more similar to example now
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README.md
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README.md
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EIVE On-Board Software
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======
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# <a id="top"></a> <a name="linux"></a> EIVE On-Board Software
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## Linux
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These steps were tested for Ubuntu 20.04.
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If not done yet, install the full C++ build chain:
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```sh
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sudo apt-get install build-essential
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```
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Linux has a limit to message queue message. Please see the section
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to set up UNIX environment for more information.
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Sometimes, special steps are necessary so the real-time functionalities can be used
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without root privileges. Instructions are contained in the setup section
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for UNIX as well.
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### Building the software
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1. Clone the repository with
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```sh
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git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example.git
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```
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2. Update all the submodules
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```sh
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git submodule init
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git submodule sync
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git submodule update
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```
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3. After that, the linux binary can be built with:
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```sh
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make -j all
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```
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to compile for Linux. All will build the debug version,
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which can also be built with the target `debug`. The optimized
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release version can be built with the target `release`.
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4. Run the binary located inside the `_bin` folder.
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### Setting up UNIX environment for real-time functionalities
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Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities
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used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks
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and configuring real-time properites like scheduling priorities.
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To solve this issues, try following steps:
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1. Edit the /etc/security/limits.conf
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file and add following lines at the end:
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```sh
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<username> hard rtprio 99
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<username> soft rtprio 99
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```
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The soft limit can also be set in the console with `ulimit -Sr` if the hard
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limit has been increased, but it is recommended to add it to the file as well for convenience.
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If adding the second line is not desired for security reasons,
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the soft limit needs to be set for each session. If using an IDE like eclipse
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in that case, the IDE needs to be started from the console after setting
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the soft limit higher there. After adding the two lines to the file,
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the computer needs to be restarted.
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It is also recommended to perform the following change so that the unlockRealtime
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script does not need to be run anymore each time. The following steps
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raise the maximum allowed message queue length to a higher number permanently, which is
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required for some framework components. The recommended values for the new message
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length is 130.
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2. Edit the /etc/sysctl.conf file
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```sh
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sudo nano /etc/sysctl.conf
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```
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Append at end:
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```sh
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fs/mqueue/msg_max = <newMsgMaxLen>
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```
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Apply changes with:
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```sh
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sudo sysctl -p
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```
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A possible solution which only persists for the current session is
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```sh
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echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
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```
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or running the `unlockRealtime` script.
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3. Run the shell script inside the linux folder
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```sh
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./unlockRealtime
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```
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This script executes the `sudo setcap 'cap_sys_nice=eip' \<application\>`
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command on the binaries, increases the soft real time limit of the current
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session and increases the maximum number of message queues by setting
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`/proc/sys/fs/mqueue/msg_max`.
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All changes are only applied for the current session (read 2. and 3. for
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a permanent solution). If running the script before executing the binary does
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not help or an warning is issue that the soft real time value is invalid,
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the hard real-time limit of the system might not be high enough (see step 1).
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## General Information
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#include <PollingSequenceFactory.h>
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#include <dataPoolInit.h>
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#include <Factory.h>
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#include <systemObjectList.h>
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#include <fsfw/datapool/DataPool.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <ostream>
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/* Declare global object manager */
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ObjectManagerIF* objectManager;
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/* Initialize Data Pool */
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DataPool dataPool(datapool::dataPoolInit);
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/* Set up output streams */
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namespace sif {
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ServiceInterfaceStream debug("DEBUG");
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ServiceInterfaceStream info("INFO");
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ServiceInterfaceStream warning("WARNING");
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ServiceInterfaceStream error("ERROR", false, true, true);
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}
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void initTask();
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void initMission() {
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sif::info << "Initiating mission specific code." << std::endl;
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// Allocate object manager here, as global constructors might not be
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// executed, depending on buildchain
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sif::info << "Creating objects" << std::endl;
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objectManager = new ObjectManager(Factory::produce);
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objectManager -> initialize();
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initTask();
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}
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void initTask() {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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/* Packet Distributor Taks */
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PeriodicTaskIF* PacketDistributorTask =
