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updated init mission of hosted bsp

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and executed lwGPS test
This commit is contained in:
Robin Müller 2021-02-27 21:39:32 +01:00 committed by Robin Mueller
parent 6e7f97805d
commit f8b9ce1d42
9 changed files with 163 additions and 107 deletions
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200
bsp_hosted/InitMission.cpp
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@ -15,7 +15,6 @@
#include <iostream> #include <iostream>
// This is configured for linux without \cr
#ifdef LINUX #ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::info("INFO");
@ -31,8 +30,8 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF *objectManager = nullptr; ObjectManagerIF *objectManager = nullptr;
void initmission::initMission() { void initmission::initMission() {
sif::info << "Building global objects.." << std::endl; sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */ /* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce); objectManager = new ObjectManager(ObjectFactory::produce);
sif::info << "Initializing all objects.." << std::endl; sif::info << "Initializing all objects.." << std::endl;
objectManager->initialize(); objectManager->initialize();
@ -41,117 +40,120 @@ void initmission::initMission() {
initTasks(); initTasks();
} }
void initmission::initTasks(){ void initmission::initTasks() {
/* TMTC Distribution */ TaskFactory* factory = TaskFactory::instance();
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()-> if(factory == nullptr) {
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, /* Should never happen ! */
0.100, nullptr); return;
ReturnValue_t result = TmTcDistributor->addComponent( }
objects::CCSDS_PACKET_DISTRIBUTOR); #if OBSW_PRINT_MISSED_DEADLINES == 1
if(result!=HasReturnvaluesIF::RETURN_OK){ void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
sif::error << "Object add component failed" << std::endl; #else
} void (*missedDeadlineFunc) (void) = nullptr;
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); #endif
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl; /* TMTC Distribution */
} PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
result = TmTcDistributor->addComponent(objects::TM_FUNNEL); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
/* UDP bridge */ /* 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) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl; 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) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl; sif::error << "Add component UDP Polling failed" << std::endl;
} }
/* PUS Services */ /* 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){
if(result != HasReturnvaluesIF::RETURN_OK){ sif::error << "Object add component failed" << std::endl;
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){
if(result != HasReturnvaluesIF::RETURN_OK){ initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
sif::error << "Object add component failed" << std::endl; }
}
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); if(result != HasReturnvaluesIF::RETURN_OK) {
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); initmission::printAddObjectError("PUS2", 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) {
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){ }
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* PusMedPrio = TaskFactory::instance()-> PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
createPeriodicTask("PUS_HIGH_PRIO", 40, "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE, result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
0.8, nullptr); if(result != HasReturnvaluesIF::RETURN_OK) {
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); initmission::printAddObjectError("PUS8", 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) {
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT); initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){ }
sif::error << "Object add component failed" << std::endl; result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
} if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
}
PeriodicTaskIF* PusLowPrio = TaskFactory::instance()-> PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
1.6, nullptr); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); if(result != HasReturnvaluesIF::RETURN_OK) {
if(result!=HasReturnvaluesIF::RETURN_OK){ initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
sif::error << "Object add component failed" << std::endl; }
}
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
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 #if OBSW_ADD_TEST_CODE == 1
FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()-> testTask->startTask();
createFixedTimeslotTask("PST_TEST_TASK", 10, #endif /* OBSW_ADD_TEST_CODE == 1 */
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = pst::pollingSequenceTestFunction(TestTimeslotTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks: Test PST initialization "
<< "failed!" << std::endl;
}
#endif
//Main thread sleep sif::info << "Tasks started.." << std::endl;
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
TestTimeslotTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
} }

4
bsp_hosted/fsfwconfig/OBSWConfig.h
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@ -6,7 +6,9 @@
#ifndef CONFIG_OBSWCONFIG_H_ #ifndef CONFIG_OBSWCONFIG_H_
#define 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 /* These defines should be disabled for mission code but are useful for
debugging. */ debugging. */

3
common/config/CMakeLists.txt
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@ -0,0 +1,3 @@
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
)

7
common/config/commonConfig.h Normal file
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@ -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_ */

1
fsfwconfig/OBSWConfig.h
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@ -9,6 +9,7 @@
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
#include <rpi_config.h> #include <rpi_config.h>
#endif #endif
#include "commonConfig.h"
#include "OBSWVersion.h" #include "OBSWVersion.h"
/* These defines should be disabled for mission code but are useful for /* These defines should be disabled for mission code but are useful for

4
misc/eclipse/Host/eive-mingw-debug-cmake.launch
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@ -4,7 +4,7 @@
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/> <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/> <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.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"/> <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.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" 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"/> <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/> <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.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"/> <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/> <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"/> <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>

47
test/testtasks/TestTask.cpp
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@ -1,4 +1,6 @@
#include <test/testtasks/TestTask.h> #include "TestTask.h"
#include <OBSWConfig.h>
#include <fsfw/objectmanager/frameworkObjects.h> #include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h> #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManagerIF.h> #include <fsfw/objectmanager/ObjectManagerIF.h>
@ -42,11 +44,32 @@ ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
} }
#include <etl/vector.h> #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() { 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; return HasReturnvaluesIF::RETURN_OK;
} }
@ -67,3 +90,19 @@ ReturnValue_t TestTask::performActionB() {
/* Add periodically executed code here */ /* Add periodically executed code here */
return result; 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);
}

2
test/testtasks/TestTask.h
View File

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

2
thirdparty/lwgps vendored

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