eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

better missed deadline handling

Browse Source
This commit is contained in:
Robin Müller 2021-02-22 18:46:45 +01:00 committed by Robin Mueller
parent 430cf22973
commit 557a5fa45f
19 changed files with 136 additions and 227 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
bsp_hosted/InitMission.cpp
View File

@ -30,7 +30,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF *objectManager = nullptr;
void InitMission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce); objectManager = new ObjectManager(ObjectFactory::produce);
@ -41,7 +41,7 @@ void InitMission::initMission() {
initTasks(); initTasks();
} }
void InitMission::initTasks(){ void initmission::initTasks(){
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()-> PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,

2
bsp_hosted/InitMission.h
View File

@ -1,7 +1,7 @@
#ifndef BSP_LINUX_INITMISSION_H_ #ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_
namespace InitMission { namespace initmission {
void initMission(); void initMission();
void initTasks(); void initTasks();
}; };

2
bsp_hosted/main.cpp
View File

@ -24,7 +24,7 @@ int main(void)
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl; << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
InitMission::initMission(); initmission::initMission();
for(;;) { for(;;) {
// suspend main thread by sleeping it. // suspend main thread by sleeping it.

62
bsp_q7s/InitMission.cpp
View File

@ -30,7 +30,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF *objectManager = nullptr;
void InitMission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce); objectManager = new ObjectManager(ObjectFactory::produce);
@ -41,96 +41,102 @@ void InitMission::initMission() {
initTasks(); initTasks();
} }
void InitMission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) { if(factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
} }
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc) (void) = nullptr;
#endif
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent( ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR); objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
} }
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR); initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
} }
result = tmTcDistributor->addComponent(objects::TM_FUNNEL); result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL); initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
} }
/* UDP bridge */ /* UDP bridge */
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask( PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr); "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE); result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE); initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
} }
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr); "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK); result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK); initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
} }
/* PUS Services */ /* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask( PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
} }
PeriodicTaskIF* pusEvents = factory->createPeriodicTask( PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
} }
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, nullptr); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
} }
//TODO: Add handling of missed deadlines //TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */ /* Polling Sequence Table Default */
FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask( FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, nullptr); "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault); result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
@ -139,7 +145,7 @@ void InitMission::initTasks() {
#if TE0720 == 0 #if TE0720 == 0
FixedTimeslotTaskIF* gomSpacePstTask = factory-> FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50, createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr); PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
result = pst::gomspacePstInit(gomSpacePstTask); result = pst::gomspacePstInit(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
@ -147,17 +153,17 @@ void InitMission::initTasks() {
#endif #endif
PeriodicTaskIF* testTask = factory->createPeriodicTask( PeriodicTaskIF* testTask = factory->createPeriodicTask(
"GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr); "GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1 #if TE0720 == 1 && TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST); result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
} }
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */ #endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */

2
bsp_q7s/InitMission.h
View File

@ -1,7 +1,7 @@
#ifndef BSP_Q7S_INITMISSION_H_ #ifndef BSP_Q7S_INITMISSION_H_
#define BSP_Q7S_INITMISSION_H_ #define BSP_Q7S_INITMISSION_H_
namespace InitMission { namespace initmission {
void initMission(); void initMission();
void initTasks(); void initTasks();
}; };

6
bsp_q7s/main.cpp
View File

@ -13,15 +13,15 @@
int main(void) int main(void)
{ {
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux " << " --" << std::endl; std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "." std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl; << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
InitMission::initMission(); initmission::initMission();
for(;;) { for(;;) {
// suspend main thread by sleeping it. /* Suspend main thread by sleeping it. */
TaskFactory::delayTask(5000); TaskFactory::delayTask(5000);
} }
} }

