eive-obsw/bsp_q7s/core/InitMission.cpp

#include "bsp_q7s/core/InitMission.h"

#include <fsfw/devicehandlers/DeviceCommunicationIF.h>

#include <iostream>
#include <vector>

#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"

/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif

ObjectManagerIF* objectManager = nullptr;






#ifdef FSFW_INTROSPECTION
void printEnum(ParameterIF* param) {
  size_t i = 0;
  for (auto iter : param->getEnumValues()) {
    printf("---enum value %li: \"%s\"\n", iter, param->getEnumDescriptions()[i++]);
  }
}
/*void printEnum(HousekeepingEntryIF* param) {
  size_t i = 0;
  for (auto iter : param->getEnumValues()) {
    printf("---enum value %li: \"%s\"\n", iter, param->getEnumDescriptions()[i++]);
  }
}

void printModes(HasModesIF* object) {
  ModeHelperIF* modeHelper = object->getModeHelper();

  auto modes = modeHelper->getModes();

  for (auto mode : modes) {
    auto submodes = modeHelper->getSubmodes(mode.first);
    if (submodes.size() == 0) {
      continue;
    }
    printf("-mode \"%s\" (%i) with \n", mode.second, mode.first);
    for (auto submode : submodes) {
      printf("--submode \"%s\" (%i)\n", submode.second, submode.first);
    }
  }
}*/

void printAction(HasActionsIF* actionIf) {
  auto actionMap = actionIf->getActionHelper()->getActionMap();

  for (auto iter = actionMap->begin(); iter != actionMap->end(); iter++) {
    printf("-action \"%s\" (%i) with \n", iter->second->getName(), iter->second->getId());
    auto parameterList = iter->second->getParameters();
    for (ParameterIF* param : *parameterList) {
      printf("--parameter \"%s\"  %.3E, %.3E\n", param->getName(), param->getMinFloating(),
             param->getMaxFloating());
      if (param->getType() == Types::ENUM) {
        printEnum(param);
      }
    }
  }
}

/*
void printHousekeeping(HousekeepingIF* housekeepingIF) {
  auto dataSets = housekeepingIF->getHousekeepingHelper()->getDataSets();

  for (auto iter : *dataSets) {
    printf("-SID \"%s\" (%i) with:\n", iter.second->getDescription(), iter.first);
    for (HousekeepingEntryIF* param : *(iter.second->getVariables())) {
      printf("--parameter \"%s\"\n", param->getName());
      if (param->getType() == Types::ENUM) {
        printEnum(param);
      }
    }
  }
}

const char* getClassName(uint8_t classId) {
  CLASS_ID::FwClassIds fwClassId(classId);
  const char* description = fwClassId.getDescription();
  if (description != nullptr) {
    return description;
  }

  return "UNKNOWN";
}

void printReturnCodes() {
  puts("\nReturnvalues");
  for (auto iter : ReturnValueItems::returnValues) {
    uint8_t classId = iter.first >> 8;
    printf("-\"%s:%s\" (%04x)\n", getClassName(classId), iter.second, iter.first);
  }
}

void printEvents() {
  puts("\nEvents");
  for (auto iter : EventItems::events) {
    uint8_t classId = iter.first >> 8;
    printf("-\"%s:%s\" (%06x)\n", getClassName(classId), iter.second, iter.first);
  }
}*/


#endif













void initmission::initMission() {
  sif::info << "Building global objects.." << std::endl;
  try {
    /* Instantiate global object manager and also create all objects */
    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
  } catch (const std::invalid_argument& e) {
    sif::error << "initmission::initMission: Object Construction failed with an "
                  "invalid argument: "
               << e.what();
    std::exit(1);
  }

  #ifdef FSFW_INTROSPECTION
  sif::info << "Introspecting.." << std::endl;
  ObjectManager::instance()->produce();
  auto objectList = ObjectManager::instance()->getObjectList();

  sif::info << "Looping.." << std::endl;
  for (auto iter : *objectList) {
    const char * name = "UNKNOWN";
    commonObjects commonObjectId(iter.first);
    if (commonObjectId.isValid()){
      name = commonObjectId.getDescription();
    }
    systemObjects systemObject(iter.first);
    if( systemObject.isValid()){
      name = systemObject.getDescription();
    }
    printf("Object \"%s\" (0x%08x)\n", name, iter.first);

    HasActionsIF* actionIf = dynamic_cast<HasActionsIF*>(iter.second);
    if (actionIf != nullptr) {
      printAction(actionIf);
    }

    /*HasModesIF* hasmodesIF = dynamic_cast<HasModesIF*>(iter.second);
    if (hasmodesIF != nullptr) {
      printModes(hasmodesIF);
    }

