eive-obsw/bsp_q7s/InitMission.cpp

#include "InitMission.h"
#include "ObjectFactory.h"
#include <OBSWConfig.h>

#include <mission/utility/InitMission.h>

#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>

#include <iostream>

/* This is configured for linux without CR */
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif

ObjectManagerIF *objectManager = nullptr;

void InitMission::initMission() {
	sif::info << "Building global objects.." << std::endl;
	/* Instantiate global object manager and also create all objects */
    objectManager = new ObjectManager(ObjectFactory::produce);
    sif::info << "Initializing all objects.." << std::endl;
    objectManager->initialize();

    /* This function creates and starts all tasks */
    initTasks();
}

void InitMission::initTasks() {
    TaskFactory* factory = TaskFactory::instance();
    if(factory == nullptr) {
        /* Should never happen ! */
        return;
    }

	/* TMTC Distribution */
	PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
	        "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
	ReturnValue_t result = tmTcDistributor->addComponent(
			objects::CCSDS_PACKET_DISTRIBUTOR);
	if(result != HasReturnvaluesIF::RETURN_OK) {
	    InitMission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
	}
	result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
	if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
	}
    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
    }

    /* UDP bridge */
    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
    		"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
    }
    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
    }

	/* PUS Services */
	PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
	        "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
	result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
	if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
	}

	PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
	        "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
	result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
	if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
	}

	PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
	        "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
	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);
	}

	PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
	        "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr);
	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_200_MODE_MGMT);
	if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
	}
	result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
	if(result != HasReturnvaluesIF::RETURN_OK) {
	    InitMission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
	}

	PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
	        "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, nullptr);
	result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
	if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
	}

	//TODO: Add handling of missed deadlines
	/* Polling Sequence Table Default */
	FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
	        "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, nullptr);
	result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
	}

#if TE0720 == 0
	FixedTimeslotTaskIF* gomSpacePstTask = factory->
			createFixedTimeslotTask("GS_PST_TASK", 50,
					PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr);
	result = pst::gomspacePstInit(gomSpacePstTask);
	if(result != HasReturnvaluesIF::RETURN_OK) {
		sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
	}
#endif

	PeriodicTaskIF* testTask = factory->createPeriodicTask(
	        "GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
#if OBSW_ADD_TEST_CODE == 1
	result = testTask->addComponent(objects::TEST_TASK);
	if(result != HasReturnvaluesIF::RETURN_OK) {
	    InitMission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
	}
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
    result = testTask->addComponent(objects::LIBGPIOD_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        InitMission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
    }
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */

	sif::info << "Starting tasks.." << std::endl;
	tmTcDistributor->startTask();
	udpBridgeTask->startTask();
	udpPollingTask->startTask();

#if TE0720 == 0
	gomSpacePstTask->startTask();
#endif
	pollingSequenceTableTaskDefault->startTask();

	pusVerification->startTask();
	pusEvents->startTask();
	pusHighPrio->startTask();
	pusMedPrio->startTask();
	pusLowPrio->startTask();

	testTask->startTask();
	sif::info << "Tasks started.." << std::endl;
}