84
bsp_rpi/InitMission.cpp
View File

@ -9,7 +9,7 @@
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h> #include <fsfw/tasks/PeriodicTaskIF.h>
@ -24,7 +24,7 @@ ServiceInterfaceStream sif::error("ERROR");
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF *objectManager = nullptr;
void InitMission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce); objectManager = new ObjectManager(ObjectFactory::produce);
@ -35,11 +35,21 @@ void InitMission::initMission() {
initTasks(); initTasks();
} }
void InitMission::initTasks(){ void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc) (void) = nullptr;
#endif
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = TaskFactory::instance()-> PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
0.100, nullptr);
ReturnValue_t result = tmTcDistributor->addComponent( ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR); objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK){
@ -55,95 +65,85 @@ void InitMission::initTasks(){
} }
/* UDP bridge */ /* UDP bridge */
PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask( PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
0.2, nullptr);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE); result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; sif::error << "Add component UDP Unix Bridge failed" << std::endl;
} }
PeriodicTaskIF* udpPollingTask = TaskFactory::instance()-> PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
createPeriodicTask("UDP_POLLING", 80, "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK); result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
/* PUS Services */ /* PUS Services */
PeriodicTaskIF* pusVerification = TaskFactory::instance()-> PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
createPeriodicTask("PUS_VERIF", 40, "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
PeriodicTaskIF* pusEvents = TaskFactory::instance()-> PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
createPeriodicTask("PUS_EVENTS", 60, "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK){
InitMission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
PeriodicTaskIF* pusHighPrio = TaskFactory::instance()-> PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
createPeriodicTask("PUS_HIGH_PRIO", 50, "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
} }
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
} }
PeriodicTaskIF* pusMedPrio = TaskFactory::instance()-> PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
createPeriodicTask("PUS_HIGH_PRIO", 40, "PUS_HIGH_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
} }
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS); initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
} }
PeriodicTaskIF* pusLowPrio = TaskFactory::instance()-> PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
createPeriodicTask("PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
1.6, nullptr);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST); initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
} }
PeriodicTaskIF* testTask = TaskFactory::instance()-> PeriodicTaskIF* testTask = factory->createPeriodicTask(
createPeriodicTask("SPI_TEST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
2.0, nullptr);
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
#if RPI_ADD_SPI_TEST == 1 #if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST); result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("SPI_TEST", objects::SPI_TEST); initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
} }
#endif /* RPI_ADD_SPI_TEST == 1 */ #endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1 #if RPI_ADD_GPIO_TEST == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST); result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
InitMission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
} }
#endif /* RPI_ADD_GPIO_TEST == 1 */ #endif /* RPI_ADD_GPIO_TEST == 1 */

2
bsp_rpi/InitMission.h
View File

@ -1,7 +1,7 @@
#ifndef BSP_LINUX_INITMISSION_H_ #ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_
namespace InitMission { namespace initmission {
void initMission(); void initMission();
void initTasks(); void initTasks();
}; };

18
bsp_rpi/ObjectFactory.cpp
View File

@ -1,5 +1,4 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include <bsp_rpi/boardtest/SpiTest.h>
#include <bsp_rpi/gpio/GPIORPi.h> #include <bsp_rpi/gpio/GPIORPi.h>
#include <objects/systemObjectList.h> #include <objects/systemObjectList.h>
@ -8,18 +7,21 @@
#include <tmtc/apid.h> #include <tmtc/apid.h>
#include <tmtc/pusIds.h> #include <tmtc/pusIds.h>
#include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h> #include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h> #include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h> #include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h> #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h> #include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <linux/boardtest/LibgpiodTest.h> #include <fsfw/tasks/TaskFactory.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
void Factory::setStaticFrameworkObjectIds() { void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -52,7 +54,7 @@ void ObjectFactory::produce(){
new LinuxLibgpioIF(objects::GPIO_IF); new LinuxLibgpioIF(objects::GPIO_IF);
#if RPI_ADD_SPI_TEST == 1 #if RPI_ADD_SPI_TEST == 1
new SpiTest(objects::SPI_TEST); new SpiTestClass(objects::SPI_TEST);
#endif #endif
#if RPI_LOOPBACK_TEST_GPIO == 1 #if RPI_LOOPBACK_TEST_GPIO == 1

1
bsp_rpi/boardtest/CMakeLists.txt
View File

@ -1,5 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE target_sources(${TARGET_NAME} PRIVATE
SpiTest.cpp
) )

