eive-obsw/mission/system/objects/EiveSystem.cpp
Robin Mueller 0301c18af2
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
resolve some merge conflicts
2023-03-24 21:20:27 +01:00

112 lines
3.3 KiB
C++

#include "EiveSystem.h"
#include <eive/objects.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/ipc/QueueFactory.h>
#include <mission/acs/defs.h>
#include <mission/com/defs.h>
#include <mission/controller/tcsDefs.h>
#include "mission/sysDefs.h"
EiveSystem::EiveSystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
auto mqArgs = MqArgs(SubsystemBase::getObjectId(), static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
void EiveSystem::announceMode(bool recursive) {
const char* modeStr = "UNKNOWN";
switch (mode) {
case (satsystem::Mode::BOOT): {
modeStr = "OFF/BOOT";
break;
}
case (satsystem::Mode::SAFE): {
modeStr = "SAFE";
break;
}
case (satsystem::Mode::PTG_IDLE): {
modeStr = "POINTING IDLE";
break;
}
case (acs::AcsMode::PTG_INERTIAL): {
modeStr = "POINTING INERTIAL";
break;
}
case (acs::AcsMode::PTG_TARGET): {
modeStr = "POINTING TARGET";
break;
}
case (acs::AcsMode::PTG_TARGET_GS): {
modeStr = "POINTING TARGET GS";
break;
}
}
sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl;
return Subsystem::announceMode(recursive);
}
void EiveSystem::performChildOperation() {
Subsystem::performChildOperation();
handleEventMessages();
if (not isInTransition and performSafeRecovery) {
commandSelfToSafe();
performSafeRecovery = false;
}
}
ReturnValue_t EiveSystem::initialize() {
auto* 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;
}
manager->subscribeToEvent(eventQueue->getId(),
event::getEventId(tcsCtrl::PCDU_SYSTEM_OVERHEATING));
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(tcsCtrl::OBC_OVERHEATING));
return Subsystem::initialize();
}
void EiveSystem::handleEventMessages() {
EventMessage event;
for (ReturnValue_t status = eventQueue->receiveMessage(&event); status == returnvalue::OK;
status = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
switch (event.getEvent()) {
case tcsCtrl::OBC_OVERHEATING:
case tcsCtrl::PCDU_SYSTEM_OVERHEATING: {
if (isInTransition) {
performSafeRecovery = true;
return;
}
commandSelfToSafe();
break;
}
}
break;
default:
sif::debug << "EiveSystem: Did not subscribe to event " << event.getEvent() << std::endl;
break;
}
}
}
void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0); }