Robin Mueller
0ae55e0783
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EIVE/eive-obsw/pipeline/head This commit looks good
197 lines
8.1 KiB
C++
197 lines
8.1 KiB
C++
#include "InitMission.h"
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#include "ObjectFactory.h"
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#include "objects/systemObjectList.h"
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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 <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterface.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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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");
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ObjectManagerIF *objectManager = nullptr;
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void initmission::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 initmission::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", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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ReturnValue_t result = tmTcDistributor->addComponent(
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objects::CCSDS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Unix Bridge failed" << std::endl;
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}
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PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
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"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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/* PUS Services */
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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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sif::error << "Object add component failed" << std::endl;
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}
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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 = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if(result != HasReturnvaluesIF::RETURN_OK){
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initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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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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initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::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 = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::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 != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
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}
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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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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("INT_ERR_RPRT",
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objects::INTERNAL_ERROR_REPORTER);
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}
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bool startTestPst = true;
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#if OBSW_ADD_TEST_PST == 1
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FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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result = pst::pstTest(pstTestTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
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startTestPst = false;
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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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 != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if RPI_ADD_SPI_TEST == 1
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result = testTask->addComponent(objects::SPI_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
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}
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#endif /* RPI_ADD_SPI_TEST == 1 */
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#if RPI_ADD_GPIO_TEST == 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 /* RPI_ADD_GPIO_TEST == 1 */
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#if RPI_ADD_UART_TEST == 1
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result = testTask->addComponent(objects::UART_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
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}
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#endif /* RPI_ADD_GPIO_TEST == 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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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 /* OBSW_ADD_TEST_CODE == 1 */
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#if OBSW_ADD_TEST_PST == 1
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if(startTestPst) {
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pstTestTask->startTask();
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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sif::info << "Tasks started.." << std::endl;
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}
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