61
bsp_rpi/boardtest/SpiTest.cpp
View File

@ -1,61 +0,0 @@
#include "SpiTest.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fcntl.h>
#include <sys/ioctl.h>
SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
sif::info << "Setting up Raspberry Pi WiringPi library." << std::endl;
// wiringPiSetupGpio();
// pinMode(SS_MGM_0_LIS3, OUTPUT);
// pinMode(SS_MGM_1_RM, OUTPUT);
// pinMode(SS_GYRO_0_ADIS, OUTPUT);
// pinMode(SS_GYRO_1_L3G, OUTPUT);
// pinMode(SS_GYRO_2_L3G, OUTPUT);
// pinMode(SS_MGM_2_LIS3, OUTPUT);
// pinMode(SS_MGM_3_RM, OUTPUT);
//
// digitalWrite(SS_MGM_0_LIS3, HIGH);
// digitalWrite(SS_MGM_1_RM, HIGH);
// digitalWrite(SS_GYRO_0_ADIS, HIGH);
// digitalWrite(SS_GYRO_1_L3G, HIGH);
// digitalWrite(SS_GYRO_2_L3G, HIGH);
// digitalWrite(SS_MGM_2_LIS3, HIGH);
// digitalWrite(SS_MGM_3_RM, HIGH);
int spiFd = open(spiDeviceName.c_str(), O_RDWR);
if (spiFd < 0){
sif::error << "Could not open SPI device!" << std::endl;
}
spiMode = SPI_MODE_3;
int ret = ioctl(spiFd, SPI_IOC_WR_MODE, &spiMode);
if(ret < 0) {
sif::error << "Could not set write mode!" << std::endl;
}
/* Datenrate setzen */
ret = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed);
if(ret < 0) {
sif::error << "Could not SPI speed!" << std::endl;
}
}
ReturnValue_t SpiTest::performOperation(uint8_t opCode) {
if(oneShot) {
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiTest::initialize() {
//transferHandle.rx_buf = reinterpret_cast<__u64>(receiveBuffer);
//transferHandle.tx_buf = reinterpret_cast<__u64>(sendBuffer);
//transferHandle.speed_hz = 976000;
//transferHandle.len = 2;
return HasReturnvaluesIF::RETURN_OK;
}

45
bsp_rpi/boardtest/SpiTest.h
View File

@ -1,45 +0,0 @@
#ifndef BSP_LINUX_TEST_SPITEST_H_
#define BSP_LINUX_TEST_SPITEST_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <linux/spi/spidev.h>
#include <string>
class SpiTest:
public SystemObject,
public ExecutableObjectIF {
public:
SpiTest(object_id_t objectId);
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initialize() override;
private:
// These chip selects (BCM number) will be pulled high if not used
// ACS board specific.
enum SpiChipSelects {
SS_MGM_0_LIS3 = 0, //!< MGM 0, LIS3MDLTR, U6, A side
SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
};
const std::string spiDeviceName = "/dev/spidev0.0";
int spiFd = 0;
uint8_t spiMode = SPI_MODE_3;
uint32_t spiSpeed = 976000;
uint8_t sendBuffer[32];
uint8_t receiveBuffer[32];
struct spi_ioc_transfer transferHandle;
bool oneShot = true;
};
#endif /* BSP_LINUX_TEST_SPITEST_H_ */

10
bsp_rpi/main.cpp
View File

@ -1,12 +1,10 @@
#include "InitMission.h" #include "InitMission.h"
#include <OBSWVersion.h> #include <OBSWVersion.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <iostream> #include <iostream>
#include <unistd.h>
/** /**
* @brief This is the main program for the target hardware. * @brief This is the main program for the target hardware.
* @return * @return
@ -14,15 +12,15 @@
int main(void) int main(void)
{ {
std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux " << " --" << std::endl; std::cout << "-- Compiled for Linux (Raspberry Pi) --" << std::endl;
std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "." std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl; << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
InitMission::initMission(); initmission::initMission();
for(;;) { for(;;) {
// suspend main thread by sleeping it. /* suspend main thread by sleeping it. */
TaskFactory::delayTask(5000); TaskFactory::delayTask(5000);
} }
} }

2
fsfw

@ -1 +1 @@
Subproject commit c28398257b68facbabb19d7228b045f1388305df Subproject commit 144375827441b80a601579fe4395e3bbc19df92c

