eive/eive-obsw
eive/eive-obsw
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Merge branch 'master' into develop

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Robin Müller 2020-12-14 22:12:42 +01:00
commit 45283131e3
54 changed files with 666 additions and 300 deletions
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8
Makefile
View File

@ -22,7 +22,7 @@ CUSTOM_DEFINES += -DLINUX
# General folder paths
FRAMEWORK_PATH = fsfw
MISSION_PATH = mission
CONFIG_PATH = config
CONFIG_PATH = fsfwconfig
TEST_PATH = test
UNITTEST_PATH = unittest
@ -50,7 +50,7 @@ endif
BUILDPATH = _bin
DEPENDPATH = _dep
OBJECTPATH = _obj
ifeq ($(MAKECMDGOALS),release)
ifeq ($(MAKECMDGOALS), release)
BUILD_FOLDER = mission
else
BUILD_FOLDER = devel
@ -70,7 +70,11 @@ CLEANBIN2 = $(BUILDPATH)/$(OUTPUT_FOLDER)/devel
#-------------------------------------------------------------------------------
# Tool suffix when cross-compiling
ifdef HOST_LINUX
CROSS_COMPILE =
else
CROSS_COMPILE = arm-linux-gnueabihf-
endif
ifdef WINDOWS
# C Compiler

2
Makefile-Hosted
View File

@ -58,7 +58,7 @@ endif
# General folder paths
FRAMEWORK_PATH = fsfw
MISSION_PATH = mission
CONFIG_PATH = $(BOARD_FILE_ROOT)/config
CONFIG_PATH = $(BOARD_FILE_ROOT)/fsfwconfig
TEST_PATH = test
UNITTEST_PATH = unittest

