eive-obsw/bsp_q7s/core/scheduling.cpp

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#include "scheduling.h"
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <fsfw/subsystem/Subsystem.h>
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#include <linux/scheduling.h>
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#include <mission/tcs/Max31865Definitions.h>
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#include <iostream>
#include <vector>
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#include "OBSWConfig.h"
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#include "bsp_q7s/core/ObjectFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/platform.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
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#include "mission/pollingSeqTables.h"
#include "mission/scheduling.h"
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#include "mission/utility/InitMission.h"
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/* This is configured for linux without CR */
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#ifdef PLATFORM_UNIX
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ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
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ServiceInterfaceStream sif::error("ERROR");
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#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif
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ObjectManagerIF* objectManager = nullptr;
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void scheduling::initMission() {
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sif::info << "Building global objects.." << std::endl;
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try {
/* Instantiate global object manager and also create all objects */
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
} catch (const std::invalid_argument& e) {
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sif::error << "scheduling::initMission: Object Construction failed with an "
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"invalid argument: "
<< e.what();
std::exit(1);
}
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sif::info << "Initializing all objects.." << std::endl;
ObjectManager::instance()->initialize();
/* This function creates and starts all tasks */
initTasks();
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}
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void scheduling::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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ReturnValue_t result = returnvalue::OK;
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if (factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
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void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
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void (*missedDeadlineFunc)(void) = nullptr;
#endif
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#if OBSW_ADD_SA_DEPL == 1
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// Could add this to the core controller but the core controller does so many thing that I would
// prefer to have the solar array deployment in a seprate task.
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PeriodicTaskIF* solarArrayDeplTask =
factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
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result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
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}
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#endif
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PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
"CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
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}
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/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
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#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
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}
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#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
}
#endif
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#endif
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result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
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}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
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}
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result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
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}
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#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
}
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
"TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
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}
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#endif
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#endif
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PeriodicTaskIF* genericSysTask =
factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
missedDeadlineFunc, &RR_SCHEDULING);
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result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
}
result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
}
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result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
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}
result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
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}
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result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
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#if OBSW_ADD_CCSDS_IP_CORES == 1
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result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
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}
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// Runs in IRQ mode, frequency does not really matter
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PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
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"PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
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result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
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}
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#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
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// All the TM store tasks run in permanent loops, frequency does not matter
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PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
"LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
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result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
}
PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
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"LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
}
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PeriodicTaskIF* hkTmTask =
factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
}
PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
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"CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
}
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// TODO: Use user priorities for this task.
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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PeriodicTaskIF* cfdpTask =
factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
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result = cfdpTask->addComponent(objects::CFDP_HANDLER);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
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}
#endif
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PeriodicTaskIF* gpsTask =
factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
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result = gpsTask->addComponent(objects::GPS_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
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}
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#if OBSW_ADD_ACS_BOARD == 1
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PeriodicTaskIF* acsBrdPolling =
factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
}
#endif
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#if OBSW_ADD_RW == 1
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PeriodicTaskIF* rwPolling =
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factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
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0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = rwPolling->addComponent(objects::RW_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
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}
#endif
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#if OBSW_ADD_MGT == 1
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PeriodicTaskIF* imtqPolling =
factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = imtqPolling->addComponent(objects::IMTQ_POLLING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
}
#endif
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#if OBSW_ADD_SUN_SENSORS == 1
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PeriodicTaskIF* susPolling =
factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = susPolling->addComponent(objects::SUS_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
}
#endif
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PeriodicTaskIF* acsSysTask =
factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
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result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
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result = acsSysTask->addComponent(objects::IMTQ_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
}
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result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
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}
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result = acsSysTask->addComponent(objects::RW_ASSY);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
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}
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result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
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}
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result = acsSysTask->addComponent(objects::STR_ASSY);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
}
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result = acsSysTask->addComponent(objects::GPS_0_HEALTH_DEV);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_0_HEALTH_DEV", objects::GPS_0_HEALTH_DEV);
}
result = acsSysTask->addComponent(objects::GPS_1_HEALTH_DEV);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_1_HEALTH_DEV", objects::GPS_1_HEALTH_DEV);
}
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PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
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"TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
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#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
#endif
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scheduling::scheduleRtdSensors(tcsSystemTask);
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result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
}
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result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
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}
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#if OBSW_ADD_TCS_CTRL == 1
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result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
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}
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#endif
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result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
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}
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#if OBSW_ADD_SYRLINKS == 1
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
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"SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
}
#endif
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#if OBSW_ADD_STAR_TRACKER == 1
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// Relatively high priority to make sure STR COM works well.
