Merge remote-tracking branch 'origin/develop' into thermal_controller
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This commit is contained in:
@ -1,15 +1,17 @@
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#include "ObjectFactory.h"
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#include <fsfw/subsystem/Subsystem.h>
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#include <linux/devices/AcsBoardPolling.h>
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#include <linux/devices/ImtqPollingTask.h>
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#include <linux/devices/RwPollingTask.h>
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#include <mission/devices/GyrL3gCustomHandler.h>
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#include <mission/devices/MgmLis3CustomHandler.h>
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#include <mission/devices/MgmRm3100CustomHandler.h>
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#include <linux/acs/AcsBoardPolling.h>
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#include <linux/acs/ImtqPollingTask.h>
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#include <linux/acs/RwPollingTask.h>
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#include <linux/acs/startracker/StrComHandler.h>
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#include <linux/com/SyrlinksComHandler.h>
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#include <mission/acs/GyrL3gCustomHandler.h>
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#include <mission/acs/MgmLis3CustomHandler.h>
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#include <mission/acs/MgmRm3100CustomHandler.h>
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#include <mission/system/acs/ImtqAssembly.h>
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#include <mission/system/fdir/StrFdir.h>
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#include <mission/system/objects/CamSwitcher.h>
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#include <mission/system/objects/ImtqAssembly.h>
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#include <mission/system/objects/StrAssembly.h>
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#include <mission/system/objects/SyrlinksAssembly.h>
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#include <mission/tmtc/LiveTmTask.h>
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@ -31,6 +33,7 @@
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#include "eive/definitions.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "linux/ObjectFactory.h"
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#include "linux/acs/startracker/StarTrackerHandler.h"
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#include "linux/boardtest/I2cTestClass.h"
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#include "linux/boardtest/SpiTestClass.h"
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#include "linux/boardtest/UartTestClass.h"
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@ -44,8 +47,6 @@
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#include "linux/devices/ploc/PlocMPSoCHelper.h"
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#include "linux/devices/ploc/PlocMemoryDumper.h"
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#include "linux/devices/ploc/PlocSupervisorHandler.h"
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#include "linux/devices/startracker/StarTrackerHandler.h"
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#include "linux/devices/startracker/StrHelper.h"
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#include "linux/ipcore/AxiPtmeConfig.h"
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#include "linux/ipcore/PapbVcInterface.h"
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#include "linux/ipcore/PdecHandler.h"
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@ -53,16 +54,16 @@
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#include "linux/ipcore/PtmeConfig.h"
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#include "mission/config/configfile.h"
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#include "mission/csp/CspCookie.h"
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#include "mission/system/fdir/AcsBoardFdir.h"
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#include "mission/system/acs/AcsBoardFdir.h"
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#include "mission/system/acs/AcsSubsystem.h"
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#include "mission/system/acs/RwAssembly.h"
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#include "mission/system/acs/SusFdir.h"
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#include "mission/system/acs/acsModeTree.h"
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#include "mission/system/com/SyrlinksFdir.h"
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#include "mission/system/com/comModeTree.h"
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#include "mission/system/fdir/GomspacePowerFdir.h"
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#include "mission/system/fdir/RtdFdir.h"
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#include "mission/system/fdir/SusFdir.h"
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#include "mission/system/fdir/SyrlinksFdir.h"
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#include "mission/system/objects/AcsSubsystem.h"
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#include "mission/system/objects/RwAssembly.h"
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#include "mission/system/objects/TcsBoardAssembly.h"
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#include "mission/system/tree/acsModeTree.h"
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#include "mission/system/tree/comModeTree.h"
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#include "mission/system/tree/payloadModeTree.h"
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#include "mission/system/tree/tcsModeTree.h"
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#include "mission/tmtc/tmFilters.h"
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@ -74,13 +75,13 @@ using gpio::Levels;
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#if OBSW_TEST_LIBGPIOD == 1
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#include "linux/boardtest/LibgpiodTest.h"
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#endif
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#include <mission/devices/GyrAdis1650XHandler.h>
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#include <mission/devices/ImtqHandler.h>
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#include <mission/acs/GyrAdis1650XHandler.h>
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#include <mission/acs/ImtqHandler.h>
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#include <mission/acs/rwHelpers.h>
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#include <mission/com/SyrlinksHandler.h>
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#include <mission/devices/PcduHandler.h>
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#include <mission/devices/Pdu1Handler.h>
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#include <mission/devices/Pdu2Handler.h>
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#include <mission/devices/SyrlinksHandler.h>
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#include <mission/devices/devicedefinitions/rwHelpers.h>
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#include <mission/tmtc/VirtualChannelWithQueue.h>
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#include <sstream>
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@ -101,6 +102,9 @@ using gpio::Levels;
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#include "fsfw_hal/linux/serial/SerialCookie.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "mission/acs/RwHandler.h"