    HousekeepingIF* hasHousekeeping = dynamic_cast<HousekeepingIF*>(iter.second);
    if (hasHousekeeping != nullptr) {
      printHousekeeping(hasHousekeeping);
    }*/
  }

  // printReturnCodes();

  // printEvents();

  exit(0);
  #endif

  sif::info << "Initializing all objects.." << std::endl;
  ObjectManager::instance()->initialize();

  /* This function creates and starts all tasks */
  initTasks();
}

void initmission::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
  }
#if OBSW_PRINT_MISSED_DEADLINES == 1
  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
  void (*missedDeadlineFunc)(void) = nullptr;
#endif

  PeriodicTaskIF* coreController = factory->createPeriodicTask(
      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = coreController->addComponent(commonObjects::CORE_CONTROLLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("CORE_CTRL", commonObjects::CORE_CONTROLLER);
  }

  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmTcDistributor->addComponent(commonObjects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("CCSDS_DISTRIB", commonObjects::CCSDS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(commonObjects::PUS_PACKET_DISTRIBUTOR);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_PACKET_DISTRIB", commonObjects::PUS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(systemObjects::TM_FUNNEL);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TM_FUNNEL", systemObjects::TM_FUNNEL);
  }

#if OBSW_ADD_TCPIP_BRIDGE == 1
  // TMTC bridge
  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(commonObjects::TMTC_BRIDGE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TMTC_BRIDGE", commonObjects::TMTC_BRIDGE);
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(commonObjects::TMTC_POLLING_TASK);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("UDP_POLLING", commonObjects::TMTC_POLLING_TASK);
  }
#endif

#if OBSW_USE_CCSDS_IP_CORE == 1
  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ccsdsHandlerTask->addComponent(commonObjects::CCSDS_HANDLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("CCSDS Handler", commonObjects::CCSDS_HANDLER);
  }

  // Minimal distance between two received TCs amounts to 0.6 seconds
  // If a command has not been read before the next one arrives, the old command will be
  // overwritten by the PDEC.
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = pdecHandlerTask->addComponent(commonObjects::PDEC_HANDLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PDEC Handler", commonObjects::PDEC_HANDLER);
  }
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

#if OBSW_ADD_ACS_HANDLERS == 1
  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  result = acsTask->addComponent(commonObjects::GPS_CONTROLLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("GPS_CTRL", commonObjects::GPS_CONTROLLER);
  }
#endif /* OBSW_ADD_ACS_HANDLERS */

  acsTask->addComponent(commonObjects::ACS_CONTROLLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("ACS_CTRL", commonObjects::ACS_CONTROLLER);
  }

  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  static_cast<void>(sysTask);
#if OBSW_ADD_ACS_HANDLERS == 1
  result = sysTask->addComponent(commonObjects::ACS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("ACS_BOARD_ASS", commonObjects::ACS_BOARD_ASS);
  }
#endif /* OBSW_ADD_ACS_HANDLERS */
#if OBSW_ADD_RW == 1
  result = sysTask->addComponent(commonObjects::RW_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("RW_ASS", commonObjects::RW_ASS);
  }
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1
  result = sysTask->addComponent(commonObjects::SUS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SUS_BOARD_ASS", commonObjects::SUS_BOARD_ASS);
  }
#endif

#if OBSW_ADD_RTD_DEVICES == 1
  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
  result = tcsPollingTask->addComponent(systemObjects::SPI_RTD_COM_IF);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SPI_RTD_POLLING", systemObjects::SPI_RTD_COM_IF);
  }
  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
      commonObjects::RTD_0_IC3_PLOC_HEATSPREADER,
      commonObjects::RTD_1_IC4_PLOC_MISSIONBOARD,
      commonObjects::RTD_2_IC5_4K_CAMERA,
      commonObjects::RTD_3_IC6_DAC_HEATSPREADER,
      commonObjects::RTD_4_IC7_STARTRACKER,
      commonObjects::RTD_5_IC8_RW1_MX_MY,
      commonObjects::RTD_6_IC9_DRO,
      commonObjects::RTD_7_IC10_SCEX,
      commonObjects::RTD_8_IC11_X8,
      commonObjects::RTD_9_IC12_HPA,
      commonObjects::RTD_10_IC13_PL_TX,
      commonObjects::RTD_11_IC14_MPA,
      commonObjects::RTD_12_IC15_ACU,
      commonObjects::RTD_13_IC16_PLPCDU_HEATSPREADER,
      commonObjects::RTD_14_IC17_TCS_BOARD,
      commonObjects::RTD_15_IC18_IMTQ,
  };
  tcsTask->addComponent(commonObjects::TCS_BOARD_ASS);
  tcsTask->addComponent(commonObjects::THERMAL_CONTROLLER);
  for (const auto& rtd : rtdIds) {
    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
  }
#endif /* OBSW_ADD_RTD_DEVICES */