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PeriodicTaskIF* strHelperTask =
factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
missedDeadlineFunc, &RR_SCHEDULING);
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result = strHelperTask->addComponent(objects::STR_COM_IF);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
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}
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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// TODO: Use regular scheduler for this task
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#if OBSW_ADD_PLOC_MPSOC == 1
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PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
"PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
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}
#endif /* OBSW_ADD_PLOC_MPSOC */
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// TODO: Use regular scheduler for this task
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#if OBSW_ADD_PLOC_SUPERVISOR == 1
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PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
"PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
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}
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
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"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
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plTask->addComponent(objects::CAM_SWITCHER);
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scheduling::addMpsocSupvHandlers(plTask);
scheduling::scheduleScexDev(plTask);
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexReaderTask;
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scheduling::scheduleScexReader(*factory, scexReaderTask);
#endif
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std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
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AcsPstCfg cfg;
createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
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#if OBSW_ADD_TEST_CODE == 1
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#if OBSW_TEST_CCSDS_BRIDGE == 1
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
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}
#endif
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std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif
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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;
}
}
};
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sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
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#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
udpPollingTask->startTask();
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
tcpPollingTask->startTask();
#endif
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#endif
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genericSysTask->startTask();
#if OBSW_ADD_CCSDS_IP_CORES == 1
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pdecHandlerTask->startTask();
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#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
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liveTmTask->startTask();
logTmTask->startTask();
hkTmTask->startTask();
cfdpTmTask->startTask();
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coreCtrlTask->startTask();
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#if OBSW_ADD_SA_DEPL == 1
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solarArrayDeplTask->startTask();
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#endif
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#if OBSW_ADD_ACS_BOARD == 1
acsBrdPolling->startTask();
#endif
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#if OBSW_ADD_SYRLINKS == 1
syrlinksCom->startTask();
#endif
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#if OBSW_ADD_MGT == 1
imtqPolling->startTask();
#endif
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#if OBSW_ADD_SUN_SENSORS == 1
susPolling->startTask();
#endif
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taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
scexReaderTask->startTask();
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#endif
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#if OBSW_TEST_CCSDS_BRIDGE == 1
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ptmeTestTask->startTask();
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#endif
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#if OBSW_ADD_CFDP_COMPONENTS == 1
cfdpTask->startTask();
#endif
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#if OBSW_ADD_STAR_TRACKER == 1
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strHelperTask->startTask();
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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#if OBSW_ADD_RW == 1
rwPolling->startTask();
#endif
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gpsTask->startTask();
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acsSysTask->startTask();
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if (not tcsSystemTask->isEmpty()) {
tcsSystemTask->startTask();
}
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#if OBSW_ADD_PLOC_SUPERVISOR == 1
supvHelperTask->startTask();
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#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
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plTask->startTask();
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#endif
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sif::info << "Tasks started.." << std::endl;
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}
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void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
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ReturnValue_t result = returnvalue::OK;
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#ifdef RELEASE_BUILD
static constexpr float acsPstPeriod = 0.4;
#else
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static constexpr float acsPstPeriod = 0.4;
#endif
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FixedTimeslotTaskIF* acsTcsPst =
factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
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result = pst::pstTcsAndAcs(acsTcsPst, cfg);
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if (result != returnvalue::OK) {
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if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
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sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
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} else {
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sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
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}
} else {
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taskVec.push_back(acsTcsPst);
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}
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/* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
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FixedTimeslotTaskIF* syrlinksPst =
factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
missedDeadlineFunc, &RR_SCHEDULING);
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result = pst::pstSyrlinks(syrlinksPst);
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if (result != returnvalue::OK) {
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if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
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sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
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} else {
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sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
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}
} else {
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taskVec.push_back(syrlinksPst);
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}
#endif
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#if OBSW_ADD_I2C_TEST_CODE == 0
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FixedTimeslotTaskIF* i2cPst =
factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
missedDeadlineFunc, &RR_SCHEDULING);
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result = pst::pstI2cProcessingSystem(i2cPst);
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if (result != returnvalue::OK) {
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if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
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sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
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} else {
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sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
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}
} else {
taskVec.push_back(i2cPst);
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}
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#endif
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FixedTimeslotTaskIF* gomSpacePstTask =
factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
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0.25, missedDeadlineFunc, &RR_SCHEDULING);
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result = pst::pstGompaceCan(gomSpacePstTask);
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if (result != returnvalue::OK) {
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if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
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sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
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}
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}
taskVec.push_back(gomSpacePstTask);
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}
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void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
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ReturnValue_t result = returnvalue::OK;
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/* PUS Services */
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PeriodicTaskIF* pusHighPrio =
factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
missedDeadlineFunc, &RR_SCHEDULING);
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
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}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
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}
taskVec.push_back(pusHighPrio);
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PeriodicTaskIF* pusMedPrio =
factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
missedDeadlineFunc, &RR_SCHEDULING);
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
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}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
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}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
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}
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taskVec.push_back(pusMedPrio);
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}
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void scheduling::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
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#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
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ReturnValue_t result = returnvalue::OK;
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static_cast<void>(result); // supress warning in case it is not used
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PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
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result = testTask->addComponent(objects::TEST_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#if OBSW_ADD_SPI_TEST_CODE == 1
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result = testTask->addComponent(objects::SPI_TEST);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
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}
#endif
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#if OBSW_ADD_I2C_TEST_CODE == 1
result = testTask->addComponent(objects::I2C_TEST);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
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}
#endif
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#if OBSW_ADD_UART_TEST_CODE == 1
result = testTask->addComponent(objects::UART_TEST);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
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}
#endif
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taskVec.push_back(testTask);
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#endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
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}
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/**
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**/