fixed merge conflict and copied max13865 code
This commit is contained in:
@ -2,6 +2,8 @@
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#include "ObjectFactory.h"
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#include <OBSWConfig.h>
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#include <mission/utility/InitMission.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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@ -13,7 +15,7 @@
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#include <iostream>
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// This is configured for linux without \cr
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/* This is configured for linux without CR */
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#ifdef LINUX
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ServiceInterfaceStream sif::debug("DEBUG");
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ServiceInterfaceStream sif::info("INFO");
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@ -28,9 +30,9 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
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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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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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@ -39,148 +41,151 @@ void InitMission::initMission() {
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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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0.2, 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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void initmission::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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if(factory == nullptr) {
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/* Should never happen ! */
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return;
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}
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#if OBSW_PRINT_MISSED_DEADLINES == 1
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void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
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#else
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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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initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
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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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initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
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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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initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
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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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PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
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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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initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
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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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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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initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
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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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/* 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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initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
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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* 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("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
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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* 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("PUS_2", 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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initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
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}
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PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
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createPeriodicTask("PUS_MED_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_3_HOUSEKEEPING);
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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* 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("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
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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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initmission::printAddObjectError("PUS_200", 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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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
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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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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("PUS_17", objects::PUS_SERVICE_17_TEST);
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}
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//TODO: Add handling of missed deadlines
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/* Polling Sequence Table Default */
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FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
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TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
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50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 4.0,
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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 << "InitMission::initTasks: Creating PST failed!"
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<< std::endl;
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}
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//TODO: Add handling of missed deadlines
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/* Polling Sequence Table Default */
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FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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#if TE0720 == 0
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FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
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createFixedTimeslotTask("GS_PST_TASK", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr);
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result = pst::gomspacePstInit(GomSpacePstTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: GomSpace PST initialization "
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<< "failed!" << std::endl;
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}
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#endif
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#if TE0720 == 1 && TEST_LIBGPIOD == 1
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PeriodicTaskIF* TestTask = TaskFactory::instance()->
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createPeriodicTask("Libgpiod Test Task", 60,
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PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
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result = TestTask->addComponent(objects::LIBGPIOD_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component libgpiod test task object" << std::endl;
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FixedTimeslotTaskIF* gomSpacePstTask = factory->
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createFixedTimeslotTask("GS_PST_TASK", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
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result = pst::gomspacePstInit(gomSpacePstTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: GomSpace PST initialization 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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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, 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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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if TE0720 == 1 && TEST_LIBGPIOD == 1
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result = testTask->addComponent(objects::LIBGPIOD_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
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}
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#endif /* TE0720 == 1 && TEST_LIBGPIOD == 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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#if TE0720 == 0
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GomSpacePstTask->startTask();
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gomSpacePstTask->startTask();
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#endif
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PollingSequenceTableTaskDefault->startTask();
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pollingSequenceTableTaskDefault->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 TE0720 == 1 && TEST_LIBGPIOD == 1
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TestTask->startTask();
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#endif
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sif::info << "Tasks started.." << std::endl;
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testTask->startTask();
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sif::info << "Tasks started.." << std::endl;
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}
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