Ulrich Mohr
2800484f6b
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EIVE/eive-obsw/pipeline/head There was a failure building this commit
686 lines
26 KiB
C++
686 lines
26 KiB
C++
#include "bsp_q7s/core/InitMission.h"
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <iostream>
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#include <vector>
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#include "OBSWConfig.h"
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#include "bsp_q7s/core/ObjectFactory.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/platform.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/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/devices/devicedefinitions/Max31865Definitions.h"
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#include "mission/utility/InitMission.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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/* This is configured for linux without CR */
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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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ServiceInterfaceStream sif::error("ERROR");
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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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#ifdef FSFW_INTROSPECTION
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void printEnum(ParameterIF* param) {
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size_t i = 0;
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for (auto iter : param->getEnumValues()) {
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printf("---enum value %li: \"%s\"\n", iter, param->getEnumDescriptions()[i++]);
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}
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}
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/*void printEnum(HousekeepingEntryIF* param) {
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size_t i = 0;
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for (auto iter : param->getEnumValues()) {
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printf("---enum value %li: \"%s\"\n", iter, param->getEnumDescriptions()[i++]);
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}
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}
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void printModes(HasModesIF* object) {
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ModeHelperIF* modeHelper = object->getModeHelper();
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auto modes = modeHelper->getModes();
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for (auto mode : modes) {
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auto submodes = modeHelper->getSubmodes(mode.first);
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if (submodes.size() == 0) {
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continue;
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}
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printf("-mode \"%s\" (%i) with \n", mode.second, mode.first);
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for (auto submode : submodes) {
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printf("--submode \"%s\" (%i)\n", submode.second, submode.first);
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}
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}
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}*/
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void printAction(HasActionsIF* actionIf) {
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auto actionMap = actionIf->getActionHelper()->getActionMap();
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for (auto iter = actionMap->begin(); iter != actionMap->end(); iter++) {
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printf("-action \"%s\" (%i) with \n", iter->second->getName(), iter->second->getId());
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auto parameterList = iter->second->getParameters();
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for (ParameterIF* param : *parameterList) {
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printf("--parameter \"%s\" %.3E, %.3E\n", param->getName(), param->getMinFloating(),
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param->getMaxFloating());
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if (param->getType() == Types::ENUM) {
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printEnum(param);
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}
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}
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}
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}
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/*
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void printHousekeeping(HousekeepingIF* housekeepingIF) {
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auto dataSets = housekeepingIF->getHousekeepingHelper()->getDataSets();
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for (auto iter : *dataSets) {
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printf("-SID \"%s\" (%i) with:\n", iter.second->getDescription(), iter.first);
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for (HousekeepingEntryIF* param : *(iter.second->getVariables())) {
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printf("--parameter \"%s\"\n", param->getName());
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if (param->getType() == Types::ENUM) {
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printEnum(param);
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}
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}
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}
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}
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const char* getClassName(uint8_t classId) {
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CLASS_ID::FwClassIds fwClassId(classId);
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const char* description = fwClassId.getDescription();
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if (description != nullptr) {
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return description;
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}
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return "UNKNOWN";
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}
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void printReturnCodes() {
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puts("\nReturnvalues");
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for (auto iter : ReturnValueItems::returnValues) {
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uint8_t classId = iter.first >> 8;
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printf("-\"%s:%s\" (%04x)\n", getClassName(classId), iter.second, iter.first);
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}
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}
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void printEvents() {
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puts("\nEvents");
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for (auto iter : EventItems::events) {
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uint8_t classId = iter.first >> 8;