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#include "mission/com/CcsdsIpCoreHandler.h"
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#include "mission/com/syrlinksDefs.h"
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#include "mission/core/GenericFactory.h"
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#include "mission/devices/ACUHandler.h"
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#include "mission/devices/BpxBatteryHandler.h"
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@ -109,16 +113,13 @@ using gpio::Levels;
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#include "mission/devices/P60DockHandler.h"
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#include "mission/devices/PayloadPcduHandler.h"
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#include "mission/devices/RadiationSensorHandler.h"
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#include "mission/devices/RwHandler.h"
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#include "mission/devices/SolarArrayDeploymentHandler.h"
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#include "mission/devices/Tmp1075Handler.h"
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#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
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#include "mission/devices/devicedefinitions/Max31865Definitions.h"
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#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
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#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
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#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
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#include "mission/system/objects/AcsBoardAssembly.h"
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#include "mission/tmtc/CcsdsIpCoreHandler.h"
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#include "mission/system/acs/AcsBoardAssembly.h"
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#include "mission/tmtc/TmFunnelHandler.h"
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ResetArgs RESET_ARGS_GNSS;
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@ -179,7 +180,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
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*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
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/* Communication interfaces */
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new CspComIF(objects::CSP_COM_IF);
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new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
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*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
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*uartComIF = new SerialComIF(objects::UART_COM_IF);
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*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
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@ -592,16 +593,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
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void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
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auto* syrlinksUartCookie =
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new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
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new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
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syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
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syrlinksUartCookie->setParityEven();
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new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
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auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
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syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
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auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
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auto syrlinksHandler =
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new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
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power::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
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new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
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syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
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syrlinksHandler->setPowerSwitcher(pwrSwitcher);
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syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
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#if OBSW_DEBUG_SYRLINKS == 1
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@ -623,8 +625,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
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mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
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gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
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auto mpsocCookie =
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new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
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mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
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new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
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serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
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mpsocCookie->setNoFixedSizeReply();
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auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
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auto* mpsocHandler = new PlocMPSoCHandler(
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@ -639,9 +641,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
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auto supvGpioCookie = new GpioCookie;
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supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
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gpioComIF->addGpios(supvGpioCookie);
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auto supervisorCookie =
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new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
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uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
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auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
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q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
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supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
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supervisorCookie->setNoFixedSizeReply();
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auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
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auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
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@ -748,10 +750,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
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// Initialise to low and then pull high to do a PTME reset, which puts the PTME in reset
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// state. It will be put out of reset in the CCSDS handler initialize function.