152
README.md
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@ -1,6 +1,9 @@
# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
## General information
Target systems:
* OBC
* Xiphos Q7S
* Based on Zynq-7020 SoC (xc7z020clg484-2)
@ -12,24 +15,36 @@
* Linux OS
* Built with Yocto 2.5
* Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git
* Host System
* Generic software components which are not dependant on hardware can also
be run. All host code is contained in the hosted folder
* Tested for Linux (Ubuntu 20.04) and Windows 10
## Setting up development environment
* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html
* Install Vivado 2018.2 and Xilinx SDK from https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/vivado-design-tools/archive.html.
Install the Vivado Design Suite - HLx Editions - 2018.2 Full Product Installation instead of the updates. It is recommended to use the installer
* Install settings. In the Devices selection, it is sufficient to pick SoC &rarr; Zynq-7000: <br>
<img src="./doc/img/xilinx-install.PNG" width="50%"> <br>
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf
* Add path of linux cross-compiler to environment variables SDK\2018.2\gnu\aarch32\nt\gcc-arm-linux-gnueabi\bin
* Install make (only on windows, SDK on Linux can use the make installed with the SDK)
1. Install NodeJS LTS
2. Install xpm
````
npm install --global xpm
````
3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
````
xpm install --global @xpack-dev-tools/windows-build-tools@latest
````
### Building the software
### Installing make on Windows
1. Install NodeJS LTS
2. Install xpm
```sh
npm install --global xpm
```
3. Install Windows build tools (after installation also linux commands like mkdir can be used from windows)
```sh
xpm install --global @xpack-dev-tools/windows-build-tools@latest
```
## Building the software
1. Clone the repository with
```sh
@ -43,21 +58,23 @@ git submodule sync
git submodule update
```
4. Open Xilinx SDK 2018.2
5. Import project
3. Open Xilinx SDK 2018.2
4. Import project
* File &rarr; Import &rarr; C/C++ &rarr; Existing Code as Makefile Project
6. Set build command
* When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to make -j
5. Set build command. Replace \<target\> with either debug or release.
* When on Linux right click project &rarr; Properties &rarr; C/C++ Build &rarr; Set build command to `make <target> -j`
* -j causes the compiler to use all available cores
* On windows create a make target (Windows &rarr; Show View &rarr; Make Target)
* The target is used to either compile the debug or the optimized release build.
* On windows create a make target additionally (Windows &rarr; Show View &rarr; Make Target)
* Right click eive_obsw &rarr; New
* Target name: all
* Uncheck "Same as the target name"
* Uncheck "Use builder settings"
* As build command type: <path to make>\make -j all WINDOWS=1
7. Run build command (double click the generated target)
* As build command type: `make -j <target> WINDOWS=1`
6. Run build command by double clicking the created target or by right clicking
the project folder and selecting Build Project.
### Debugging the software (when workstation is directly conncected to Q7S)
## Debugging the software (when workstation is directly conncected to Q7S)
1. Assign static IP address to Q7S
* Open serial console of Q7S (Accessible via the micro-USB of the PIM, see also Q7S user maunal chapter 10.3)
* Baudrate 115200
@ -65,35 +82,43 @@ git submodule update
* user: root
* pw: root
* Set IP address and netmask with
````
ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
````
```sh
ifconfig eth0 192.168.133.10
ifconfig eth0 netmask 255.255.255.0
```
2. Connect Q7S to workstation via ethernet
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
is 192.168.133.2
4. Run tcf-agent on Q7S
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
````
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
cd org.eclipse.tcf.agent/agent
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
````
```sh
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
cd org.eclipse.tcf.agent/agent
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
```
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
````
cd obj/GNU/Linux/arm/Debug
scp agent root@192.168.133.10:/tmp
````
```sh
cd obj/GNU/Linux/arm/Debug
scp agent root@192.168.133.10:/tmp
```
* On Q7S
````
cd /tmp
chmod +x agent
````
```sh
cd /tmp
chmod +x agent
```
* Run agent
````
./agent
````
```sh
./agent
```
5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
@ -106,15 +131,15 @@ git submodule update
* Local File Path: Path to eiveobsw-linux.elf (in _bin\linux\devel)
* Remote File Path: /tmp/eive_obsw.elf
### Debugging the software via Flatsat PC
## Debugging the software via Flatsat PC
Open SSH connection to flatsat PC:
````
ssh eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
````
To access the console of the Q7S run the following:
````
sudo picocom -b 115200 /dev/ttyUSB0
````
```sh
picocom -b 115200 /dev/ttyUSB0
```
To debug an application, first make sure a static IP address is assigned to the Q7S. Run ifconfig on the Q7S serial console.
````
ifconfig
@ -134,7 +159,7 @@ Note: When now setting up a debug session in the Xilinx SDK, the host must be se
of the Q7S.
### Launching an application after boot
## Launching an application after boot
Load the root partiton from the flash memory (there are to nor-flash memories and each flash holds two xdi images).
Note: It is not possible to modify the current loaded root partition.
1. Disable write protection of the desired root partition
@ -186,14 +211,30 @@ systemctl status example
````
More detailed information about the used q7s commands can be found in the Q7S user manual.
### Update file in rootfs
### Bringing up CAN
````
writeprotect 0 0 0 # qspi0 nom unlock (see also Q7S user manual)
ip link set can0 down
ip link set can0 type can loopback off
ip link set can0 up type can bitrate 1000000
````
Following command sends 8 bytes to device with id 99 (for petalinux)
````
cansend can0 -i99 99 88 77 11 33 11 22 99
````
For Q7S use this:
````
cansend can0 5A1#11.22.33.44.55.66.77.88
````
Turn loopback mode on:
````
ip link set can0 type can bitrate 1000000 loopback on
````
Reading data from CAN:
````
candump can0
````
### Setting up UNIX environment for real-time functionalities
## Setting up UNIX environment for real-time functionalities
Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities
used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks
and configuring real-time properites like scheduling priorities.
@ -252,7 +293,18 @@ a permanent solution). If running the script before executing the binary does
not help or an warning is issue that the soft real time value is invalid,
the hard real-time limit of the system might not be high enough (see step 1).
### Flight Software Framework (FSFW)
## Building and running the software on a host system
The host build can be built with following command
```sh
make -f Makefile-Hosted all -j
```
If compiling on Windows, it is recommended to supply `WINDOWS=1` .
A release build can be built by using the `mission` target.
## Flight Software Framework (FSFW)
An EIVE fork of the FSFW is submodules into this repository.
To add the master upstream branch and merge changes and updates from it

9
mission/core/InitMission.cpp → bsp_linux/InitMission.cpp
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@ -1,8 +1,5 @@
#include "InitMission.h"
#include <OBSWConfig.h>
#include <config/objects/systemObjectList.h>
#include <mission/core/ObjectFactory.h>
#include <bsp_linux/InitMission.h>
#include <bsp_linux/ObjectFactory.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -12,6 +9,8 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <iostream>

