#include "InitMission.h" #include #include #include "OBSWConfig.h" #include "ObjectFactory.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManagerIF.h" #include "fsfw/platform.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/serviceinterface/ServiceInterfaceStream.h" #include "fsfw/tasks/FixedTimeslotTaskIF.h" #include "fsfw/tasks/PeriodicTaskIF.h" #include "fsfw/tasks/TaskFactory.h" #include "mission/utility/InitMission.h" #include "pollingsequence/pollingSequenceFactory.h" /* This is configured for linux without CR */ #ifdef PLATFORM_UNIX ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::warning("WARNING"); ServiceInterfaceStream sif::error("ERROR"); #else ServiceInterfaceStream sif::debug("DEBUG", true); ServiceInterfaceStream sif::info("INFO", true); ServiceInterfaceStream sif::warning("WARNING", true); ServiceInterfaceStream sif::error("ERROR", true, false, true); #endif ObjectManagerIF* objectManager = nullptr; void initmission::initMission() { sif::info << "Building global objects.." << std::endl; /* Instantiate global object manager and also create all objects */ ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr); sif::info << "Initializing all objects.." << std::endl; ObjectManager::instance()->initialize(); /* This function creates and starts all tasks */ initTasks(); } void initmission::initTasks() { TaskFactory* factory = TaskFactory::instance(); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; if (factory == nullptr) { /* Should never happen ! */ return; } #if OBSW_PRINT_MISSED_DEADLINES == 1 void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline; #else void (*missedDeadlineFunc)(void) = nullptr; #endif #if BOARD_TE0720 == 0 PeriodicTaskIF* coreController = factory->createPeriodicTask( "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); result = coreController->addComponent(objects::CORE_CONTROLLER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER); } #endif /* TMTC Distribution */ PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR); } result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR); } result = tmTcDistributor->addComponent(objects::TM_FUNNEL); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL); } #if OBSW_ADD_TCPIP_BRIDGE == 1 // TMTC bridge PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask( "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE); } PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask( "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK); } #endif #if OBSW_USE_CCSDS_IP_CORE == 1 PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask( "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER); } // Minimal distance between two received TCs amounts to 0.6 seconds // If a command has not been read before the next one arrives, the old command will be // overwritten by the PDEC. PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask( "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER); } #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #if OBSW_ADD_ACS_HANDLERS == 1 PeriodicTaskIF* acsCtrl = factory->createPeriodicTask( "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); result = acsCtrl->addComponent(objects::GPS_CONTROLLER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER); } #endif /* OBSW_ADD_ACS_HANDLERS */ #if BOARD_TE0720 == 0 // FS task, task interval does not matter because it runs in permanent loop, priority low // because it is a non-essential background task PeriodicTaskIF* fsTask = factory->createPeriodicTask( "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER); } #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 (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER); } #endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* BOARD_TE0720 */ #if OBSW_ADD_PLOC_MPSOC == 1 PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask( "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER); } #endif /* OBSW_ADD_PLOC_MPSOC */ #if OBSW_TEST_CCSDS_BRIDGE == 1 PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask( "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE); } #endif std::vector pusTasks; createPusTasks(*factory, missedDeadlineFunc, pusTasks); std::vector pstTasks; createPstTasks(*factory, missedDeadlineFunc, pstTasks); #if OBSW_ADD_TEST_CODE == 1 std::vector testTasks; createTestTasks(*factory, missedDeadlineFunc, testTasks); #endif auto taskStarter = [](std::vector& taskVector, std::string name) { for (const auto& task : taskVector) { if (task != nullptr) { task->startTask(); } else { sif::error << "Task in vector " << name << " is invalid!" << std::endl; } } }; sif::info << "Starting tasks.." << std::endl; tmTcDistributor->startTask(); #if OBSW_ADD_TCPIP_BRIDGE == 1 tmtcBridgeTask->startTask(); tmtcPollingTask->startTask(); #endif #if OBSW_USE_CCSDS_IP_CORE == 1 ccsdsHandlerTask->startTask(); pdecHandlerTask->startTask(); #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #if BOARD_TE0720 == 0 coreController->startTask(); #endif taskStarter(pstTasks, "PST task vector"); taskStarter(pusTasks, "PUS task vector"); #if OBSW_ADD_TEST_CODE == 1 taskStarter(testTasks, "Test task vector"); #endif #if OBSW_TEST_CCSDS_BRIDGE == 1 ptmeTestTask->startTask(); #endif #if BOARD_TE0720 == 0 fsTask->startTask(); #if OBSW_ADD_STAR_TRACKER == 1 strHelperTask > startTask(); #endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif #if OBSW_ADD_ACS_HANDLERS == 1 acsCtrl->startTask(); #endif sif::info << "Tasks started.." << std::endl; } void initmission::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, std::vector& taskVec) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; #if