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printf("-\"%s:%s\" (%06x)\n", getClassName(classId), iter.second, iter.first);
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}
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}*/
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#endif
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void initmission::initMission() {
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sif::info << "Building global objects.." << std::endl;
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try {
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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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} catch (const std::invalid_argument& e) {
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sif::error << "initmission::initMission: Object Construction failed with an "
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"invalid argument: "
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<< e.what();
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std::exit(1);
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}
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#ifdef FSFW_INTROSPECTION
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sif::info << "Introspecting.." << std::endl;
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ObjectManager::instance()->produce();
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auto objectList = ObjectManager::instance()->getObjectList();
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sif::info << "Looping.." << std::endl;
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for (auto iter : *objectList) {
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const char * name = "UNKNOWN";
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commonObjects commonObjectId(iter.first);
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if (commonObjectId.isValid()){
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name = commonObjectId.getDescription();
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}
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systemObjects systemObject(iter.first);
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if( systemObject.isValid()){
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name = systemObject.getDescription();
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}
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printf("Object \"%s\" (0x%08x)\n", name, iter.first);
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HasActionsIF* actionIf = dynamic_cast<HasActionsIF*>(iter.second);
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if (actionIf != nullptr) {
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printAction(actionIf);
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}
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/*HasModesIF* hasmodesIF = dynamic_cast<HasModesIF*>(iter.second);
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if (hasmodesIF != nullptr) {
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printModes(hasmodesIF);
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}
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HousekeepingIF* hasHousekeeping = dynamic_cast<HousekeepingIF*>(iter.second);
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if (hasHousekeeping != nullptr) {
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printHousekeeping(hasHousekeeping);
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}*/
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}
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// printReturnCodes();
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// printEvents();
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exit(0);
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#endif
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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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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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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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PeriodicTaskIF* coreController = factory->createPeriodicTask(
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"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = coreController->addComponent(commonObjects::CORE_CONTROLLER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("CORE_CTRL", commonObjects::CORE_CONTROLLER);
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}
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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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result = tmTcDistributor->addComponent(commonObjects::CCSDS_PACKET_DISTRIBUTOR);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("CCSDS_DISTRIB", commonObjects::CCSDS_PACKET_DISTRIBUTOR);
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}
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result = tmTcDistributor->addComponent(commonObjects::PUS_PACKET_DISTRIBUTOR);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_PACKET_DISTRIB", commonObjects::PUS_PACKET_DISTRIBUTOR);
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}
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result = tmTcDistributor->addComponent(systemObjects::TM_FUNNEL);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TM_FUNNEL", systemObjects::TM_FUNNEL);
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}
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#if OBSW_ADD_TCPIP_BRIDGE == 1
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// TMTC bridge
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PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
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"TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = tmtcBridgeTask->addComponent(commonObjects::TMTC_BRIDGE);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TMTC_BRIDGE", commonObjects::TMTC_BRIDGE);
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}
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PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
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"TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = tmtcPollingTask->addComponent(commonObjects::TMTC_POLLING_TASK);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UDP_POLLING", commonObjects::TMTC_POLLING_TASK);
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}
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#endif
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#if OBSW_USE_CCSDS_IP_CORE == 1
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PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
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"CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = ccsdsHandlerTask->addComponent(commonObjects::CCSDS_HANDLER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("CCSDS Handler", commonObjects::CCSDS_HANDLER);
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}
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// Minimal distance between two received TCs amounts to 0.6 seconds
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// If a command has not been read before the next one arrives, the old command will be
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// overwritten by the PDEC.