9
bsp_linux/InitMission.h Normal file
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@ -0,0 +1,9 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
namespace InitMission {
void initMission();
void initTasks();
};
#endif /* BSP_LINUX_INITMISSION_H_ */

42
bsp_linux/ObjectFactory.cpp Normal file
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@ -0,0 +1,42 @@
#include "ObjectFactory.h"
#include <objects/systemObjectList.h>
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
}

6
mission/core/ObjectFactory.h → bsp_linux/ObjectFactory.h
View File

@ -5,8 +5,8 @@
* Author: steffen
*/
#ifndef MISSION_CORE_OBJECTFACTORY_H_
#define MISSION_CORE_OBJECTFACTORY_H_
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
@ -14,4 +14,4 @@ namespace ObjectFactory {
void produce();
};
#endif /* MISSION_CORE_OBJECTFACTORY_H_ */
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

15
bsp_linux/main.cpp
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@ -1,25 +1,22 @@
#if defined(GCOV)
#include <boardconfig/gcov.h>
#endif
#include "InitMission.h"
#include <mission/core/InitMission.h>
#include <OBSWVersion.h>
#include <fsfw/tasks/TaskFactory.h>
#include <iostream>
#include <version.h>
#include <unistd.h>
/**
* @brief This is the main program for the hosted build. It can be run for
* Linux and Windows.
* @brief This is the main program for the target hardware.
* @return
*/
int main(void)
{
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux " << " --" << std::endl;
std::cout << "-- Software version v" << SW_VERSION << "." << SW_SUBVERSION
<< " -- " << std::endl;
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
InitMission::initMission();

10
config/tmtc/tmTcSize.h
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@ -1,10 +0,0 @@
#ifndef CONFIG_TMTC_TMTCSIZE_H_
#define CONFIG_TMTC_TMTCSIZE_H_
#include <cstdint>
namespace tmtcsize {
static const uint32_t MAX_TM_PACKET = 50;
}
#endif /* CONFIG_TMTC_TMTCSIZE_H_ */

9
config/version.h
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@ -1,9 +0,0 @@
#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
#define SW_VERSION 0
#define SW_SUBVERSION 1
#endif /* CONFIG_VERSION_H_ */

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54
fsfwconfig/FSFWConfig.h Normal file
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@ -0,0 +1,54 @@
#ifndef FSFWCONFIG_FSFWCONFIG_H_
#define FSFWCONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size
//! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
#define FSFW_DEBUG_OUTPUT 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#include <translateObjects.h>
#include <translateEvents.h>
#else
#define FSFW_DEBUG_OUTPUT 0
#endif
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC
//! short timestamp.
static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}
#endif /* FSFWCONFIG_FSFWCONFIG_H_ */

8
config/OBSWConfig.h → fsfwconfig/OBSWConfig.h
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@ -3,12 +3,12 @@
* code inclusion exclusion or various other project constants and
* properties in one place.
*/
#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_
#define OBSW_ADD_TEST_CODE 1
#define OBSW_ADD_TEST_CODE 0
// Define not used yet, PUS stack and TMTC tasks are always started
#define ADD_PUS_STACK 1
#endif /* CONFIG_OBSWCONFIG_H_ */
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

13
fsfwconfig/OBSWVersion.h Normal file
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@ -0,0 +1,13 @@
#ifndef FSFWCONFIG_OBSWVERSION_H_
#define FSFWCONFIG_OBSWVERSION_H_
//! TODO: Think of a cool name for the software releases.
const char* const SW_NAME = "eive";
#define SW_VERSION 0
#define SW_SUBVERSION 2
#define SW_SUBSUBVERSION 0
#endif /* FSFWCONFIG_OBSWVERSION_H_ */

2
config/cdatapool/dataPoolInit.cpp → fsfwconfig/cdatapool/dataPoolInit.cpp
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@ -1,4 +1,4 @@
#include "dataPoolInit.h"
#include <fsfwconfig/cdatapool/dataPoolInit.h>
void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap) {

