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b108c73d35
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@ -25,8 +25,8 @@ ServiceInterfaceStream sif::error("ERROR");
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ObjectManagerIF *objectManager = 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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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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@ -47,98 +47,98 @@ void initmission::initTasks() {
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void (*missedDeadlineFunc) (void) = nullptr;
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#endif
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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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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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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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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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sif::error << "Object add component failed" << std::endl;
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}
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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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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sif::error << "Add component UDP Unix Bridge failed" << std::endl;
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}
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PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
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"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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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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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 = factory->createPeriodicTask(
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"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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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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/* PUS Services */
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PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
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"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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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 = factory->createPeriodicTask(
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"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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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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PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
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"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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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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initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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}
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PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
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"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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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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PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
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"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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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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initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
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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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}
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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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initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
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}
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}
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PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
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"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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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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PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
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"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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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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initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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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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}
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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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initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
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}
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PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
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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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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
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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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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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#if RPI_TEST_ACS_BOARD == 1
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FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
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"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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result = pst::pollingSequenceAcsTest(acsTask);
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FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
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"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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result = pst::pollingSequenceAcsTest(acsTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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#if OBSW_ADD_TEST_CODE == 1
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result = testTask->addComponent(objects::TEST_TASK);
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result = testTask->addComponent(objects::TEST_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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@ -156,23 +156,23 @@ void initmission::initTasks() {
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}
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#endif /* RPI_ADD_GPIO_TEST == 1 */
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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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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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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 OBSW_ADD_TEST_CODE == 1
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testTask->startTask();
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testTask->startTask();
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if RPI_TEST_ACS_BOARD == 1
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acsTask->startTask();
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acsTask->startTask();
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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sif::info << "Tasks started.." << std::endl;
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sif::info << "Tasks started.." << std::endl;
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}
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@ -29,60 +29,60 @@
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#include <linux/spi/SpiComIF.h>
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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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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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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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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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LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
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LocalDataPoolManager::defaultHkDestination = 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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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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ObjectFactory::produceGenericObjects();
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Factory::setStaticFrameworkObjectIds();
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ObjectFactory::produceGenericObjects();
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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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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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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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#if RPI_ADD_SPI_TEST == 1
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new SpiTestClass(objects::SPI_TEST, gpioIF);
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new SpiTestClass(objects::SPI_TEST, gpioIF);
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#endif
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#if RPI_LOOPBACK_TEST_GPIO == 1
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GpioCookie* gpioCookieLoopback = new GpioCookie();
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/* Loopback pins. Adapt according to setup */
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gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
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int bcmPinSender = 26;
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gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
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int bcmPinReader = 16;
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
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gpio::Direction::OUT, 0);
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GpioCookie* gpioCookieLoopback = new GpioCookie();
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/* Loopback pins. Adapt according to setup */
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gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
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int bcmPinSender = 26;
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gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
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int bcmPinReader = 16;
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
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gpio::Direction::OUT, 0);
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
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gpio::Direction::IN, 0);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
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#endif
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new SpiComIF(objects::SPI_COM_IF, gpioIF);
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#if RPI_TEST_ACS_BOARD == 1
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
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"MGM_0_LIS3", gpio::Direction::OUT, 1);
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
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"MGM_0_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
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"MGM_1_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
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@ -97,10 +97,10 @@ void ObjectFactory::produce(){
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"GYRO_2_L3G", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookieAcsBoard);
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SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
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gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
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auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmHandler->setStartUpImmediately();
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SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
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gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
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auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmHandler->setStartUpImmediately();
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#endif
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}
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