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mohr/introspection
eive-obsw/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

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#include "pollingSequenceFactory.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#ifndef RPI_TEST_ADIS16507
#define RPI_TEST_ADIS16507 0
#endif
#ifndef RPI_TEST_GPS_HANDLER
#define RPI_TEST_GPS_HANDLER 0
#endif
ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_PL_PCDU == 1
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_WRITE);
#endif
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_READ);
#endif
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_SUN_SENSORS == 1
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
bool addSus3 = true;
bool addSus4 = true;
bool addSus5 = true;
bool addSus6 = true;
bool addSus7 = true;
bool addSus8 = true;
bool addSus9 = true;
bool addSus10 = true;
bool addSus11 = true;
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
bool enableAside = true;
bool enableBside = true;
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
}
#endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_MGT == 1
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
static_cast<void>(length);
return thisSequence->checkSequence();
}
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
bool uartPstEmpty = true;
#if OBSW_ADD_PLOC_MPSOC == 1
uartPstEmpty = false;
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#if OBSW_ADD_PLOC_SUPERVISOR == 1
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_SYRLINKS == 1
uartPstEmpty = false;
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
uartPstEmpty = false;
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
static_cast<void>(length);
if (uartPstEmpty) {
return HasReturnvaluesIF::RETURN_OK;
}
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "UART PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
// PCDU handlers receives two messages and both must be handled
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "GomSpace PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
static_cast<void>(length);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
bool notEmpty = false;
#if RPI_TEST_ADIS16507 == 1
notEmpty = true;
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if RPI_TEST_GPS_HANDLER == 1
notEmpty = true;
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
#endif
static_cast<void>(length);
if (not notEmpty) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Test PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
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