  // FS task, task interval does not matter because it runs in permanent loop, priority low
  // because it is a non-essential background task
  PeriodicTaskIF* fsTask = factory->createPeriodicTask(
      "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = fsTask->addComponent(commonObjects::FILE_SYSTEM_HANDLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("FILE_SYSTEM_TASK", commonObjects::FILE_SYSTEM_HANDLER);
  }

#if OBSW_ADD_STAR_TRACKER == 1
  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = strHelperTask->addComponent(commonObjects::STR_HELPER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("STR_HELPER", commonObjects::STR_HELPER);
  }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#if OBSW_ADD_PLOC_MPSOC == 1
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(commonObjects::PLOC_MPSOC_HELPER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PLOC_MPSOC_HELPER", commonObjects::PLOC_MPSOC_HELPER);
  }
#endif /* OBSW_ADD_PLOC_MPSOC */

#if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(commonObjects::PLOC_SUPERVISOR_HELPER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PLOC_SUPV_HELPER", commonObjects::PLOC_SUPERVISOR_HELPER);
  }
#endif /* OBSW_ADD_PLOC_SUPERVISOR */

#if OBSW_TEST_CCSDS_BRIDGE == 1
  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ptmeTestTask->addComponent(commonObjects::CCSDS_IP_CORE_BRIDGE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PTME_TEST", commonObjects::CCSDS_IP_CORE_BRIDGE);
  }
#endif

  std::vector<PeriodicTaskIF*> pusTasks;
  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
  std::vector<PeriodicTaskIF*> pstTasks;
  createPstTasks(*factory, missedDeadlineFunc, pstTasks);

#if OBSW_ADD_TEST_CODE == 1
  std::vector<PeriodicTaskIF*> testTasks;
  createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif

  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
    for (const auto& task : taskVector) {
      if (task != nullptr) {
        task->startTask();
      } else {
        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
      }
    }
  };

  sif::info << "Starting tasks.." << std::endl;
  tmTcDistributor->startTask();

#if OBSW_ADD_TCPIP_BRIDGE == 1
  tmtcBridgeTask->startTask();
  tmtcPollingTask->startTask();
#endif

#if OBSW_USE_CCSDS_IP_CORE == 1
  ccsdsHandlerTask->startTask();
  pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

  coreController->startTask();

  taskStarter(pstTasks, "PST task vector");
  taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
  taskStarter(testTasks, "Test task vector");
#endif

#if OBSW_TEST_CCSDS_BRIDGE == 1
  ptmeTestTask->startTask();
#endif

  fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
  strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#if OBSW_ADD_ACS_HANDLERS == 1
  acsTask->startTask();
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
  sysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
  tcsPollingTask->startTask();
  tcsTask->startTask();
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
  sif::info << "Tasks started.." << std::endl;
}

void initmission::createPstTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = pst::pstSpi(spiPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(spiPst);
  }
#endif

#if OBSW_ADD_RW == 1
  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
  result = pst::pstSpiRw(rwPstTask);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(rwPstTask);
  }
#endif

  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstUart(uartPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(uartPst);
  }

  FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
  result = pst::pstGpio(gpioPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(gpioPst);
  }
#if OBSW_ADD_I2C_TEST_CODE == 0
  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstI2c(i2cPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(i2cPst);
  }
#endif

#if OBSW_ADD_GOMSPACE_PCDU == 1
  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstGompaceCan(gomSpacePstTask);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
    }
  }
  taskVec.push_back(gomSpacePstTask);
#endif
}

void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  /* PUS Services */
  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
  }
  taskVec.push_back(pusVerification);

  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);

  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);

  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);

  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
  }
  taskVec.push_back(pusMedPrio);

  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
}

void initmission::createTestTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  static_cast<void>(result);  // supress warning in case it is not used

  PeriodicTaskIF* testTask = factory.createPeriodicTask(
      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);

  result = testTask->addComponent(commonObjects::TEST_TASK);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TEST_TASK", commonObjects::TEST_TASK);
  }

#if OBSW_ADD_SPI_TEST_CODE == 1
  result = testTask->addComponent(commonObjects::SPI_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SPI_TEST", commonObjects::SPI_TEST);
  }
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
  result = testTask->addComponent(commonObjects::I2C_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("I2C_TEST", commonObjects::I2C_TEST);
  }
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
  result = testTask->addComponent(commonObjects::UART_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("UART_TEST", commonObjects::UART_TEST);
  }
#endif

  taskVec.push_back(testTask);

#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
}

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