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
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gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::Direction::OUT, gpio::Levels::LOW);
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gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
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gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
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// Creating virtual channel interfaces
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VirtualChannelIF* vc0 =
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new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
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@ -777,7 +782,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
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PtmeGpios gpios;
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gpios.enableTxClock = gpioIds::RS485_EN_TX_CLOCK;
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gpios.enableTxData = gpioIds::RS485_EN_TX_CLOCK;
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gpios.enableTxData = gpioIds::RS485_EN_TX_DATA;
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gpios.ptmeResetn = gpioIds::PTME_RESETN;
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*args.ipCoreHandler =
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@ -931,10 +936,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
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auto* strAssy = new StrAssembly(objects::STR_ASSY);
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strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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auto* starTrackerCookie =
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new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
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new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
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startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
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starTrackerCookie->setNoFixedSizeReply();
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StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
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StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
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const char* paramJsonFile = nullptr;
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#ifdef EGSE
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@ -951,8 +956,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
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}
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auto strFdir = new StrFdir(objects::STAR_TRACKER);
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auto starTracker =
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<<<<<<< HEAD
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new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
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paramJsonFile, strHelper, power::PDU1_CH2_STAR_TRACKER_5V);
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=======
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new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
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paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
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>>>>>>> origin/develop
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starTracker->setPowerSwitcher(pwrSwitcher);
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starTracker->connectModeTreeParent(*strAssy);
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starTracker->setCustomFdir(strFdir);
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@ -3,10 +3,10 @@
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#include <fsfw/returnvalues/returnvalue.h>
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#include <fsfw_hal/linux/spi/SpiComIF.h>
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#include <mission/com/CcsdsIpCoreHandler.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/devices/HeaterHandler.h>
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#include <mission/system/objects/Stack5VHandler.h>
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#include <mission/tmtc/CcsdsIpCoreHandler.h>
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#include <mission/tmtc/CfdpTmFunnel.h>
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#include <mission/tmtc/PersistentLogTmStoreTask.h>
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#include <mission/tmtc/PusTmFunnel.h>
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@ -72,8 +72,9 @@ void scheduling::initTasks() {
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#if OBSW_ADD_SA_DEPL == 1
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// Could add this to the core controller but the core controller does so many thing that I would
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// prefer to have the solar array deployment in a seprate task.
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PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
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"SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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PeriodicTaskIF* solarArrayDeplTask =
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factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
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missedDeadlineFunc, &RR_SCHEDULING);
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result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
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@ -81,7 +82,7 @@ void scheduling::initTasks() {
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#endif
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PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
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"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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"CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
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@ -89,7 +90,7 @@ void scheduling::initTasks() {
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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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"TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
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#if OBSW_ADD_TCPIP_SERVERS == 1
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
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@ -120,7 +121,7 @@ void scheduling::initTasks() {
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||||
#if OBSW_ADD_TCPIP_SERVERS == 1
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
||||
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
|
||||
"UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
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"UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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||||
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
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||||
@ -128,7 +129,7 @@ void scheduling::initTasks() {
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||||
#endif
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||||
#if OBSW_ADD_TMTC_TCP_SERVER == 1
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||||
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
|
||||
"TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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||||
"TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
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||||
scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
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||||
@ -136,8 +137,9 @@ void scheduling::initTasks() {
|
||||
#endif
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
|
||||
"SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
|
||||
PeriodicTaskIF* genericSysTask =
|
||||
factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
|
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
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@ -171,7 +173,7 @@ void scheduling::initTasks() {
|
||||
|
||||
// Runs in IRQ mode, frequency does not really matter
|
||||
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
|
||||
"PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
"PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
|
||||
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
|
||||
@ -179,50 +181,54 @@ void scheduling::initTasks() {
|
||||
|
||||
#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
|
||||
// All the TM store tasks run in permanent loops, frequency does not matter
|
||||
PeriodicTaskIF* liveTmTask =
|
||||
factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
|
||||
"LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
|
||||
result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
|
||||
}
|
||||
PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
|
||||
"LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
"LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
|
||||
}
|
||||
PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
|
||||
"HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
PeriodicTaskIF* hkTmTask =
|
||||
factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
|
||||
}
|
||||
PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
|
||||
"CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
"CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
|
||||
result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
|
||||
}
|
||||
|
||||
// TODO: Use user priorities for this task.
