From 674865429fc73a6ad5c69d37e6377e1f237693f6 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 19 Jul 2021 13:15:45 +0200 Subject: [PATCH] some refactoring --- bsp_q7s/core/InitMission.cpp | 224 +++++++++++++++++++---------------- bsp_q7s/core/InitMission.h | 13 ++ fsfw | 2 +- 3 files changed, 137 insertions(+), 102 deletions(-) diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp index fd94b863..cd7b0d21 100644 --- a/bsp_q7s/core/InitMission.cpp +++ b/bsp_q7s/core/InitMission.cpp @@ -3,20 +3,22 @@ #include "OBSWConfig.h" #include "pollingsequence/pollingSequenceFactory.h" -#include +#include "mission/utility/InitMission.h" -#include -#include -#include -#include -#include -#include -#include +#include "fsfw/platform.h" +#include "fsfw/objectmanager/ObjectManagerIF.h" +#include "fsfw/returnvalues/HasReturnvaluesIF.h" +#include "fsfw/serviceinterface/ServiceInterfaceStream.h" +#include "fsfw/objectmanager/ObjectManager.h" +#include "fsfw/tasks/FixedTimeslotTaskIF.h" +#include "fsfw/tasks/PeriodicTaskIF.h" +#include "fsfw/tasks/TaskFactory.h" #include +#include /* This is configured for linux without CR */ -#ifdef LINUX +#ifdef PLATFORM_UNIX ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::warning("WARNING"); @@ -102,15 +104,111 @@ void initmission::initTasks() { } #endif + std::vector pusTasks; + createPusTasks(*factory, missedDeadlineFunc, pusTasks); + std::vector pstTasks; + createPstTasks(*factory, missedDeadlineFunc, pstTasks); + std::vector testTasks; + createTestTasks(*factory, missedDeadlineFunc, testTasks); + + auto taskStarter = [](std::vector& taskVector, std::string name) { + for(const auto& task: taskVector) { + if(task != nullptr) { + task->startTask(); + } + else { + sif::error << "Task in vector " << name << " is invalid!" << std::endl; + } + } + }; + + sif::info << "Starting tasks.." << std::endl; + tmTcDistributor->startTask(); + udpBridgeTask->startTask(); + udpPollingTask->startTask(); + coreController->startTask(); + + taskStarter(pstTasks, "PST task vector"); + taskStarter(pusTasks, "PUS task vector"); +#if OBSW_ADD_TEST_CODE == 1 + taskStarter(testTasks, "Test task vector"); +#endif + +#if TEST_CCSDS_BRIDGE == 1 + ptmeTestTask->startTask(); +#endif + sif::info << "Tasks started.." << std::endl; +} + +void initmission::createPstTasks(TaskFactory& factory, + TaskDeadlineMissedFunction missedDeadlineFunc, std::vector &taskVec) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; +#if BOARD_TE0720 == 0 + /* Polling Sequence Table Default */ +#if Q7S_ADD_SPI_TEST == 0 + FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( + "PST_TASK_DEFAULT", 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 + + FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask( + "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); + result = pst::pstUart(uartPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + taskVec.push_back(uartPst); + FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask( + "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); + result = pst::pstGpio(gpioPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + taskVec.push_back(gpioPst); + FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( + "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); + result = pst::pstI2c(i2cPst); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; + } + + FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( + "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); + result = pst::pstGompaceCan(gomSpacePstTask); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; + } + taskVec.push_back(i2cPst); +#else /* BOARD_TE7020 == 0 */ + FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask( + "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, + missedDeadlineFunc); + result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; + } + taskVec.push_back(pollingSequenceTaskTE0720); +#endif /* BOARD_TE7020 == 1 */ +} + +void initmission::createPusTasks(TaskFactory &factory, + TaskDeadlineMissedFunction missedDeadlineFunc, std::vector &taskVec) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; /* PUS Services */ - PeriodicTaskIF* pusVerification = factory->createPeriodicTask( + 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) { initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); } + taskVec.push_back(pusVerification); - PeriodicTaskIF* pusEvents = factory->createPeriodicTask( + 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) { @@ -120,8 +218,9 @@ void initmission::initTasks() { if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); } + taskVec.push_back(pusEvents); - PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( + 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) { @@ -131,8 +230,9 @@ void initmission::initTasks() { if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT); } + taskVec.push_back(pusHighPrio); - PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask( + 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) { @@ -150,8 +250,9 @@ void initmission::initTasks() { if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS); } + taskVec.push_back(pusMedPrio); - PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( + 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) { @@ -161,58 +262,13 @@ void initmission::initTasks() { if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); } + taskVec.push_back(pusLowPrio); +} -#if BOARD_TE0720 == 0 - //TODO: Add handling of missed deadlines - /* Polling Sequence Table Default */ -#if Q7S_ADD_SPI_TEST == 0 - FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask( - "PST_TASK_DEFAULT", 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; - } -#endif - - FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask( - "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); - result = pst::pstUart(uartPst); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; - } - FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask( - "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); - result = pst::pstGpio(gpioPst); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; - } - FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask( - "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc); - result = pst::pstI2c(i2cPst); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; - } - - FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask( - "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); - result = pst::pstGompaceCan(gomSpacePstTask); - if(result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; - } - -#else /* BOARD_TE7020 == 0 */ - FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask( - "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, - missedDeadlineFunc); - result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; - } -#endif /* BOARD_TE7020 == 1 */ - -#if OBSW_ADD_TEST_CODE == 1 - PeriodicTaskIF* testTask = factory->createPeriodicTask( +void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector& taskVec) { + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + PeriodicTaskIF* testTask = factory.createPeriodicTask( "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc); result = testTask->addComponent(objects::TEST_TASK); if(result != HasReturnvaluesIF::RETURN_OK) { @@ -225,45 +281,11 @@ void initmission::initTasks() { initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); } #endif -#endif /* OBSW_ADD_TEST_CODE == 1 */ #if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 result = testTask->addComponent(objects::LIBGPIOD_TEST); if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); } -#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */ - - sif::info << "Starting tasks.." << std::endl; - tmTcDistributor->startTask(); - udpBridgeTask->startTask(); - udpPollingTask->startTask(); - coreController->startTask(); - -#if BOARD_TE0720 == 0 - uartPst->startTask(); - gpioPst->startTask(); - i2cPst->startTask(); -#if Q7S_ADD_SPI_TEST == 0 - gomSpacePstTask->startTask(); - spiPst->startTask(); -#endif /* Q7S_ADD_SPI_TEST == 0 */ - -#elif BOARD_TE0720 == 1 && Q7S_ADD_SPI_TEST == 0 - pollingSequenceTaskTE0720->startTask(); -#endif - - pusVerification->startTask(); - pusEvents->startTask(); - pusHighPrio->startTask(); - pusMedPrio->startTask(); - pusLowPrio->startTask(); - -#if OBSW_ADD_TEST_CODE == 1 - testTask->startTask(); -#endif - -#if TEST_CCSDS_BRIDGE == 1 - ptmeTestTask->startTask(); -#endif - sif::info << "Tasks started.." << std::endl; +#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */ + taskVec.push_back(testTask); } diff --git a/bsp_q7s/core/InitMission.h b/bsp_q7s/core/InitMission.h index 568b26b5..ffdfc11c 100644 --- a/bsp_q7s/core/InitMission.h +++ b/bsp_q7s/core/InitMission.h @@ -1,9 +1,22 @@ #ifndef BSP_Q7S_INITMISSION_H_ #define BSP_Q7S_INITMISSION_H_ +#include "fsfw/tasks/Typedef.h" +#include + +class PeriodicTaskIF; +class TaskFactory; + namespace initmission { void initMission(); void initTasks(); + +void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector& taskVec); +void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector& taskVec); +void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, + std::vector& taskVec); }; #endif /* BSP_Q7S_INITMISSION_H_ */ diff --git a/fsfw b/fsfw index d11e54dc..10f7185e 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit d11e54dc0a296bda86b5597a34e5e8ba59b9653e +Subproject commit 10f7185e8137b3674a7ee5c24dfbaf8035d2251d