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TaskFactory::instance()-> createPeriodicTask(
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"PACKET_DIST_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.4, nullptr);
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result = PacketDistributorTask->
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addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Add component CCSDS Packet Distributor failed"
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<< std::endl;
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}
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result = PacketDistributorTask->
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addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Add component PUS Packet Distributor failed"
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<< std::endl;
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}
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result = PacketDistributorTask->addComponent(objects::PUS_FUNNEL);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Add component PUS Funnel failed" << std::endl;
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}
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/* UDP bridge */
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PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.2, nullptr);
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result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Unix Bridge failed" << std::endl;
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}
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PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
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createPeriodicTask("UDP_POLLING", 80,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
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result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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/* PUS Services */
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PeriodicTaskIF* PusService1 = TaskFactory::instance()->createPeriodicTask(
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"PUS_SRV_1", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.4, nullptr);
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result = PusService1->addComponent(objects::PUS_SERVICE_1);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component Verification Reporter failed" << std::endl;
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}
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PeriodicTaskIF* PusService2 = TaskFactory::instance()->createPeriodicTask(
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"PUS_SRV_2", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.2, nullptr);
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result = PusService2->addComponent(objects::PUS_SERVICE_2);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component Device Access failed" << std::endl;
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}
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PeriodicTaskIF* PusService5 = TaskFactory::instance()->createPeriodicTask(
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"PUS_SRV_5", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.4, nullptr);
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result = PusService5->addComponent(objects::PUS_SERVICE_5);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component Event Service failed" << std::endl;
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}
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PeriodicTaskIF* PusService8 = TaskFactory::instance()->createPeriodicTask(
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"PUS_SRV_8", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.4, nullptr);
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result = PusService2->addComponent(objects::PUS_SERVICE_8);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component Function MGMT failed" << std::endl;
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}
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PeriodicTaskIF* PusService17 = TaskFactory::instance()->createPeriodicTask(
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"PUS_SRV_17", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.4, nullptr);
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result = PusService17->addComponent(objects::PUS_SERVICE_17);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component Test Service failed" << std::endl;
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}
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PeriodicTaskIF* PusService200 = TaskFactory::instance()->createPeriodicTask(
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"PUS_SRV_200", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.4, nullptr);
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result = PusService200->addComponent(objects::PUS_SERVICE_200);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component Mode MGMT failed" << std::endl;
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}
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/* Test Task */
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// PeriodicTaskIF* TestTask = TaskFactory::instance()->
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// createPeriodicTask("TEST_TASK", 80,
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// PeriodicTaskIF::MINIMUM_STACK_SIZE, 5.0, nullptr);
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// result = TestTask->addComponent(objects::TEST_TASK);
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// if (result != HasReturnvaluesIF::RETURN_OK) {
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// sif::error << "Add component Test Task failed" << std::endl;
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// }
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/* Polling Sequence Table Default */
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// FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
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// TaskFactory::instance()-> createFixedTimeslotTask(
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// "PST_DEFAULT", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
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// nullptr);
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// result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
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// if (result != HasReturnvaluesIF::RETURN_OK) {
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// sif::error << "creating PST failed" << std::endl;
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// }
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//TestTask->startTask();
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PacketDistributorTask->startTask();
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//PollingSequenceTableTaskDefault->startTask();
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UdpBridgeTask->startTask();
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UdpPollingTask->startTask();
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PusService1->startTask();
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PusService2->startTask();
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PusService5->startTask();
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PusService8->startTask();
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PusService17->startTask();
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PusService200->startTask();
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}
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@ -2,20 +2,14 @@
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#include <boardconfig/gcov.h>
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#endif
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#include <mission/core/InitMission.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <iostream>
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#include <version.h>
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#include <unistd.h>
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// This will be the entry to the mission specific code
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void initMission();
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#ifndef SW_VERSION
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#define SW_VERSION 0
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#endif
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#ifndef SW_SUBVERSION
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#define SW_SUBVERSION 0
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#endif
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/**
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* @brief This is the main program for the hosted build. It can be run for
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@ -29,10 +23,12 @@ int main(void)
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std::cout << "-- Software version v" << SW_VERSION << "." << SW_SUBVERSION
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<< " -- " << std::endl;
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std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
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initMission();
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InitMission::initMission();
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for(;;) {
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// suspend main thread by sleeping it.
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sleep(5);
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TaskFactory::delayTask(5000);
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}
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}
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@ -0,0 +1,14 @@
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/**
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* @brief This file can be used to add preprocessor define for conditional
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* code inclusion exclusion or various other project constants and
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* properties in one place.