6
config/cdatapool/dataPoolInit.h → fsfwconfig/cdatapool/dataPoolInit.h
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@ -1,5 +1,5 @@
#ifndef CONFIG_CDATAPOOL_DATAPOOLINIT_H_
#define CONFIG_CDATAPOOL_DATAPOOLINIT_H_
#ifndef FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_
#define FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_
#include <fsfw/datapool/DataPool.h>
@ -10,4 +10,4 @@ namespace datapool{
NO_PARAMETER = 0,
};
}
#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
#endif /* FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_ */

2
config/devices/logicalAddresses.cpp → fsfwconfig/devices/logicalAddresses.cpp
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@ -4,7 +4,7 @@
* \date 06.11.2019
*/
#include "logicalAddresses.h"
#include <fsfwconfig/devices/logicalAddresses.h>

8
config/devices/logicalAddresses.h → fsfwconfig/devices/logicalAddresses.h
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@ -4,11 +4,11 @@
* \date 07.11.2019
*/
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#ifndef FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_
#define FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_
#include <stdint.h>
#include <config/objects/systemObjectList.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
namespace addresses {
/* Logical addresses have uint32_t datatype */
@ -23,4 +23,4 @@ namespace addresses {
}
#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */
#endif /* FSFWCONFIG_DEVICES_LOGICALADDRESSES_H_ */

2
config/devices/powerSwitcherList.cpp → fsfwconfig/devices/powerSwitcherList.cpp
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@ -4,7 +4,7 @@
* @date 28.11.2019
*/
#include "powerSwitcherList.h"
#include <fsfwconfig/devices/powerSwitcherList.h>

6
config/devices/powerSwitcherList.h → fsfwconfig/devices/powerSwitcherList.h
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@ -4,8 +4,8 @@
* @date 28.11.2019
*/
#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
@ -19,4 +19,4 @@ namespace switches {
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */
#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

6
config/events/subsystemIdRanges.h → fsfwconfig/events/subsystemIdRanges.h
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@ -1,5 +1,5 @@
#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#ifndef FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#define FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
#include <fsfw/events/fwSubsystemIdRanges.h>
#include <cstdint>
@ -21,4 +21,4 @@ enum: uint8_t {
};
}
#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
#endif /* FSFWCONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

2
config/events/translateEvents.cpp → fsfwconfig/events/translateEvents.cpp
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@ -2,7 +2,7 @@
* @brief Auto-generated event translation file. Contains 80 translations.
* Generated on: 2020-05-02 20:13:41
*/
#include "translateEvents.h"
#include <fsfwconfig/events/translateEvents.h>
const char *GPS_STARTUP_FAILED_STRING = "GPS_STARTUP_FAILED";
const char *GPS_FIX_STRING = "GPS_FIX";

6
config/events/translateEvents.h → fsfwconfig/events/translateEvents.h
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@ -5,12 +5,12 @@
* Author: Robin
*/
#ifndef CONFIG_EVENTS_TRANSLATEEVENTS_H_
#define CONFIG_EVENTS_TRANSLATEEVENTS_H_
#ifndef FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
#define FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_
#include <fsfw/events/Event.h>
const char * translateEvents(Event event);
#endif /* CONFIG_EVENTS_TRANSLATEEVENTS_H_ */
#endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_H_ */

0
config/config.mk → fsfwconfig/fsfwconfig.mk
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2
config/ipc/MissionMessageTypes.cpp → fsfwconfig/ipc/MissionMessageTypes.cpp
View File

@ -1,5 +1,5 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
#include <fsfwconfig/ipc/MissionMessageTypes.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
// switch(message->getMessageType()) {

6
hosted/config/ipc/MissionMessageTypes.h → fsfwconfig/ipc/MissionMessageTypes.h
View File

@ -1,5 +1,5 @@
#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
#ifndef FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_
#define FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/FwMessageTypes.h>
@ -19,4 +19,4 @@ enum MESSAGE_TYPE {
void clearMissionMessage(CommandMessage* message);
}
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */
#endif /* FSFWCONFIG_IPC_MISSIONMESSAGETYPES_H_ */

0
config/objects/systemObjectList.h → fsfwconfig/objects/systemObjectList.h
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2
config/objects/translateObjects.cpp → fsfwconfig/objects/translateObjects.cpp
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@ -1,5 +1,5 @@
/* Auto-generated event translation file. Contains 77 translations. */
#include <config/objects/translateObjects.h>
#include <fsfwconfig/objects/translateObjects.h>
const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
const char *ARDUINO_0_STRING = "ARDUINO_0";

