updated init mission of hosted bsp

and executed lwGPS test

bsp_hosted/InitMission.cpp

@@ -15,7 +15,6 @@
 
 #include <iostream>
 
-// This is configured for linux without \cr
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
@@ -41,117 +40,120 @@ void initmission::initMission() {
     initTasks();
 }
 
-void initmission::initTasks(){
+void initmission::initTasks() {
+    TaskFactory* factory = TaskFactory::instance();
+    if(factory == nullptr) {
+        /* Should never happen ! */
+        return;
+    }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
+#else
+    void (*missedDeadlineFunc) (void) = nullptr;
+#endif
+
     /* TMTC Distribution */
-	PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
+    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-			createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-					0.100, nullptr);
+    ReturnValue_t result = tmTcDistributor->addComponent(
-	ReturnValue_t result = TmTcDistributor->addComponent(
             objects::CCSDS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+    if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
-	result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+    if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
-    result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
+    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Object add component failed" << std::endl;
     }
 
     /* UDP bridge */
-    PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
+    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
-    		"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-			0.2, nullptr);
+    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
-    result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Unix Bridge failed" << std::endl;
     }
-    PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
+    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-    		createPeriodicTask("UDP_POLLING", 80,
+            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    		PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
+    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
-    result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Polling failed" << std::endl;
     }
 
     /* PUS Services */
-	PeriodicTaskIF* PusVerification = TaskFactory::instance()->
+    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-			createPeriodicTask("PUS_VERIF_1", 40,
+            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
 
-	PeriodicTaskIF* PusEvents = TaskFactory::instance()->
+    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-			createPeriodicTask("PUS_VERIF_1", 60,
+            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
     if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
+        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
     }
 
-	PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
+    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-			createPeriodicTask("PUS_HIGH_PRIO", 50,
+            "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-					0.200, nullptr);
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-
-	PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
-			createPeriodicTask("PUS_HIGH_PRIO", 40,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					0.8, nullptr);
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-
-	PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
-			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					1.6, nullptr);
-	result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-
-
-#if OBSW_ADD_TEST_CODE == 1
-	FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
-			createFixedTimeslotTask("PST_TEST_TASK", 10,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-	result = pst::pollingSequenceTestFunction(TestTimeslotTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "InitMission::createTasks: Test PST initialization "
+        initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-				<< "failed!" << std::endl;
+    }
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
     }
-#endif
 
-	//Main thread sleep
+    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-	sif::info << "Starting tasks.." << std::endl;
+            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-	TmTcDistributor->startTask();
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	UdpBridgeTask->startTask();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	UdpPollingTask->startTask();
+        initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+    }
 
-	PusVerification->startTask();
+    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-	PusEvents->startTask();
+            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-	PusHighPrio->startTask();
+    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	PusMedPrio->startTask();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	PusLowPrio->startTask();
+        initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+    }
+
+    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
 #if OBSW_ADD_TEST_CODE == 1
-	TestTimeslotTask->startTask();
+    result = testTask->addComponent(objects::TEST_TASK);
-#endif
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    }
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+    sif::info << "Starting tasks.." << std::endl;
+    tmTcDistributor->startTask();
+    udpBridgeTask->startTask();
+    udpPollingTask->startTask();
+
+    pusVerification->startTask();
+    pusEvents->startTask();
+    pusHighPrio->startTask();
+    pusMedPrio->startTask();
+    pusLowPrio->startTask();
+
+#if OBSW_ADD_TEST_CODE == 1
+    testTask->startTask();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
     sif::info << "Tasks started.." << std::endl;
 }

bsp_hosted/fsfwconfig/OBSWConfig.h

@@ -6,7 +6,9 @@
 #ifndef CONFIG_OBSWCONFIG_H_
 #define CONFIG_OBSWCONFIG_H_
 
-#define OBSW_ADD_TEST_CODE      0
+#include "commonConfig.h"
+
+#define OBSW_ADD_TEST_CODE      1
 