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*/
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#ifndef CONFIG_OBSWCONFIG_H_
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#define CONFIG_OBSWCONFIG_H_
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#define ADD_TEST_FOLDER 1
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// Define not used yet, PUS stack and TMTC tasks are always started
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#define ADD_PUS_STACK 1
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#endif /* CONFIG_OBSWCONFIG_H_ */
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#include "dataPoolInit.h"
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void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap) {
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uint8_t UINT8T_INIT[1] = {0};
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uint16_t UINT16T_INIT[1] = {0};
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uint32_t UINT32T_INIT[1] = {0};
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float FLOAT_INIT[2] = {0.0, 0.0};
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/* FSFW */
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poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
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new PoolEntry<uint32_t>(UINT32T_INIT,1));
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poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
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new PoolEntry<uint32_t>(UINT32T_INIT,1));
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poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
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new PoolEntry<uint32_t>(UINT32T_INIT,1));
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/* TEST */
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poolMap->emplace(datapool::TEST_UINT8,
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new PoolEntry<uint8_t>(UINT8T_INIT,1));
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poolMap->emplace(datapool::TEST_UINT16,
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new PoolEntry<uint16_t>(UINT16T_INIT,1));
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poolMap->emplace(datapool::TEST_UINT32,
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new PoolEntry<uint32_t>(UINT32T_INIT,1));
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poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
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new PoolEntry<float>(FLOAT_INIT,2));
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// With new initializer list feature and boolean entries.
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// /* FSFW */
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// poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
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// new PoolEntry<uint32_t>({0},1));
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// poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
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// new PoolEntry<uint32_t>({0},1));
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// poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
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// new PoolEntry<uint32_t>({0},1));
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//
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// /* TEST */
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// poolMap->emplace(datapool::TEST_BOOLEAN,
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// new PoolEntry<bool>({0},1));
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// poolMap->emplace(datapool::TEST_UINT8,
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// new PoolEntry<uint8_t>({0},1));
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// poolMap->emplace(datapool::TEST_UINT16,
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// new PoolEntry<uint16_t>({0},1));
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// poolMap->emplace(datapool::TEST_UINT32,
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// new PoolEntry<uint32_t>({0},1));
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// poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
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// new PoolEntry<float>({0, 0},2));
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}
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@ -1,29 +0,0 @@
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#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
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#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
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#include <fsfw/datapool/DataPool.h>
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#include <fsfw/datapool/PoolEntryIF.h>
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#include <map>
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#include <cstdint>
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namespace datapool {
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void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap);
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enum datapoolvariables {
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NO_PARAMETER = 0,
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/** [EXPORT] : [GROUP] FSFW */
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INTERNAL_ERROR_STORE_FULL = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Store Entry [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
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INTERNAL_ERROR_MISSED_LIVE_TM = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Missed Live Tm [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
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INTERNAL_ERROR_FULL_MSG_QUEUES = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Full Msg Queue [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
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/** [EXPORT] : [GROUP] TEST */
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TEST_BOOLEAN = 0x01010102, //!< [EXPORT] : [NAME] Test Boolean [UNIT] (-) [SIZE] 1 [TYPE] bool
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TEST_UINT8 = 0x02020204, //!< [EXPORT] : [NAME] Test Byte [UNIT] (-) [SIZE] 1 [TYPE] uint8_t
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TEST_UINT16 = 0x03030306, //!< [EXPORT] : [NAME] Test UINT16 [UNIT] (-) [SIZE] 1 [TYPE] uint16_t
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TEST_UINT32 = 0x04040408, //!< [EXPORT] : [NAME] Test UINT32 [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
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TEST_FLOAT_VECTOR = 0x05050510, //!< [EXPORT] : [NAME] Test Float [UNIT] (-) [SIZE] 2 [TYPE] float
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};
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}
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#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
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@ -1,116 +0,0 @@
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#include <Factory.h>
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#include <systemObjectList.h>
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||||
#include <dataPoolInit.h>
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#include <apid.h>
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#include <pusIds.h>
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||||
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#include <mission/utility/TimeStamper.h>
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#include <mission/utility/TmFunnel.h>
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||||
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||||
#include <fsfw/events/EventManager.h>
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#include <fsfw/health/HealthTable.h>
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||||
#include <fsfw/internalError/InternalErrorReporter.h>
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||||
#include <fsfw/objectmanager/frameworkObjects.h>
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||||
#include <fsfw/storagemanager/PoolManager.h>
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#include <fsfw/tcdistribution/CCSDSDistributor.h>
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#include <fsfw/tcdistribution/PUSDistributor.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include <fsfw/pus/Service1TelecommandVerification.h>
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#include <fsfw/pus/Service2DeviceAccess.h>
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#include <fsfw/pus/Service5EventReporting.h>
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#include <fsfw/pus/Service8FunctionManagement.h>
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||||
#include <fsfw/pus/CService200ModeCommanding.h>
|
||||
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
|
||||
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
|
||||
#include <fsfw/pus/Service17Test.h>
|
||||
#include <test/testtasks/TestTask.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Produces system objects.
