eive-obsw/bsp_q7s/scheduling.cpp

#include "scheduling.h"

#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <linux/scheduling.h>
#include <mission/tcs/Max31865Definitions.h>

#include <iostream>
#include <vector>

#include "OBSWConfig.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/pollingSeqTables.h"
#include "mission/scheduling.h"
#include "mission/utility/InitMission.h"
#include "objectFactory.h"
#include "q7sConfig.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;

void scheduling::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 << "scheduling::initMission: Object Construction failed with an "
                  "invalid argument: "
               << e.what();
    std::exit(1);
  }

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

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

void scheduling::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
  ReturnValue_t result = returnvalue::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

#if OBSW_ADD_SA_DEPL == 1
  // 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.
  PeriodicTaskIF* solarArrayDeplTask =
      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
  }
#endif

  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }

  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
  }
#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
#endif
  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
  }

#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);
  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);
  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
  }
#endif
#endif

  PeriodicTaskIF* genericSysTask =
      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
                                  missedDeadlineFunc, &RR_SCHEDULING);
  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);
  }
  result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
  }
  result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
  }
  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);
  }

#if OBSW_ADD_CCSDS_IP_CORES == 1
  result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

  // Runs in IRQ mode, frequency does not really matter
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
  }

#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
  // All the TM store tasks run in permanent loops, frequency does not matter
  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
  }
  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  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);
  }
  PeriodicTaskIF* hkTmTask =
      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  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(
      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  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);
  }

  // TODO: Use user priorities for this task.
#if OBSW_ADD_CFDP_COMPONENTS == 1
  PeriodicTaskIF* cfdpTask =
      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
  }
#endif

  PeriodicTaskIF* gpsTask =
      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }

#if OBSW_ADD_ACS_BOARD == 1
  PeriodicTaskIF* acsBrdPolling =
      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
  }
#endif

#if OBSW_ADD_RW == 1
  PeriodicTaskIF* rwPolling =
      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
  }
#endif
#if OBSW_ADD_MGT == 1
  PeriodicTaskIF* imtqPolling =
      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
  }
#endif

#if OBSW_ADD_SUN_SENSORS == 1
  PeriodicTaskIF* susPolling =
      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = susPolling->addComponent(objects::SUS_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
  }
#endif

  PeriodicTaskIF* acsSysTask =
      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
  }
  result = acsSysTask->addComponent(objects::IMTQ_ASSY);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
  }
  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
  }
  result = acsSysTask->addComponent(objects::RW_ASSY);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
  }
  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
  }
  result = acsSysTask->addComponent(objects::STR_ASSY);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
  }
  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);
  }

  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
      "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
  tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
#endif
  scheduling::scheduleRtdSensors(tcsSystemTask);
  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
  }
  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
  }
#if OBSW_ADD_TCS_CTRL == 1
  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }
#endif
  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
  }
  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
  }

#if OBSW_ADD_SYRLINKS == 1
  PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
      "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
  }
#endif

#if OBSW_ADD_STAR_TRACKER == 1
  // Relatively high priority to make sure STR COM works well.
  PeriodicTaskIF* strHelperTask =
      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = strHelperTask->addComponent(objects::STR_COM_IF);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
  }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#if OBSW_ADD_PLOC_MPSOC == 1
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
      "PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
  }
#endif /* OBSW_ADD_PLOC_MPSOC */

  // TODO: Use regular scheduler for this task
#if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
  }
#endif /* OBSW_ADD_PLOC_SUPERVISOR */

  PeriodicTaskIF* plTask = factory->createPeriodicTask(
      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
  plTask->addComponent(objects::CAM_SWITCHER);
  scheduling::addMpsocSupvHandlers(plTask);
  scheduling::scheduleScexDev(plTask);

#if OBSW_ADD_SCEX_DEVICE == 1
  PeriodicTaskIF* scexReaderTask;
  scheduling::scheduleScexReader(*factory, scexReaderTask);
#endif

