more similar to example now
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155
mission/core/InitMission.cpp
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155
mission/core/InitMission.cpp
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#include "InitMission.h"
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#include <OBSWConfig.h>
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#include <config/objects/systemObjectList.h>
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#include <mission/core/ObjectFactory.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.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/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <iostream>
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// This is configured for linux without \cr
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ServiceInterfaceStream sif::debug("DEBUG", false);
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ServiceInterfaceStream sif::info("INFO", false);
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ServiceInterfaceStream sif::warning("WARNING", false);
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ServiceInterfaceStream sif::error("ERROR", false, false, true);
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ObjectManagerIF *objectManager = nullptr;
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//Initialize Data Pool
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DataPool dataPool(nullptr);
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void InitMission::initMission() {
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sif::info << "Building global objects.." << std::endl;
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/* Instantiate global object manager and also create all objects */
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objectManager = new ObjectManager(ObjectFactory::produce);
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sif::info << "Initializing all objects.." << std::endl;
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objectManager->initialize();
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/* This function creates and starts all tasks */
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initTasks();
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}
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void InitMission::initTasks(){
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/* TMTC Distribution */
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PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
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createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.100, nullptr);
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ReturnValue_t result = TmTcDistributor->addComponent(
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objects::CCSDS_PACKET_DISTRIBUTOR);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component 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* PusVerification = TaskFactory::instance()->
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createPeriodicTask("PUS_VERIF_1", 40,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
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result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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PeriodicTaskIF* PusEvents = TaskFactory::instance()->
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createPeriodicTask("PUS_VERIF_1", 60,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
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result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
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createPeriodicTask("PUS_HIGH_PRIO", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.200, nullptr);
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result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
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createPeriodicTask("PUS_HIGH_PRIO", 40,
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PeriodicTaskIF::MINIMUM_STACK_SIZE,
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0.8, nullptr);
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result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
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createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
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1.6, nullptr);
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result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
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if(result!=HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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#if ADD_TEST_CODE == 1
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FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
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createFixedTimeslotTask("PST_TEST_TASK", 10,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = pst::pollingSequenceTestFunction(TestTimeslotTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::createTasks: Test PST initialization "
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<< "failed!" << std::endl;
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}
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#endif
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//Main thread sleep
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sif::info << "Starting tasks.." << std::endl;
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TmTcDistributor->startTask();
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UdpBridgeTask->startTask();
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UdpPollingTask->startTask();
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PusVerification->startTask();
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PusEvents->startTask();
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PusHighPrio->startTask();
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PusMedPrio->startTask();
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PusLowPrio->startTask();
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#if ADD_TEST_CODE == 1
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TestTimeslotTask->startTask();
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#endif
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sif::info << "Tasks started.." << std::endl;
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}
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9
mission/core/InitMission.h
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9
mission/core/InitMission.h
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#ifndef MISSION_CORE_INITMISSION_H_
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#define MISSION_CORE_INITMISSION_H_
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namespace InitMission {
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void initMission();
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void initTasks();
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};
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#endif /* MISSION_CORE_INITMISSION_H_ */
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124
mission/core/ObjectFactory.cpp
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124
mission/core/ObjectFactory.cpp
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#include "ObjectFactory.h"
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#include <config/OBSWConfig.h>
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#include <config/objects/systemObjectList.h>
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#include <config/tmtc/apid.h>
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#include <config/tmtc/pusIds.h>
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#include <mission/utility/TmFunnel.h>
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#include <fsfw/health/HealthTable.h>
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#include <fsfw/storagemanager/PoolManager.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/timemanager/TimeStamper.h>
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#include <fsfw/internalError/InternalErrorReporter.h>
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#include <fsfw/monitoring/MonitoringMessageContent.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/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/Service9TimeManagement.h>
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#include <fsfw/pus/Service17Test.h>
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#include <fsfw/pus/CService200ModeCommanding.h>
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#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
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#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#if ADD_TEST_CODE == 1
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#include <test/TestCookie.h>
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#include <test/TestDeviceHandler.h>
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#include <mission/test/TestTask.h>
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#include <test/TestEchoComIF.h>
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#endif
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void Factory::setStaticFrameworkObjectIds(){
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::packetDestination = objects::TM_FUNNEL;
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
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TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
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// No storage object for now.
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TmFunnel::storageDestination = objects::NO_OBJECT;
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VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
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TmPacketStored::timeStamperId = objects::TIME_STAMPER;
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}
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void ObjectFactory::produce(){
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Factory::setStaticFrameworkObjectIds();
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/* Framework objects */
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new EventManager(objects::EVENT_MANAGER);
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new HealthTable(objects::HEALTH_TABLE);
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new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER, 0, 0, 0);
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new TimeStamper(objects::TIME_STAMPER);
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{
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static constexpr uint8_t NUMBER_OF_POOLS = 5;
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const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
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const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
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new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
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n_elements);
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}
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{
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static constexpr uint8_t NUMBER_OF_POOLS = 5;
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const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
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const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
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new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
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n_elements);
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}
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{
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static constexpr uint8_t NUMBER_OF_POOLS = 6;
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const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
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1024, 2048, 4096};
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const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
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new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
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n_elements);
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}
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new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
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new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
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objects::CCSDS_PACKET_DISTRIBUTOR);
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/* TMTC Reception via UDP socket */
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new TmFunnel(objects::TM_FUNNEL);
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new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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objects::TM_STORE, objects::TC_STORE);
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new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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/* PUS stack */
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new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
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apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::TM_FUNNEL);
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new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
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apid::EIVE_OBSW, pus::PUS_SERVICE_2, 3, 10);
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new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
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apid::EIVE_OBSW, pus::PUS_SERVICE_5, 50);
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new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
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apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 10);
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new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT,
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apid::EIVE_OBSW, pus::PUS_SERVICE_9);
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new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW,
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pus::PUS_SERVICE_17);
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new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
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apid::EIVE_OBSW, pus::PUS_SERVICE_200);
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/* Test Device Handler */
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#if ADD_TEST_CODE == 1
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CookieIF* testCookie = new TestCookie(0);
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new TestEchoComIF(objects::TEST_ECHO_COM_IF);
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new TestDevice(objects::TEST_DEVICE_HANDLER, objects::TEST_ECHO_COM_IF,
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testCookie, true);
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#endif
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}
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17
mission/core/ObjectFactory.h
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17
mission/core/ObjectFactory.h
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/*
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* ObjectFactory.h
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*
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* Created on: Sep 22, 2020
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* Author: steffen
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*/
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#ifndef MISSION_CORE_OBJECTFACTORY_H_
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#define MISSION_CORE_OBJECTFACTORY_H_
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namespace ObjectFactory {
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void setStatics();
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void produce();
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};
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#endif /* MISSION_CORE_OBJECTFACTORY_H_ */
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