|
||||
* @details
|
||||
* Build tasks by using SystemObject Interface (Interface).
|
||||
* Header files of all tasks must be included
|
||||
* Please note that an object has to implement the system object interface
|
||||
* if the interface validity is checked or retrieved later by using the
|
||||
* get<TargetInterface>(object_id) function from the ObjectManagerIF.
|
||||
*
|
||||
* Framework objects are created first.
|
||||
*
|
||||
* @ingroup init
|
||||
*/
|
||||
void Factory::produce(void) {
|
||||
setStaticFrameworkObjectIds();
|
||||
new EventManager(objects::EVENT_MANAGER);
|
||||
new HealthTable(objects::HEALTH_TABLE);
|
||||
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER,
|
||||
datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
|
||||
datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
|
||||
datapool::INTERNAL_ERROR_STORE_FULL);
|
||||
|
||||
/* Pool manager handles storage und mutexes */
|
||||
/* Data Stores. Currently reserving 9600 bytes of memory */
|
||||
uint16_t numberOfElements[4] = {100, 30, 20, 10};
|
||||
uint16_t sizeOfElements[4] = {32, 64, 128, 256};
|
||||
new PoolManager<4>(objects::IPC_STORE, sizeOfElements, numberOfElements);
|
||||
new PoolManager<4>(objects::TM_STORE, sizeOfElements, numberOfElements);
|
||||
new PoolManager<4>(objects::TC_STORE, sizeOfElements, numberOfElements);
|
||||
|
||||
new TimeStamper(objects::PUS_TIME);
|
||||
|
||||
/* Distributor Tasks */
|
||||
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
|
||||
objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
|
||||
/* TM Destination */
|
||||
new TmFunnel(objects::PUS_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 Service Base Services */
|
||||
new Service1TelecommandVerification(objects::PUS_SERVICE_1,
|
||||
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::PUS_FUNNEL);
|
||||
new Service5EventReporting(objects::PUS_SERVICE_5, apid::EIVE_OBSW,
|
||||
pus::PUS_SERVICE_5);
|
||||
new Service17Test(objects::PUS_SERVICE_17, apid::EIVE_OBSW,
|
||||
pus::PUS_SERVICE_17);
|
||||
|
||||
/* Commanding Service Base Services */
|
||||
new Service2DeviceAccess(objects::PUS_SERVICE_2, apid::EIVE_OBSW,
|
||||
pus::PUS_SERVICE_2);
|
||||
new Service8FunctionManagement(objects::PUS_SERVICE_8, apid::EIVE_OBSW,
|
||||
pus::PUS_SERVICE_8);
|
||||
new CService200ModeCommanding(objects::PUS_SERVICE_200, apid::EIVE_OBSW,
|
||||
pus::PUS_SERVICE_200);
|
||||
|
||||
/* Test Tasks */
|
||||
// CookieIF* dummyCookie = new DummyCookie(0);
|
||||
// new DummyEchoComIF(objects::DUMMY_INTERFACE);
|
||||
// new TestDevice(objects::DUMMY_HANDLER, objects::DUMMY_INTERFACE,
|
||||
// dummyCookie, true);
|
||||
new TestTask(objects::TEST_TASK);
|
||||
}
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::PUS_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::PUS_FUNNEL;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1;
|
||||
//DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2;
|
||||
//DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
|
||||
|
||||
TmPacketStored::timeStamperId = objects::PUS_TIME;
|
||||
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
#ifndef FACTORY_H_
|
||||
#define FACTORY_H_
|
||||
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
|
||||
namespace Factory {
|
||||
/**
|
||||
* @brief Creates all SystemObject elements which are persistent
|
||||
* during execution.
