meggert
c80426309d
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92 lines
3.5 KiB
C++
92 lines
3.5 KiB
C++
#include "AcsSubsystem.h"
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#include <fsfw/events/EventManagerIF.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include "fsfw/modes/ModeMessage.h"
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#include "mission/acsDefs.h"
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AcsSubsystem::AcsSubsystem(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(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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ReturnValue_t AcsSubsystem::initialize() {
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EventManagerIF* 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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}
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result =
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
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}
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result =
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manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
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}
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return Subsystem::initialize();
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}
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void AcsSubsystem::performChildOperation() {
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// sif::debug << "ACS system thread running" << std::endl;
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handleEventMessages();
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return Subsystem::performChildOperation();
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}
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void AcsSubsystem::handleEventMessages() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
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ReturnValue_t status;
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
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CommandMessage msg;
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ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, acs::AcsMode::DETUMBLE);
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status = commandQueue->sendMessage(commandQueue->getId(), &msg);
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if (result != returnvalue::OK) {
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sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
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}
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}
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if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
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CommandMessage msg;
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ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, SUBMODE_NONE);
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status = commandQueue->sendMessage(commandQueue->getId(), &msg);
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if (status != returnvalue::OK) {
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sif::error << "AcsSubsystem: sending SAFE mode cmd to self has failed" << std::endl;
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}
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}
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break;
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default:
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sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
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"to this event message"
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<< std::endl;
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break;
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}
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}
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}
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void AcsSubsystem::announceMode(bool recursive) {
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const char* modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
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sif::info << "ACS subsystem is now in " << modeStr << " mode" << std::endl;
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return Subsystem::announceMode(recursive);
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}
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