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PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
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"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = pdecHandlerTask->addComponent(commonObjects::PDEC_HANDLER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PDEC Handler", commonObjects::PDEC_HANDLER);
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}
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#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
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#if OBSW_ADD_ACS_HANDLERS == 1
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PeriodicTaskIF* acsTask = factory->createPeriodicTask(
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"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
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result = acsTask->addComponent(commonObjects::GPS_CONTROLLER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("GPS_CTRL", commonObjects::GPS_CONTROLLER);
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}
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#endif /* OBSW_ADD_ACS_HANDLERS */
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acsTask->addComponent(commonObjects::ACS_CONTROLLER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("ACS_CTRL", commonObjects::ACS_CONTROLLER);
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}
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PeriodicTaskIF* sysTask = factory->createPeriodicTask(
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"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
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static_cast<void>(sysTask);
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#if OBSW_ADD_ACS_HANDLERS == 1
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result = sysTask->addComponent(commonObjects::ACS_BOARD_ASS);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("ACS_BOARD_ASS", commonObjects::ACS_BOARD_ASS);
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}
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#endif /* OBSW_ADD_ACS_HANDLERS */
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#if OBSW_ADD_RW == 1
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result = sysTask->addComponent(commonObjects::RW_ASS);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("RW_ASS", commonObjects::RW_ASS);
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}
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#endif
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#if OBSW_ADD_SUS_BOARD_ASS == 1
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result = sysTask->addComponent(commonObjects::SUS_BOARD_ASS);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("SUS_BOARD_ASS", commonObjects::SUS_BOARD_ASS);
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}
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#endif
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#if OBSW_ADD_RTD_DEVICES == 1
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PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
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"TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
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result = tcsPollingTask->addComponent(systemObjects::SPI_RTD_COM_IF);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("SPI_RTD_POLLING", systemObjects::SPI_RTD_COM_IF);
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}
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PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
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"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
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commonObjects::RTD_0_IC3_PLOC_HEATSPREADER,
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commonObjects::RTD_1_IC4_PLOC_MISSIONBOARD,
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commonObjects::RTD_2_IC5_4K_CAMERA,
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commonObjects::RTD_3_IC6_DAC_HEATSPREADER,
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commonObjects::RTD_4_IC7_STARTRACKER,
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commonObjects::RTD_5_IC8_RW1_MX_MY,
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commonObjects::RTD_6_IC9_DRO,
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commonObjects::RTD_7_IC10_SCEX,
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commonObjects::RTD_8_IC11_X8,
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commonObjects::RTD_9_IC12_HPA,
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commonObjects::RTD_10_IC13_PL_TX,
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commonObjects::RTD_11_IC14_MPA,
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commonObjects::RTD_12_IC15_ACU,
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commonObjects::RTD_13_IC16_PLPCDU_HEATSPREADER,
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commonObjects::RTD_14_IC17_TCS_BOARD,
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commonObjects::RTD_15_IC18_IMTQ,
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};
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tcsTask->addComponent(commonObjects::TCS_BOARD_ASS);
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tcsTask->addComponent(commonObjects::THERMAL_CONTROLLER);
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for (const auto& rtd : rtdIds) {
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tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
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tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
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tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
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tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
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tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
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}
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#endif /* OBSW_ADD_RTD_DEVICES */
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// FS task, task interval does not matter because it runs in permanent loop, priority low
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// because it is a non-essential background task
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PeriodicTaskIF* fsTask = factory->createPeriodicTask(
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"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = fsTask->addComponent(commonObjects::FILE_SYSTEM_HANDLER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("FILE_SYSTEM_TASK", commonObjects::FILE_SYSTEM_HANDLER);
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}
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#if OBSW_ADD_STAR_TRACKER == 1
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PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
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"STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = strHelperTask->addComponent(commonObjects::STR_HELPER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("STR_HELPER", commonObjects::STR_HELPER);
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}
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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#if OBSW_ADD_PLOC_MPSOC == 1
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PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
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"PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = mpsocHelperTask->addComponent(commonObjects::PLOC_MPSOC_HELPER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PLOC_MPSOC_HELPER", commonObjects::PLOC_MPSOC_HELPER);