|
||||
*/
|
||||
void produce();
|
||||
void setStaticFrameworkObjectIds();
|
||||
|
||||
}
|
||||
|
||||
#endif /* FACTORY_H_ */
|
||||
|
|
@ -12,20 +12,15 @@ namespace objects {
|
|||
UDP_BRIDGE = 0x50000300,
|
||||
UDP_POLLING_TASK = 0x50000400,
|
||||
|
||||
PUS_SERVICE_1 = 0x51000100,
|
||||
PUS_SERVICE_2 = 0x51000200,
|
||||
PUS_SERVICE_3 = 0x51000300,
|
||||
PUS_SERVICE_5 = 0x51000400,
|
||||
PUS_SERVICE_6 = 0x51000500,
|
||||
PUS_SERVICE_8 = 0x51000800,
|
||||
PUS_SERVICE_9 = 0x51000900,
|
||||
PUS_SERVICE_17 = 0x51001700,
|
||||
PUS_SERVICE_23 = 0x51002300,
|
||||
PUS_SERVICE_200 = 0x51020000,
|
||||
PUS_SERVICE_201 = 0x51020100,
|
||||
|
||||
PUS_TIME = 0x52000001,
|
||||
PUS_FUNNEL = 0x52000002,
|
||||
TIME_STAMPER = 0x52000001,
|
||||
TM_FUNNEL = 0x52000002,
|
||||
|
||||
/* Test Task */
|
||||
TEST_TASK = 0x42694269,
|
||||
|
|
|
|||
|
|
@ -19,8 +19,6 @@ enum: uint8_t {
|
|||
PUS_SERVICE_5 = 85,
|
||||
PUS_SERVICE_6 = 86,
|
||||
PUS_SERVICE_8 = 88,
|
||||
PUS_SERVICE_9 = 89,
|
||||
PUS_SERVICE_17 = 82,
|
||||
PUS_SERVICE_23 = 91,
|
||||
DUMMY_DEVICE = 90,
|
||||
/**
|
||||
|
|
|
|||
2
fsfw
2
fsfw
|
|
@ -1 +1 @@
|
|||
Subproject commit 62508132c0c248d6851fd88207828c7f12c38e50
|
||||
Subproject commit 5340b9c58e78f2154fa8291c69bf887c252fe25f
|
||||
|
|
@ -0,0 +1,155 @@
|
|||
#include "InitMission.h"
|
||||
|
||||
#include <OBSWConfig.h>
|
||||
#include <config/objects/systemObjectList.h>
|
||||
#include <mission/core/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 <iostream>
|
||||
|
||||
// This is configured for linux without \cr
|
||||
ServiceInterfaceStream sif::debug("DEBUG", false);
|
||||
ServiceInterfaceStream sif::info("INFO", false);
|
||||
ServiceInterfaceStream sif::warning("WARNING", false);
|
||||
ServiceInterfaceStream sif::error("ERROR", false, false, true);
|
||||
|
||||
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 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 ADD_TEST_CODE == 1
|
||||
TestTimeslotTask->startTask();
|
||||
#endif
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
#ifndef MISSION_CORE_INITMISSION_H_
|
||||
#define MISSION_CORE_INITMISSION_H_
|
||||
|
||||
namespace InitMission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
};
|
||||
|
||||
#endif /* MISSION_CORE_INITMISSION_H_ */
|
||||
|
|
@ -0,0 +1,124 @@
|
|||
#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/osal/linux/TcUnixUdpPollingTask.h>
|
||||
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
||||
|
||||
|
||||
#if ADD_TEST_CODE == 1
|
||||
#include <test/TestCookie.h>
|
||||
#include <test/TestDeviceHandler.h>
|
||||
#include <mission/test/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
|
||||
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);
|
||||
#endif
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
/*
|
||||
* ObjectFactory.h
|
||||
*
|
||||
* Created on: Sep 22, 2020
|
||||
* Author: steffen
|
||||
*/
|
||||
|
||||
#ifndef MISSION_CORE_OBJECTFACTORY_H_
|
||||
#define MISSION_CORE_OBJECTFACTORY_H_
|
||||
|
||||
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce();
|
||||
};
|
||||
|
||||
#endif /* MISSION_CORE_OBJECTFACTORY_H_ */
|
||||
|
|
@ -1,2 +1,17 @@
|
|||
# add main and others
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/*.c)
|
||||
|
||||
CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/devices/*.c)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
|
||||
|
||||
CXXSRC += $(wildcard $(CURRENTPATH)/test/*.cpp)
|
||||
CSRC += $(wildcard $(CURRENTPATH)/test/*.c)
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,23 +0,0 @@
|
|||
#include <fsfw/timemanager/Clock.h>
|
||||
#include <mission/utility/TimeStamper.h>
|
||||
#include <cstring>
|
||||
|
||||
TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
|
||||
|
||||
|
||||
ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
|
||||
const uint8_t maxSize) {
|
||||
if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
timeval now;
|
||||
Clock::getClock_timeval(&now);
|
||||
CCSDSTime::CDS_short cds;
|
||||
ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
std::memcpy(buffer,&cds,sizeof(cds));
|
||||
return result;
|
||||
}
|
||||
|
|
@ -1,18 +0,0 @@
|
|||
#ifndef MISSION_UTILITY_TIMESTAMPER_H_
|
||||
#define MISSION_UTILITY_TIMESTAMPER_H_
|
||||
|
||||
#include <fsfw/timemanager/TimeStamperIF.h>
|
||||
#include <fsfw/timemanager/CCSDSTime.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* @ingroup utility
|
||||
*/
|
||||
class TimeStamper: public TimeStamperIF, public SystemObject {
|
||||
public:
|
||||
TimeStamper(object_id_t objectId);
|
||||
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
|
||||
};
|
||||
|
||||
#endif /* MISSION_UTILITY_TIMESTAMPER_H_ */
|
||||
|
|
@ -1,15 +1,14 @@
|
|||
#include <mission/utility/TmFunnel.h>
|
||||
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketBase.h>
|
||||
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
|
||||
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
|
||||
object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
TmFunnel::TmFunnel(object_id_t objectId_): SystemObject(objectId_),
|
||||
sourceSequenceCount(0), storageTargetSet(false) {
|
||||
TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth):
|
||||
SystemObject(objectId), messageDepth(messageDepth) {
|
||||
tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
storageQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
|
||||
|
|
@ -66,7 +65,7 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
|
|||
return result;
|
||||
}
|
||||
|
||||
if(storageTargetSet) {
|
||||
if(storageDestination != objects::NO_OBJECT) {
|
||||
result = storageQueue->sendToDefault(message);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
tmPool->deleteData(message->getStorageId());
|
||||
|
|
@ -100,10 +99,14 @@ ReturnValue_t TmFunnel::initialize() {
|
|||
}
|
||||
tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue());
|
||||
|
||||
// Storage destination is optional.
|
||||
if(storageDestination == objects::NO_OBJECT) {
|
||||
return SystemObject::initialize();
|
||||
}
|
||||
|
||||
AcceptsTelemetryIF* storageTarget =
|
||||
objectManager->get<AcceptsTelemetryIF>(storageDestination);
|
||||
if(storageTarget != nullptr) {
|
||||
storageTargetSet = true;
|
||||
storageQueue->setDefaultDestination(
|
||||
storageTarget->getReportReceptionQueue());
|
||||
}
|
||||
|
|
|
|||
|
|
@ -24,7 +24,7 @@ class TmFunnel: public AcceptsTelemetryIF,
|
|||
public SystemObject {
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
public:
|
||||
TmFunnel(object_id_t objectId);
|
||||
TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
|
||||
virtual ~TmFunnel();
|
||||
|
||||
virtual MessageQueueId_t getReportReceptionQueue(
|
||||
|
|
@ -37,14 +37,12 @@ protected:
|
|||
static object_id_t storageDestination;
|
||||
|
||||
private:
|
||||
|
||||
uint16_t sourceSequenceCount;
|
||||
bool storageTargetSet;
|
||||
uint16_t sourceSequenceCount = 0;
|
||||
MessageQueueIF* tmQueue = nullptr;
|
||||
MessageQueueIF* storageQueue = nullptr;
|
||||
|
||||
StorageManagerIF* tmPool = nullptr;
|
||||
uint32_t messageDepth = 10;
|
||||
uint32_t messageDepth = 0;
|
||||
|
||||
ReturnValue_t handlePacket(TmTcMessage* message);
|
||||
};
|
||||
|
|
|
|||
|
|
@ -5,9 +5,11 @@
|
|||
#include <test/testtasks/PusTcInjector.h>
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/timemanager/Stopwatch.h>
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
#include <etl/vector.h>
|
||||
|
||||
#include <array>
|
||||
#include <cstring>
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue