281 lines
11 KiB
C++
281 lines
11 KiB
C++
#include "linux/scheduling.h"
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#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/returnvalue.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.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 <mission/utility/InitMission.h>
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#include <iostream>
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#include "OBSWConfig.h"
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#include "mission/scheduling.h"
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#include "objectFactory.h"
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#include "scheduling.h"
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#ifdef LINUX
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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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ServiceInterfaceStream sif::error("ERROR", false, false, true);
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#else
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ServiceInterfaceStream sif::debug("DEBUG", true);
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ServiceInterfaceStream sif::info("INFO", true);
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ServiceInterfaceStream sif::warning("WARNING", true);
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ServiceInterfaceStream sif::error("ERROR", true, false, true);
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#endif
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ObjectManagerIF* objectManager = nullptr;
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void scheduling::initMission() {
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sif::info << "Building global objects.." << std::endl;
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/* Instantiate global object manager and also create all objects */
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ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
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sif::info << "Initializing all objects.." << std::endl;
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ObjectManager::instance()->initialize();
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/* This function creates and starts all tasks */
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initTasks();
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}
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void scheduling::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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if (factory == nullptr) {
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/* Should never happen ! */
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return;
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}
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#if OBSW_PRINT_MISSED_DEADLINES == 1
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void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
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#else
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void (*missedDeadlineFunc)(void) = nullptr;
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#endif
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/* TMTC Distribution */
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PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
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"DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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sif::error << "Adding CCSDS distributor failed" << std::endl;
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}
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result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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sif::error << "Adding PUS distributor failed" << std::endl;
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}
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result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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sif::error << "Adding CFDP distributor failed" << std::endl;
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}
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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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if (result != returnvalue::OK) {
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sif::error << "adding UDP server failed" << std::endl;
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}
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#endif
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result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
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if (result != returnvalue::OK) {
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sif::error << "adding TCP server failed" << std::endl;
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}
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
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"UDP_POLLING", 70, 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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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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#endif
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PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
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"TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
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if (result != returnvalue::OK) {
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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
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"LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr, &RR_SCHEDULING);
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result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
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}
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PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
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"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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if (result != returnvalue::OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
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}
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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 = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
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"THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = thermalTask->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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}
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result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
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}
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result = thermalTask->addComponent(objects::HEATER_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
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}
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FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
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"DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
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result = dummy_pst::pst(pstTask);
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if (result != returnvalue::OK) {
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sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
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}
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
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"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = cfdpTask->addComponent(objects::CFDP_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
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}
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#endif
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// If those are added at a later stage..
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/*
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PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
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"LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
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}
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PeriodicTaskIF* hkTmTask =
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factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
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}
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PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
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"CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
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}
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*/
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#if OBSW_ADD_PLOC_SUPERVISOR == 1
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PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
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"PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
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}
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#endif /* OBSW_ADD_PLOC_SUPERVISOR */
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PeriodicTaskIF* plTask = factory->createPeriodicTask(
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"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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scheduling::addMpsocSupvHandlers(plTask);
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#if OBSW_ADD_TEST_CODE == 1
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result = testTask->addComponent(objects::TEST_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
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"DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
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scheduling::scheduleTmpTempSensors(dummyTask, true);
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scheduling::scheduleRtdSensors(dummyTask);
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dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
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dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
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dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
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dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
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dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
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dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
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dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
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dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
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dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
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dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
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dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
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dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
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sif::info << "Starting tasks.." << std::endl;
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tmtcDistributor->startTask();
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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udpPollingTask->startTask();
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#endif
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tcpPollingTask->startTask();
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liveTmTask->startTask();
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pusHighPrio->startTask();
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pusMedPrio->startTask();
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pstTask->startTask();
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thermalTask->startTask();
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dummyTask->startTask();
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// If those are added at a later stage..
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// logTmTask->startTask();
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// cfdpTmTask->startTask();
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// hkTmTask->startTask();
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#if OBSW_ADD_PLOC_SUPERVISOR == 1
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supvHelperTask->startTask();
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#endif
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#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
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plTask->startTask();
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#endif
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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cfdpTask->startTask();
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#endif
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#if OBSW_ADD_TEST_CODE == 1
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testTask->startTask();
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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sif::info << "Tasks started.." << std::endl;
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}
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