6
config/objects/translateObjects.h → fsfwconfig/objects/translateObjects.h
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@ -5,12 +5,12 @@
* Author: Robin
*/
#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#ifndef FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#define FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#include <fsfw/objectmanager/ObjectManagerIF.h>
const char* translateObject(object_id_t object);
#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
#endif /* FSFWCONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

5
config/pollingsequence/PollingSequenceFactory.cpp → fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
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@ -1,10 +1,9 @@
#include <PollingSequenceFactory.h>
#include <systemObjectList.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{

0
config/pollingsequence/PollingSequenceFactory.h → fsfwconfig/pollingsequence/PollingSequenceFactory.h
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19
fsfwconfig/returnvalues/classIds.h Normal file
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@ -0,0 +1,19 @@
#ifndef FSFWCONFIG_RETURNVALUES_CLASSIDS_H_
#define FSFWCONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
/**
* Source IDs starts at 73 for now
* Framework IDs for ReturnValues run from 0 to 56
* and are located inside <fsfw/returnvalues/FwClassIds.h>
*/
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
MGM_LIS3MDL
};
}
#endif /* FSFWCONFIG_RETURNVALUES_CLASSIDS_H_ */

6
config/tmtc/apid.h → fsfwconfig/tmtc/apid.h
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@ -1,5 +1,5 @@
#ifndef CONFIG_TMTC_APID_H_
#define CONFIG_TMTC_APID_H_
#ifndef FSFWCONFIG_TMTC_APID_H_
#define FSFWCONFIG_TMTC_APID_H_
#include <stdint.h>
@ -16,4 +16,4 @@ namespace apid {
}
#endif /* CONFIG_TMTC_APID_H_ */
#endif /* FSFWCONFIG_TMTC_APID_H_ */

0
config/tmtc/pusIds.h → fsfwconfig/tmtc/pusIds.h
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10
fsfwconfig/tmtc/tmTcSize.h Normal file
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@ -0,0 +1,10 @@
#ifndef FSFWCONFIG_TMTC_TMTCSIZE_H_
#define FSFWCONFIG_TMTC_TMTCSIZE_H_
#include <cstdint>
namespace tmtcsize {
static const uint32_t MAX_TM_PACKET = 50;
}
#endif /* FSFWCONFIG_TMTC_TMTCSIZE_H_ */

159
hosted/InitMission.cpp Normal file
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@ -0,0 +1,159 @@
#include <bsp_linux/InitMission.h>
#include <bsp_linux/ObjectFactory.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/datapool/DataPool.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <iostream>
// This is configured for linux without \cr
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#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;
//Initialize Data Pool
DataPool dataPool(nullptr);
void InitMission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce);
sif::info << "Initializing all objects.." << std::endl;
objectManager->initialize();
/* This function creates and starts all tasks */
initTasks();
}
void InitMission::initTasks(){
/* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.100, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* PusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.6, nullptr);
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
#if OBSW_ADD_TEST_CODE == 1
FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
createFixedTimeslotTask("PST_TEST_TASK", 10,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = pst::pollingSequenceTestFunction(TestTimeslotTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks: Test PST initialization "
<< "failed!" << std::endl;
}
#endif
//Main thread sleep
sif::info << "Starting tasks.." << std::endl;
TmTcDistributor->startTask();
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
PusVerification->startTask();
PusEvents->startTask();
PusHighPrio->startTask();
PusMedPrio->startTask();
PusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
TestTimeslotTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
}

9
hosted/InitMission.h Normal file
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@ -0,0 +1,9 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
namespace InitMission {
void initMission();
void initTasks();
};
#endif /* BSP_LINUX_INITMISSION_H_ */

61
hosted/ObjectFactory.cpp Normal file
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@ -0,0 +1,61 @@
#include "ObjectFactory.h"
#include <objects/systemObjectList.h>
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#ifdef LINUX
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#elif WIN32
#include <fsfw/osal/windows/TcWinUdpPollingTask.h>
#include <fsfw/osal/windows/TmTcWinUdpBridge.h>
#endif
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#if OBSW_ADD_TEST_CODE == 1
#include <test/testtasks/TestTask.h>
#endif
void Factory::setStaticFrameworkObjectIds(){
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(){
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
#ifdef LINUX
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
#elif WIN32
new TmTcWinUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
objects::TC_STORE);
new TcWinUdpPollingTask(objects::UDP_POLLING_TASK,
objects::UDP_BRIDGE);
#endif
}

17
hosted/ObjectFactory.h Normal file
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@ -0,0 +1,17 @@
/*
* ObjectFactory.h
*
* Created on: Sep 22, 2020
* Author: steffen
*/
#ifndef BSP_LINUX_OBJECTFACTORY_H_
#define BSP_LINUX_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce();
};
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

9
hosted/config/FSFWConfig.h
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@ -1,9 +0,0 @@
#ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 0
#endif /* CONFIG_FSFWCONFIG_H_ */

9
hosted/config/version.h
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@ -1,9 +0,0 @@
#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
#define SW_VERSION 0
#define SW_SUBVERSION 1
#endif /* CONFIG_VERSION_H_ */

0
config/FSFWConfig.h → hosted/fsfwconfig/FSFWConfig.h
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0
hosted/config/OBSWConfig.h → hosted/fsfwconfig/OBSWConfig.h
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12
hosted/fsfwconfig/OBSWVersion.h Normal file
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@ -0,0 +1,12 @@
#ifndef FSFWCONFIG_OBSWVERSION_H_
#define FSFWCONFIG_OBSWVERSION_H_
const char* const SW_NAME = "eive";
#define SW_VERSION 0
#define SW_SUBVERSION 2
#define SW_SUBSUBVERSION 0
#endif /* FSFWCONFIG_OBSWVERSION_H_ */

0
hosted/config/events/subsystemIdRanges.h → hosted/fsfwconfig/events/subsystemIdRanges.h
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0
hosted/config/config.mk → hosted/fsfwconfig/fsfwconfig.mk
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2
hosted/config/ipc/MissionMessageTypes.cpp → hosted/fsfwconfig/ipc/MissionMessageTypes.cpp
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@ -1,5 +1,5 @@
#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
#include <hosted/fsfwconfig/ipc/MissionMessageTypes.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
switch(message->getMessageType()) {

0
config/ipc/MissionMessageTypes.h → hosted/fsfwconfig/ipc/MissionMessageTypes.h
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9
config/returnvalues/classIds.h → hosted/fsfwconfig/returnvalues/classIds.h
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@ -1,13 +1,8 @@
/*
* classIds.h
*
* Created on: 16.07.2018
* Author: mohr
*/
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
#include <fsfw/returnvalues/FwClassIds.h>
/**
* Source IDs starts at 73 for now
* Framework IDs for ReturnValues run from 0 to 56

8
hosted/main.cpp
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@ -1,8 +1,8 @@
#include <mission/core/InitMission.h>
#include <bsp_linux/InitMission.h>
#include <fsfw/tasks/TaskFactory.h>
#include <hosted/fsfwconfig/OBSWVersion.h>
#include <iostream>
#include <version.h>
#ifdef WIN32
static const char* COMPILE_PRINTOUT = "Windows";
@ -20,8 +20,8 @@ int main(void)
{
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
std::cout << "-- Software version v" << SW_VERSION << "." << SW_SUBVERSION
<< " -- " << std::endl;
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
InitMission::initMission();

83
mission/core/GenericFactory.cpp Normal file
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@ -0,0 +1,83 @@
#include "GenericFactory.h"
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/tmtc/apid.h>
#include <fsfwconfig/tmtc/pusIds.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/pus/CService200ModeCommanding.h>
#include <fsfw/pus/Service17Test.h>
#include <fsfw/pus/Service1TelecommandVerification.h>
#include <fsfw/pus/Service2DeviceAccess.h>
#include <fsfw/pus/Service5EventReporting.h>
#include <fsfw/pus/Service8FunctionManagement.h>
#include <fsfw/pus/Service9TimeManagement.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tcdistribution/CCSDSDistributor.h>
#include <fsfw/tcdistribution/PUSDistributor.h>
#include <fsfw/timemanager/TimeStamper.h>
#include <mission/utility/TmFunnel.h>
void ObjectFactory::produceGenericObjects() {
/* Framework objects */
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
new TimeStamper(objects::TIME_STAMPER);
{
static constexpr uint8_t NUMBER_OF_POOLS = 5;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
n_elements);
}
{
static constexpr uint8_t NUMBER_OF_POOLS = 5;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
n_elements);
}
{
static constexpr uint8_t NUMBER_OF_POOLS = 6;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
1024, 2048, 4096};
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
n_elements);
}
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
objects::CCSDS_PACKET_DISTRIBUTOR);
/* TMTC Reception via UDP socket */
new TmFunnel(objects::TM_FUNNEL);
/* PUS stack */
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
apid::EIVE_OBSW, pus::PUS_SERVICE_5, 50);
new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 10);
new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_9);
new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW,
pus::PUS_SERVICE_17);
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_200);
/* Test Device Handler */
#if OBSW_ADD_TEST_CODE == 1
new TestTask(objects::TEST_TASK);
#endif
}

