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new solar array deployment task
EIVE/eive-obsw/pipeline/head This commit looks good Details

This commit is contained in:
Robin Müller 2022-10-12 13:29:38 +02:00
parent b6b258d82c
commit ea82748496
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GPG Key ID: 11D4952C8CCEF814
1 changed files with 28 additions and 22 deletions
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50
bsp_q7s/core/InitMission.cpp
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@ -67,16 +67,30 @@ void initmission::initTasks() {
void (*missedDeadlineFunc)(void) = nullptr;
#endif
PeriodicTaskIF* coreController = factory->createPeriodicTask(
PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = coreController->addComponent(objects::CORE_CONTROLLER);
result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
}
// Could add this to the core controller but the core controller does so many thing that I would
// prefer to have the solar array deployment in a seprate task.
PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
"SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
}
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
#if OBSW_ADD_TCPIP_BRIDGE == 1
result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
if (result != returnvalue::OK) {
initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
}
#endif
result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if (result != returnvalue::OK) {
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
@ -95,13 +109,6 @@ void initmission::initTasks() {
}
#if OBSW_ADD_TCPIP_BRIDGE == 1
// TMTC bridge
PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
if (result != returnvalue::OK) {
initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
}
PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
@ -138,39 +145,39 @@ void initmission::initTasks() {
}
#endif
PeriodicTaskIF* acsTask = factory->createPeriodicTask(
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_GPS_CTRL == 1
result = acsTask->addComponent(objects::GPS_CONTROLLER);
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_GPS_CTRL */
#if OBSW_ADD_ACS_CTRL == 1
acsTask->addComponent(objects::ACS_CONTROLLER);
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
if (result != returnvalue::OK) {
initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(sysTask);
static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#if OBSW_ADD_RW == 1
result = sysTask->addComponent(objects::RW_ASS);
result = acsSysTask->addComponent(objects::RW_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
}
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != returnvalue::OK) {
initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
}
@ -297,7 +304,6 @@ void initmission::initTasks() {
tmTcDistributor->startTask();
#if OBSW_ADD_TCPIP_BRIDGE == 1
tmtcBridgeTask->startTask();
tmtcPollingTask->startTask();
#endif
@ -306,7 +312,7 @@ void initmission::initTasks() {
pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
coreController->startTask();
sysCtrlTask->startTask();
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
@ -327,8 +333,8 @@ void initmission::initTasks() {
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
acsTask->startTask();
sysTask->startTask();
acsCtrlTask->startTask();
acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();
tcsTask->startTask();