1
fsfwconfig/OBSWConfig.h
View File

@ -14,6 +14,7 @@
/* These defines should be disabled for mission code but are useful for /* These defines should be disabled for mission code but are useful for
debugging. */ debugging. */
#define OBSW_VERBOSE_LEVEL 1 #define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0 #define TEST_LIBGPIOD 0

17
linux/boardtest/LibgpiodTest.cpp
View File

@ -3,6 +3,7 @@
#include <fsfwconfig/devices/gpioIds.h> #include <fsfwconfig/devices/gpioIds.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/tasks/TaskFactory.h>
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
GpioCookie* gpioCookie): GpioCookie* gpioCookie):
@ -75,6 +76,22 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
<< std::endl; << std::endl;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction:"
"GPIO pulled low successfully for loopback test" << std::endl;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
sif::info << "LibgpiodTest::performOneShotAction:"
"GPIO state read successfully and is low" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
break; break;
} }
} }

4
mission/utility/InitMission.h
View File

@ -4,7 +4,7 @@
#include <fsfw/objectmanager/SystemObjectIF.h> #include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
namespace InitMission { namespace initmission {
void printAddObjectError(const char* name, object_id_t objectId) { void printAddObjectError(const char* name, object_id_t objectId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -14,7 +14,7 @@ void printAddObjectError(const char* name, object_id_t objectId) {
#else #else
sif::printError("InitMission::printAddError: Adding object %s with object ID 0x%08x failed!\n" , sif::printError("InitMission::printAddError: Adding object %s with object ID 0x%08x failed!\n" ,
name, objectId); name, objectId);
#endif #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
} }
} }

21
test/testtasks/TestTask.cpp
View File

@ -8,14 +8,9 @@
#include <array> #include <array>
#include <cstring> #include <cstring>
bool TestTask::oneShotAction = true;
MutexIF* TestTask::testLock = nullptr;
TestTask::TestTask(object_id_t objectId_): TestTask::TestTask(object_id_t objectId_):
SystemObject(objectId_), testMode(testModes::A) { SystemObject(objectId_), testMode(testModes::A) {
if(testLock == nullptr) {
testLock = MutexFactory::instance()->createMutex();
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE); IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
} }
@ -24,19 +19,17 @@ TestTask::~TestTask() {
ReturnValue_t TestTask::performOperation(uint8_t operationCode) { ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
sif::info << "Hallo EIVE!" << std::endl;
testLock ->lockMutex(MutexIF::TimeoutType::WAITING, 20);
if(oneShotAction) { if(oneShotAction) {
// Add code here which should only be run once /* Add code here which should only be run once */
performOneShotAction(); performOneShotAction();
oneShotAction = false; oneShotAction = false;
} }
testLock->unlockMutex();
// Add code here which should only be run once per performOperation /* Add code here which should only be run once per performOperation */
performPeriodicAction(); performPeriodicAction();
// Add code here which should only be run on alternating cycles. /* Add code here which should only be run on alternating cycles. */
if(testMode == testModes::A) { if(testMode == testModes::A) {
performActionA(); performActionA();
testMode = testModes::B; testMode = testModes::B;
@ -49,7 +42,7 @@ ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
} }
ReturnValue_t TestTask::performOneShotAction() { ReturnValue_t TestTask::performOneShotAction() {
// Everything here will only be performed once. /* Everything here will only be performed once. */
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -61,12 +54,12 @@ ReturnValue_t TestTask::performPeriodicAction() {
ReturnValue_t TestTask::performActionA() { ReturnValue_t TestTask::performActionA() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
// Add periodically executed code here /* Add periodically executed code here */
return result; return result;
} }
ReturnValue_t TestTask::performActionB() { ReturnValue_t TestTask::performActionB() {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
// Add periodically executed code here /* Add periodically executed code here */
return result; return result;
} }

3
test/testtasks/TestTask.h
View File

@ -48,8 +48,7 @@ protected:
private: private:
// Actually, to be really thread-safe, a mutex should be used as well // Actually, to be really thread-safe, a mutex should be used as well
// Let's keep it simple for now. // Let's keep it simple for now.
static bool oneShotAction; bool oneShotAction = true;
static MutexIF* testLock;
StorageManagerIF* IPCStore; StorageManagerIF* IPCStore;
}; };