RPI updates

bsp_linux_board/InitMission.cpp

@@ -79,73 +79,8 @@ void initmission::initTasks() {
     }
 
     /* PUS Services */
-    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+    std::vector<PeriodicTaskIF*> pusTasks;
-            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+    createPstTasks(*factory, missedDeadlineFunc, pusTasks);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-    if(result != HasReturnvaluesIF::RETURN_OK){
-        sif::error << "Object add component failed" << std::endl;
-    }
-
-    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-    if(result != HasReturnvaluesIF::RETURN_OK){
-        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
-    }
-
-    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("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-    }
-    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
-    }
-
-    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-    }
-    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
-    }
-    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
-    }
-    result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
-    }
-
-    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("PUS17", objects::PUS_SERVICE_17_TEST);
-    }
-    result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("INT_ERR_RPRT",
-                objects::INTERNAL_ERROR_REPORTER);
-    }
-
-    bool startTestPst = true;
-    static_cast<void>(startTestPst);
-#if OBSW_ADD_TEST_PST == 1
-    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
-            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
-    result = pst::pstTest(pstTestTask);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
-        startTestPst = false;
-    }
-#endif /* RPI_TEST_ACS_BOARD == 1 */
 
     std::vector<PeriodicTaskIF*> pstTasks;
     createPstTasks(*factory, missedDeadlineFunc, pstTasks);
@@ -170,12 +105,7 @@ void initmission::initTasks() {
     udpBridgeTask->startTask();
     udpPollingTask->startTask();
 
-    pusVerification->startTask();
+    taskStarter(pusTasks, "PUS Tasks");
-    pusEvents->startTask();
-    pusHighPrio->startTask();
-    pusMedPrio->startTask();
-    pusLowPrio->startTask();
-
 #if OBSW_ADD_TEST_CODE == 1
     taskStarter(testTasks, "Test Tasks");
 #endif /* OBSW_ADD_TEST_CODE == 1 */
@@ -189,6 +119,75 @@ void initmission::initTasks() {
     sif::info << "Tasks started.." << std::endl;
 }
 
+void initmission::createPusTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    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){
+        sif::error << "Object add component failed" << std::endl;
+    }
+    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("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    }
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS9", 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_8_FUNCTION_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+    }
+    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("PUS17", objects::PUS_SERVICE_17_TEST);
+    }
+    result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("INT_ERR_RPRT",
+                objects::INTERNAL_ERROR_REPORTER);
+    }
+    taskVec.push_back(pusLowPrio);
+}
+
 void initmission::createPstTasks(TaskFactory& factory,
         TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@@ -232,4 +231,17 @@ void initmission::createTestTasks(TaskFactory& factory,
         initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
     }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
+
+    bool startTestPst = true;
+    static_cast<void>(startTestPst);
+#if OBSW_ADD_TEST_PST == 1
+    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
+            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+    result = pst::pstTest(pstTestTask);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+        startTestPst = false;
+    }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+
 }

bsp_linux_board/InitMission.h

@@ -17,6 +17,8 @@ void createPstTasks(TaskFactory& factory,
 void createTestTasks(TaskFactory& factory,
         TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*> &taskVec);
+void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+        std::vector<PeriodicTaskIF*>& taskVec);
 };
 
 #endif /* BSP_LINUX_INITMISSION_H_ */