12
mission/core/GenericFactory.h Normal file
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@ -0,0 +1,12 @@
#ifndef MISSION_CORE_GENERICFACTORY_H_
#define MISSION_CORE_GENERICFACTORY_H_
namespace ObjectFactory {
void produceGenericObjects();
}
#endif /* MISSION_CORE_GENERICFACTORY_H_ */

9
mission/core/InitMission.h
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@ -1,9 +0,0 @@
#ifndef MISSION_CORE_INITMISSION_H_
#define MISSION_CORE_INITMISSION_H_
namespace InitMission {
void initMission();
void initTasks();
};
#endif /* MISSION_CORE_INITMISSION_H_ */

134
mission/core/ObjectFactory.cpp
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@ -1,134 +0,0 @@
#include "ObjectFactory.h"
#include <config/OBSWConfig.h>
#include <config/objects/systemObjectList.h>
#include <config/tmtc/apid.h>
#include <config/tmtc/pusIds.h>
#include <mission/utility/TmFunnel.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/timemanager/TimeStamper.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/monitoring/MonitoringMessageContent.h>
#include <fsfw/tcdistribution/CCSDSDistributor.h>
#include <fsfw/tcdistribution/PUSDistributor.h>
#include <fsfw/pus/Service1TelecommandVerification.h>
#include <fsfw/pus/Service2DeviceAccess.h>
#include <fsfw/pus/Service5EventReporting.h>
#include <fsfw/pus/Service8FunctionManagement.h>
#include <fsfw/pus/Service9TimeManagement.h>
#include <fsfw/pus/Service17Test.h>
#include <fsfw/pus/CService200ModeCommanding.h>
#include "../../fsfw/devicehandlers/CookieIF.h"
#include "../../hosted/comIF/ArduinoComIF.h"
#ifdef LINUX
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#elif WIN32
#include <fsfw/osal/windows/TcWinUdpPollingTask.h>
#include <fsfw/osal/windows/TmTcWinUdpBridge.h>
#endif
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#if ADD_TEST_CODE == 1
//#include <test/TestCookie.h>
//#include <test/TestDeviceHandler.h>
#include <test/testtasks/TestTask.h>
//#include <test/TestEchoComIF.h>
#endif
void Factory::setStaticFrameworkObjectIds(){
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(){
Factory::setStaticFrameworkObjectIds();
/* Framework objects */
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
new TimeStamper(objects::TIME_STAMPER);
{
static constexpr uint8_t NUMBER_OF_POOLS = 5;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
n_elements);
}
{
static constexpr uint8_t NUMBER_OF_POOLS = 5;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
n_elements);
}
{
static constexpr uint8_t NUMBER_OF_POOLS = 6;
const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
1024, 2048, 4096};
const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
n_elements);
}
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
objects::CCSDS_PACKET_DISTRIBUTOR);
/* TMTC Reception via UDP socket */
new TmFunnel(objects::TM_FUNNEL);
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
/* PUS stack */
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
apid::EIVE_OBSW, pus::PUS_SERVICE_5, 50);
new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 10);
new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_9);
new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW,
pus::PUS_SERVICE_17);
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
apid::EIVE_OBSW, pus::PUS_SERVICE_200);
/* Test Device Handler */
#if ADD_TEST_CODE == 1
new TestTask(objects::TEST_TASK);
// CookieIF* testCookie = new TestCookie(0);
// new TestEchoComIF(objects::TEST_ECHO_COM_IF);
// new TestDevice(objects::TEST_DEVICE_HANDLER, objects::TEST_ECHO_COM_IF,
// testCookie, true);
new ArduinoComIF(objects::ARDUINO_COM_IF, true, nullptr);
#endif
}