|
||||
#if OBSW_ADD_CFDP_COMPONENTS == 1
|
||||
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
|
||||
"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* cfdpTask =
|
||||
factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = cfdpTask->addComponent(objects::CFDP_HANDLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
|
||||
scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
|
||||
}
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
|
||||
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* gpsTask =
|
||||
factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
|
||||
}
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
|
||||
"ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* acsBrdPolling =
|
||||
factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
|
||||
0.4, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
|
||||
@ -230,16 +236,18 @@ void scheduling::initTasks() {
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
|
||||
"RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* rwPolling =
|
||||
factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
|
||||
0.4, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = rwPolling->addComponent(objects::RW_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
|
||||
}
|
||||
#endif
|
||||
#if OBSW_ADD_MGT == 1
|
||||
PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
|
||||
"IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* imtqPolling =
|
||||
factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
|
||||
0.4, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = imtqPolling->addComponent(objects::IMTQ_POLLING);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
|
||||
@ -247,16 +255,18 @@ void scheduling::initTasks() {
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SUN_SENSORS == 1
|
||||
PeriodicTaskIF* susPolling = factory->createPeriodicTask(
|
||||
"SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* susPolling =
|
||||
factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
|
||||
0.4, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = susPolling->addComponent(objects::SUS_POLLING_TASK);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
|
||||
}
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
|
||||
"ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
PeriodicTaskIF* acsSysTask =
|
||||
factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
|
||||
@ -283,7 +293,7 @@ void scheduling::initTasks() {
|
||||
}
|
||||
|
||||
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
|
||||
"TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
|
||||
"TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
scheduling::scheduleRtdSensors(tcsSystemTask);
|
||||
result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
|
||||
if (result != returnvalue::OK) {
|
||||
@ -306,27 +316,40 @@ void scheduling::initTasks() {
|
||||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
|
||||
"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = strHelperTask->addComponent(objects::STR_HELPER);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
|
||||
"SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
|
||||
scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
// Relatively high priority to make sure STR COM works well.
|
||||
PeriodicTaskIF* strHelperTask =
|
||||
factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = strHelperTask->addComponent(objects::STR_COM_IF);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
|
||||
}
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
|
||||
// TODO: Use regular scheduler for this task
|
||||
#if OBSW_ADD_PLOC_MPSOC == 1
|
||||
PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
|
||||
"PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
"PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
|
||||
}
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC */
|
||||
|
||||
// TODO: Use regular scheduler for this task
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
|
||||
"PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
"PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
|
||||
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
|
||||
@ -334,7 +357,7 @@ void scheduling::initTasks() {
|
||||
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
|
||||
|
||||
PeriodicTaskIF* plTask = factory->createPeriodicTask(
|
||||
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
plTask->addComponent(objects::CAM_SWITCHER);
|
||||
scheduling::addMpsocSupvHandlers(plTask);
|
||||
scheduling::scheduleScexDev(plTask);
|
||||
@ -401,6 +424,9 @@ void scheduling::initTasks() {
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
acsBrdPolling->startTask();
|
||||
#endif
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
syrlinksCom->startTask();
|
||||
#endif
|
||||
#if OBSW_ADD_MGT == 1
|
||||
imtqPolling->startTask();
|
||||
#endif
|
||||
@ -455,8 +481,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
|
||||
#else
|
||||
static constexpr float acsPstPeriod = 0.4;
|
||||
#endif
|
||||
FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
|
||||
"ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
|
||||
FixedTimeslotTaskIF* acsTcsPst =
|
||||
factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
|
||||
acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = pst::pstTcsAndAcs(acsTcsPst, cfg);
|
||||
if (result != returnvalue::OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -470,8 +497,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
|
||||
|
||||
/* Polling Sequence Table Default */
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
|
||||
"SYRLINKS", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
FixedTimeslotTaskIF* syrlinksPst =
|
||||
factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = pst::pstSyrlinks(syrlinksPst);
|
||||
if (result != returnvalue::OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -485,8 +513,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_I2C_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
|
||||
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
|
||||
FixedTimeslotTaskIF* i2cPst =
|
||||
factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = pst::pstI2cProcessingSystem(i2cPst);
|
||||
if (result != returnvalue::OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -499,8 +528,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
|
||||
}
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
|
||||
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
FixedTimeslotTaskIF* gomSpacePstTask =
|
||||
factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
|
||||
0.5, missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = pst::pstGompaceCan(gomSpacePstTask);
|
||||
if (result != returnvalue::OK) {
|
||||
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -514,8 +544,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
/* PUS Services */
|
||||
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
||||
PeriodicTaskIF* pusHighPrio =
|
||||
factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
|
||||
@ -526,16 +557,17 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
|
||||
scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
|
||||
}
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
taskVec.push_back(pusHighPrio);
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
PeriodicTaskIF* pusMedPrio =
|
||||
factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
|
||||
missedDeadlineFunc, &RR_SCHEDULING);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||||
|
||||
Reference in New Issue
Block a user