eive/eive-obsw
eive/eive-obsw
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improved naming of tmtc bridge and tmtc polling task

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This commit is contained in:
Jakob Meier 2022-02-05 15:38:13 +01:00
parent e67bcd4e26
commit 19c97546b6
1 changed files with 74 additions and 16 deletions
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90
bsp_linux_board/InitMission.cpp
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@ -63,6 +63,7 @@ void initmission::initTasks() {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
/* UDP bridge */
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
@ -80,21 +81,12 @@ void initmission::initTasks() {
std::vector<PeriodicTaskIF*> pusTasks; std::vector<PeriodicTaskIF*> pusTasks;
createPusTasks(*factory, missedDeadlineFunc, pusTasks); createPusTasks(*factory, missedDeadlineFunc, pusTasks);
FixedTimeslotTaskIF* pst = factory.createFixedTimeslotTask( std::vector<PeriodicTaskIF*> pstTasks;
"STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); createPstTasks(*factory, missedDeadlineFunc, pstTasks);
result = pst::pstUart(Pst); #if OBSW_ADD_TEST_CODE == 1
if (result != HasReturnvaluesIF::RETURN_OK) { std::vector<PeriodicTaskIF*> testTasks;
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; createTestTasks(*factory, missedDeadlineFunc, pstTasks);
} #endif /* OBSW_ADD_TEST_CODE == 1 */
taskVec.push_back(pst);
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = strHelperTask->addComponent(objects::STR_HELPER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
}
taskvec.push_back(strHelperTask);
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) { auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for (const auto& task : taskVector) { for (const auto& task : taskVector) {
@ -107,12 +99,21 @@ void initmission::initTasks() {
}; };
sif::info << "Starting tasks.." << std::endl; sif::info << "Starting tasks.." << std::endl;
tmtcDistributor->startTask(); tmTcDistributor->startTask();
tmtcBridgeTask->startTask(); tmtcBridgeTask->startTask();
tmtcPollingTask->startTask(); tmtcPollingTask->startTask();
taskStarter(pusTasks, "PUS Tasks");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test Tasks");
#endif /* OBSW_ADD_TEST_CODE == 1 */
taskStarter(pstTasks, "PST Tasks"); taskStarter(pstTasks, "PST Tasks");
#if OBSW_ADD_TEST_PST == 1
if (startTestPst) {
pstTestTask->startTask();
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }
@ -184,3 +185,60 @@ void initmission::createPusTasks(TaskFactory& factory,
} }
taskVec.push_back(pusLowPrio); taskVec.push_back(pusLowPrio);
} }
void initmission::createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
taskVec.push_back(spiPst);
#endif
}
void initmission::createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
#if RPI_ADD_UART_TEST == 1
result = testTask->addComponent(objects::UART_TEST);
if (result != HasReturnvaluesIF::RETURN_OK) {
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(
"TEST_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 */
}