some refactoring
This commit is contained in:
parent
20e8fc3400
commit
fb3b5582ad
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@ -3,20 +3,22 @@
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#include "OBSWConfig.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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#include <mission/utility/InitMission.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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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include "fsfw/platform.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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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/TaskFactory.h"
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#include <iostream>
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#include <vector>
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/* This is configured for linux without CR */
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#ifdef LINUX
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#ifdef PLATFORM_UNIX
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ServiceInterfaceStream sif::debug("DEBUG");
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ServiceInterfaceStream sif::info("INFO");
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ServiceInterfaceStream sif::warning("WARNING");
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@ -102,15 +104,111 @@ void initmission::initTasks() {
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}
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#endif
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std::vector<PeriodicTaskIF*> pusTasks;
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createPusTasks(*factory, missedDeadlineFunc, pusTasks);
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std::vector<PeriodicTaskIF*> pstTasks;
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createPstTasks(*factory, missedDeadlineFunc, pstTasks);
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std::vector<PeriodicTaskIF*> testTasks;
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createTestTasks(*factory, missedDeadlineFunc, testTasks);
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auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
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for(const auto& task: taskVector) {
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if(task != nullptr) {
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task->startTask();
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}
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else {
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sif::error << "Task in vector " << name << " is invalid!" << std::endl;
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}
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}
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};
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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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coreController->startTask();
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taskStarter(pstTasks, "PST task vector");
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taskStarter(pusTasks, "PUS task vector");
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#if OBSW_ADD_TEST_CODE == 1
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taskStarter(testTasks, "Test task vector");
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#endif
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#if TEST_CCSDS_BRIDGE == 1
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ptmeTestTask->startTask();
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#endif
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sif::info << "Tasks started.." << std::endl;
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}
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void initmission::createPstTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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#if BOARD_TE0720 == 0
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/* Polling Sequence Table Default */
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#if Q7S_ADD_SPI_TEST == 0
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FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pstSpi(spiPst);
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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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taskVec.push_back(spiPst);
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#endif
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FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
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"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstUart(uartPst);
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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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taskVec.push_back(uartPst);
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FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
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"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstGpio(gpioPst);
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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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taskVec.push_back(gpioPst);
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FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
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"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstI2c(i2cPst);
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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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FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
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"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
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result = pst::pstGompaceCan(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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taskVec.push_back(i2cPst);
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#else /* BOARD_TE7020 == 0 */
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FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
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"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
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}
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taskVec.push_back(pollingSequenceTaskTE0720);
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#endif /* BOARD_TE7020 == 1 */
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}
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void initmission::createPusTasks(TaskFactory &factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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/* PUS Services */
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PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
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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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taskVec.push_back(pusVerification);
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PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
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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 = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -120,8 +218,9 @@ void initmission::initTasks() {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
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}
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taskVec.push_back(pusEvents);
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PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
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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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@ -131,8 +230,9 @@ void initmission::initTasks() {
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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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taskVec.push_back(pusHighPrio);
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PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
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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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@ -150,8 +250,9 @@ void initmission::initTasks() {
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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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taskVec.push_back(pusMedPrio);
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PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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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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@ -161,58 +262,13 @@ void initmission::initTasks() {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
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}
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taskVec.push_back(pusLowPrio);
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}
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#if BOARD_TE0720 == 0
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//TODO: Add handling of missed deadlines
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/* Polling Sequence Table Default */
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#if Q7S_ADD_SPI_TEST == 0
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FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pstSpi(spiPst);
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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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#endif
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FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
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"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstUart(uartPst);
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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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FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
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"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstGpio(gpioPst);
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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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FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
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"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstI2c(i2cPst);
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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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FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask(
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"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
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result = pst::pstGompaceCan(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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#else /* BOARD_TE7020 == 0 */
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FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
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"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
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}
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#endif /* BOARD_TE7020 == 1 */
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#if OBSW_ADD_TEST_CODE == 1
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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PeriodicTaskIF* testTask = factory.createPeriodicTask(
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"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
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result = testTask->addComponent(objects::TEST_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -225,45 +281,11 @@ void initmission::initTasks() {
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initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
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}
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#endif
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if BOARD_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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coreController->startTask();
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#if BOARD_TE0720 == 0
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uartPst->startTask();
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gpioPst->startTask();
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i2cPst->startTask();
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#if Q7S_ADD_SPI_TEST == 0
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gomSpacePstTask->startTask();
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spiPst->startTask();
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#endif /* Q7S_ADD_SPI_TEST == 0 */
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#elif BOARD_TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
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pollingSequenceTaskTE0720->startTask();
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#endif
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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 OBSW_ADD_TEST_CODE == 1
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testTask->startTask();
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#endif
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#if TEST_CCSDS_BRIDGE == 1
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ptmeTestTask->startTask();
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#endif
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sif::info << "Tasks started.." << std::endl;
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#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
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taskVec.push_back(testTask);
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}
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@ -1,9 +1,22 @@
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#ifndef BSP_Q7S_INITMISSION_H_
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#define BSP_Q7S_INITMISSION_H_
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#include "fsfw/tasks/Typedef.h"
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#include <vector>
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class PeriodicTaskIF;
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class TaskFactory;
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namespace initmission {
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void initMission();
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void initTasks();
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void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec);
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void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec);
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void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec);
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};
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#endif /* BSP_Q7S_INITMISSION_H_ */
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2
fsfw
2
fsfw
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@ -1 +1 @@
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Subproject commit d11e54dc0a296bda86b5597a34e5e8ba59b9653e
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Subproject commit 10f7185e8137b3674a7ee5c24dfbaf8035d2251d
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