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}
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#endif /* OBSW_ADD_PLOC_MPSOC */
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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", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = supvHelperTask->addComponent(commonObjects::PLOC_SUPERVISOR_HELPER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PLOC_SUPV_HELPER", commonObjects::PLOC_SUPERVISOR_HELPER);
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}
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#endif /* OBSW_ADD_PLOC_SUPERVISOR */
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#if OBSW_TEST_CCSDS_BRIDGE == 1
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PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
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"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = ptmeTestTask->addComponent(commonObjects::CCSDS_IP_CORE_BRIDGE);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PTME_TEST", commonObjects::CCSDS_IP_CORE_BRIDGE);
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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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#if OBSW_ADD_TEST_CODE == 1
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std::vector<PeriodicTaskIF*> testTasks;
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createTestTasks(*factory, missedDeadlineFunc, testTasks);
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#endif
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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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} 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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#if OBSW_ADD_TCPIP_BRIDGE == 1
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tmtcBridgeTask->startTask();
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tmtcPollingTask->startTask();
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#endif
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#if OBSW_USE_CCSDS_IP_CORE == 1
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ccsdsHandlerTask->startTask();
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pdecHandlerTask->startTask();
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#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
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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 OBSW_TEST_CCSDS_BRIDGE == 1
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ptmeTestTask->startTask();
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#endif
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fsTask->startTask();
|
|
#if OBSW_ADD_STAR_TRACKER == 1
|
|
strHelperTask->startTask();
|
|
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
|
|
|
#if OBSW_ADD_ACS_HANDLERS == 1
|
|
acsTask->startTask();
|
|
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
|
|
sysTask->startTask();
|
|
#if OBSW_ADD_RTD_DEVICES == 1
|
|
tcsPollingTask->startTask();
|
|
tcsTask->startTask();
|
|
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
|
|
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
|
supvHelperTask->startTask();
|
|
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
|
sif::info << "Tasks started.." << std::endl;
|
|
}
|
|
|
|
void initmission::createPstTasks(TaskFactory& factory,
|
|
TaskDeadlineMissedFunction missedDeadlineFunc,
|
|
std::vector<PeriodicTaskIF*>& taskVec) {
|
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
/* Polling Sequence Table Default */
|
|
#if OBSW_ADD_SPI_TEST_CODE == 0
|
|
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
|
|
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
|
result = pst::pstSpi(spiPst);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(spiPst);
|
|
}
|
|
#endif
|
|
|
|
#if OBSW_ADD_RW == 1
|
|
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
|
|
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
|
|
result = pst::pstSpiRw(rwPstTask);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(rwPstTask);
|
|
}
|
|
#endif
|
|
|
|
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
|
|
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
|
result = pst::pstUart(uartPst);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(uartPst);
|
|
}
|
|
|
|
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
|
|
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
|
|
result = pst::pstGpio(gpioPst);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(gpioPst);
|
|
}
|
|
#if OBSW_ADD_I2C_TEST_CODE == 0
|
|
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
|
|
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
|
result = pst::pstI2c(i2cPst);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(i2cPst);
|
|
}
|
|
#endif
|
|
|
|
#if OBSW_ADD_GOMSPACE_PCDU == 1
|
|
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) {
|
|
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
|
|
}
|
|
}
|
|
taskVec.push_back(gomSpacePstTask);
|
|
#endif
|
|
}
|
|
|
|
void initmission::createPusTasks(TaskFactory& factory,
|
|
TaskDeadlineMissedFunction missedDeadlineFunc,
|
|
std::vector<PeriodicTaskIF*>& 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_3_HOUSEKEEPING);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
|
}
|
|
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_11_TC_SCHEDULER);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
|
|
}
|
|
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_201_HEALTH);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
|
|
}
|
|
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<PeriodicTaskIF*>& taskVec) {
|
|
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
|
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
static_cast<void>(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(commonObjects::TEST_TASK);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("TEST_TASK", commonObjects::TEST_TASK);
|
|
}
|
|
|
|
#if OBSW_ADD_SPI_TEST_CODE == 1
|
|
result = testTask->addComponent(commonObjects::SPI_TEST);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("SPI_TEST", commonObjects::SPI_TEST);
|
|
}
|
|
#endif
|
|
#if OBSW_ADD_I2C_TEST_CODE == 1
|
|
result = testTask->addComponent(commonObjects::I2C_TEST);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("I2C_TEST", commonObjects::I2C_TEST);
|
|
}
|
|
#endif
|
|
#if OBSW_ADD_UART_TEST_CODE == 1
|
|
result = testTask->addComponent(commonObjects::UART_TEST);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
initmission::printAddObjectError("UART_TEST", commonObjects::UART_TEST);
|
|
}
|
|
#endif
|
|
|
|
taskVec.push_back(testTask);
|
|
|
|
#endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
|
|
}
|
|
|
|
/**
|
|
▄ ▄
|
|
▌▒█ ▄▀▒▌
|
|
▌▒▒█ ▄▀▒▒▒▐
|
|
▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
|
|
▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
|
|
▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
|
|
▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
|
|
▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
|
|
▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
|
|
▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
|
|
▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
|
|
▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
|
|
▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
|
|
▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
|
|
▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
|
|
▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
|
|
▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
|
|
▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
|
|
▒▒▒▒▒▒▒▒▒▒▀▀
|
|
**/
|