 /* These defines should be disabled for mission code but are useful for
 debugging. */

common/config/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_include_directories(${TARGET_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)

common/config/commonConfig.h

@@ -0,0 +1,7 @@
+#ifndef COMMON_CONFIG_COMMONCONFIG_H_
+#define COMMON_CONFIG_COMMONCONFIG_H_
+
+#define OBSW_ADD_LWGPS_TEST     0
+
+
+#endif /* COMMON_CONFIG_COMMONCONFIG_H_ */

fsfwconfig/OBSWConfig.h

@@ -9,6 +9,7 @@
 #ifdef RASPBERRY_PI
 #include <rpi_config.h>
 #endif
+#include "commonConfig.h"
 #include "OBSWVersion.h"
 
 /* These defines should be disabled for mission code but are useful for

misc/eclipse/Host/eive-mingw-debug-cmake.launch

@@ -4,7 +4,7 @@
     <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="true"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Host/eive_obsw.exe"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>

test/testtasks/TestTask.cpp

@@ -1,4 +1,6 @@
-#include <test/testtasks/TestTask.h>
+#include "TestTask.h"
+#include <OBSWConfig.h>
+
 #include <fsfw/objectmanager/frameworkObjects.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
@@ -42,11 +44,32 @@ ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
 }
 
 #include <etl/vector.h>
+#include <lwgps/lwgps.h>
+
+/**
+ * @brief           Dummy data from GPS receiver. Will be replaced witgh hyperion data later.
+ */
+const char
+gps_rx_data[] = ""
+                "$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F\r\n"
+                "$GPRMB,A,,,,,,,,,,,,V*71\r\n"
+                "$GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75\r\n"
+                "$GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D\r\n"
+                "$GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71\r\n"
+                "$GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77\r\n"
+                "$PGRME,22.0,M,52.9,M,51.0,M*14\r\n"
+                "$GPGLL,3907.360,N,12102.481,W,183730,A*33\r\n"
+                "$PGRMZ,2062,f,3*2D\r\n"
+                "$PGRMM,WGS84*06\r\n"
+                "$GPBOD,,T,,M,,*47\r\n"
+                "$GPRTE,1,1,c,0*07\r\n"
+                "$GPRMC,183731,A,3907.482,N,12102.436,W,000.0,360.0,080301,015.5,E*67\r\n"
+                "$GPRMB,A,,,,,,,,,,,,V*71\r\n";
 
 ReturnValue_t TestTask::performOneShotAction() {
-	/* Everything here will only be performed once. */
+#if OBSW_ADD_TEST_CODE == 1
-    etl::vector<uint8_t, 30> testVec;
+    performLwgpsTest();
-
+#endif
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -67,3 +90,19 @@ ReturnValue_t TestTask::performActionB() {
 	/* Add periodically executed code here */
 	return result;
 }
+
+void TestTask::performLwgpsTest() {
+    /* Everything here will only be performed once. */
+    etl::vector<uint8_t, 30> testVec;
+
+    lwgps_t gpsStruct;
+
+    /* Process all input data */
+    lwgps_process(&gpsStruct, gps_rx_data, strlen(gps_rx_data));
+
+    /* Print messages */
+    printf("Valid status: %d\r\n", gpsStruct.is_valid);
+    printf("Latitude: %f degrees\r\n", gpsStruct.latitude);
+    printf("Longitude: %f degrees\r\n", gpsStruct.longitude);
+    printf("Altitude: %f meters\r\n", gpsStruct.altitude);
+}

test/testtasks/TestTask.h

@@ -50,6 +50,8 @@ private:
 	// Let's keep it simple for now.
 	bool oneShotAction = true;
 	StorageManagerIF* IPCStore;
+
+	void performLwgpsTest();
 };
 
 

thirdparty/lwgps

@@ -1 +1 @@
-Subproject commit adce7a203268ca809fa61e6e286e62ff25edeb34
+Subproject commit ceba10e5616b6419a3b61ea2d608ad345d49b1e2