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

#if OBSW_ADD_TEST_CODE == 1
#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) {
    scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
  }
#endif
  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_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  udpPollingTask->startTask();
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
  tcpPollingTask->startTask();
#endif
#endif

  genericSysTask->startTask();
#if OBSW_ADD_CCSDS_IP_CORES == 1
  pdecHandlerTask->startTask();
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
  liveTmTask->startTask();
  logTmTask->startTask();
  hkTmTask->startTask();
  cfdpTmTask->startTask();

  coreCtrlTask->startTask();
#if OBSW_ADD_SA_DEPL == 1
  solarArrayDeplTask->startTask();
#endif
#if OBSW_ADD_ACS_BOARD == 1
  acsBrdPolling->startTask();
#endif
#if OBSW_ADD_SYRLINKS == 1
  syrlinksCom->startTask();
#endif
#if OBSW_ADD_MGT == 1
  imtqPolling->startTask();
#endif
#if OBSW_ADD_SUN_SENSORS == 1
  susPolling->startTask();
#endif

  taskStarter(pstTasks, "PST task vector");
  taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
  scexReaderTask->startTask();
#endif

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

#if OBSW_ADD_CFDP_COMPONENTS == 1
  cfdpTask->startTask();
#endif

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

#if OBSW_ADD_RW == 1
  rwPolling->startTask();
#endif
  gpsTask->startTask();
  acsSysTask->startTask();
  if (not tcsSystemTask->isEmpty()) {
    tcsSystemTask->startTask();
  }
#if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
#if OBSW_ADD_PLOC_MPSOC == 1
  mpsocHelperTask->startTask();
#endif
  plTask->startTask();

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

  sif::info << "Tasks started.." << std::endl;
}

void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                std::vector<PeriodicTaskIF*>& taskVec, AcsPstCfg cfg) {
  ReturnValue_t result = returnvalue::OK;

#ifdef RELEASE_BUILD
  static constexpr float acsPstPeriod = 0.4;
#else
  static constexpr float acsPstPeriod = 0.4;
#endif
  FixedTimeslotTaskIF* acsTcsPst =
      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(acsTcsPst);
  }

  /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* syrlinksPst =
      factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
                                      missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstSyrlinks(syrlinksPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(syrlinksPst);
  }
#endif

#if OBSW_ADD_I2C_TEST_CODE == 0
  FixedTimeslotTaskIF* i2cPst =
      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
                                      missedDeadlineFunc, &RR_SCHEDULING);
  pst::TmpSchedConfig tmpSchedConf;
#if OBSW_Q7S_EM == 1
  tmpSchedConf.scheduleTmpDev0 = true;
  tmpSchedConf.scheduleTmpDev1 = true;
  tmpSchedConf.schedulePlPcduDev0 = true;
  tmpSchedConf.schedulePlPcduDev1 = true;
  tmpSchedConf.scheduleIfBoardDev = true;
#endif
  result = pst::pstI2c(tmpSchedConf, i2cPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(i2cPst);
  }
#endif

  FixedTimeslotTaskIF* gomSpacePstTask =
      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
                                      0.25, missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstGompaceCan(gomSpacePstTask);
  if (result != returnvalue::OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
    }
  }
  taskVec.push_back(gomSpacePstTask);
}

void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = returnvalue::OK;
  /* PUS Services */
  PeriodicTaskIF* pusHighPrio =
      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
                                 missedDeadlineFunc, &RR_SCHEDULING);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);

  PeriodicTaskIF* pusMedPrio =
      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
                                 missedDeadlineFunc, &RR_SCHEDULING);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  taskVec.push_back(pusMedPrio);
}

void scheduling::createTestTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
  ReturnValue_t result = returnvalue::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(objects::TEST_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }

#if OBSW_ADD_SPI_TEST_CODE == 1
  result = testTask->addComponent(objects::SPI_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
  }
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
  result = testTask->addComponent(objects::I2C_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
  }
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
  result = testTask->addComponent(objects::UART_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
  }
#endif

  taskVec.push_back(testTask);

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

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