";
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break;
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}
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case (satsystem::Mode::PTG_IDLE): {
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modeStr = "POINTING IDLE";
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break;
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}
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case (acs::AcsMode::PTG_INERTIAL): {
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modeStr = "POINTING INERTIAL";
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break;
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}
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case (acs::AcsMode::PTG_TARGET): {
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modeStr = "POINTING TARGET";
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break;
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}
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case (acs::AcsMode::PTG_TARGET_GS): {
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modeStr = "POINTING TARGET GS";
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break;
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}
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}
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sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
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return Subsystem::announceMode(recursive);
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}
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void EiveSystem::performChildOperation() {
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Subsystem::performChildOperation();
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handleEventMessages();
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if (not isInTransition and performSafeRecovery) {
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commandSelfToSafe();
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performSafeRecovery = false;
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}
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}
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ReturnValue_t EiveSystem::initialize() {
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auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "AcsSubsystem::registerListener: Failed to register as "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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manager->subscribeToEvent(eventQueue->getId(),
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event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
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return Subsystem::initialize();
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}
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void EiveSystem::handleEventMessages() {
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EventMessage event;
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for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
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status = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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switch (event.getEvent()) {
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case tcsCtrl::OBC_OVERHEATING:
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case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
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if (isInTransition) {
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performSafeRecovery = true;
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return;
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}
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commandSelfToSafe();
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break;
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}
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}
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break;
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default:
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sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
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break;
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}
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}
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}
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void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }
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