BOARD_TE0720 == 0 /* Polling Sequence Table Default */ #if OBSW_ADD_SPI_TEST_CODE == 0 FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); result = pst::pstSpi(spiPst); if (result != HasReturnvaluesIF::RETURN_OK) { if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; } } else { taskVec.push_back(spiPst); } #endif FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask( "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc); result = pst::pstUart(uartPst); if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; } taskVec.push_back(uartPst); FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask( "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc); result = pst::pstGpio(gpioPst); if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; } taskVec.push_back(gpioPst); #if OBSW_ADD_I2C_TEST_CODE == 0 FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc); result = pst::pstI2c(i2cPst); if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl; } taskVec.push_back(i2cPst); #endif FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); result = pst::pstGompaceCan(gomSpacePstTask); if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; } taskVec.push_back(gomSpacePstTask); #else /* BOARD_TE7020 == 0 */ FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask( "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc); result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720); if (result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl; } taskVec.push_back(pollingSequenceTaskTE0720); #endif /* BOARD_TE7020 == 1 */ } void initmission::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, std::vector& taskVec) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; /* PUS Services */ PeriodicTaskIF* pusVerification = factory.createPeriodicTask( "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); } taskVec.push_back(pusVerification); PeriodicTaskIF* pusEvents = factory.createPeriodicTask( "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); } result = pusEvents->addComponent(objects::EVENT_MANAGER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); } taskVec.push_back(pusEvents); PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask( "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS); } result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_9", 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); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT); } result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); 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) { initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT); } result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS); } taskVec.push_back(pusMedPrio); PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask( "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST); } result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER); } taskVec.push_back(pusLowPrio); } void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc, std::vector& taskVec) { #if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1 ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; static_cast(result); // supress warning in case it is not used PeriodicTaskIF* testTask = factory.createPeriodicTask( "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc); result = testTask->addComponent(objects::TEST_TASK); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); } #if OBSW_ADD_SPI_TEST_CODE == 1 result = testTask->addComponent(objects::SPI_TEST); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST); } #endif #if OBSW_ADD_I2C_TEST_CODE == 1 result = testTask->addComponent(objects::I2C_TEST); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST); } #endif #if OBSW_ADD_UART_TEST_CODE == 1 result = testTask->addComponent(objects::UART_TEST); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("UART_TEST", objects::UART_TEST); } #endif #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 result = testTask->addComponent(objects::LIBGPIOD_TEST); if (result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST); } #endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */ taskVec.push_back(testTask); #endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1 } /** â–„ â–„ â–Œâ–’â–ˆ â–„â–€â–’â–Œ â–Œâ–’â–’â–ˆ â–„â–€â–’â–’â–’â–? â–?â–„â–€â–’â–’â–€â–€â–€â–€â–„â–„â–„â–€â–’â–’â–’â–’â–’â–? â–„â–„â–€â–’â–‘â–’â–’â–’â–’â–’â–’â–’â–’â–’â–ˆâ–’â–’â–„â–ˆâ–’â–? â–„â–€â–’â–’â–’â–‘â–‘â–‘â–’â–’â–’â–‘â–‘â–‘â–’â–’â–’â–€â–ˆâ–ˆâ–€â–’â–Œ â–?â–’â–’â–’â–„â–„â–’â–’â–’â–’â–‘â–‘â–‘â–’â–’â–’â–’â–’â–’â–’â–€â–„â–’â–’â–Œ â–Œâ–‘â–‘â–Œâ–ˆâ–€â–’â–’â–’â–’â–’â–„â–€â–ˆâ–„â–’â–’â–’â–’â–’â–’â–’â–ˆâ–’â–? â–?â–‘â–‘â–‘â–’â–’â–’â–’â–’â–’â–’â–’â–Œâ–ˆâ–ˆâ–€â–’â–’â–‘â–‘â–‘â–’â–’â–’â–€â–„â–Œ â–Œâ–‘â–’â–„â–ˆâ–ˆâ–„â–’â–’â–’â–’â–’â–’â–’â–’â–’â–‘â–‘â–‘â–‘â–‘â–‘â–’â–’â–’â–’â–Œ â–Œâ–’â–€â–?â–„â–ˆâ–„â–ˆâ–Œâ–„â–‘â–€â–’â–’â–‘â–‘â–‘â–‘â–‘â–‘â–‘â–‘â–‘â–‘â–’â–’â–’â–? â–?â–’â–’â–?â–€â–?â–€â–’â–‘â–„â–„â–’â–„â–’â–’â–’â–’â–’â–’â–‘â–’â–‘â–’â–‘â–’â–’â–’â–’â–Œ â–?â–’â–’â–’â–€â–€â–„â–„â–’â–’â–’â–„â–’â–’â–’â–’â–’â–’â–’â–’â–‘â–’â–‘â–’â–‘â–’â–’â–? â–Œâ–’â–’â–’â–’â–’â–’â–€â–€â–€â–’â–’â–’â–’â–’â–’â–‘â–’â–‘â–’â–‘â–’â–‘â–’â–’â–’â–Œ â–?â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–‘â–’â–‘â–’â–‘â–’â–’â–„â–’â–’â–? â–€â–„â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–‘â–’â–‘â–’â–‘â–’â–„â–’â–’â–’â–’â–Œ â–€â–„â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–„â–„â–„â–€â–’â–’â–’â–’â–„â–€ â–€â–„â–„â–„â–„â–„â–„â–€â–€â–€â–’â–’â–’â–’â–’â–„â–„â–€ â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–€â–€ **/