206 lines
8.4 KiB
C++
206 lines
8.4 KiB
C++
#include "InitMission.h"
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#include "ObjectFactory.h"
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#include <OBSWConfig.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/ServiceInterfaceStream.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 <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
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#include <iostream>
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/* This is configured for linux without CR */
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#ifdef LINUX
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ServiceInterfaceStream sif::debug("DEBUG");
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ServiceInterfaceStream sif::info("INFO");
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ServiceInterfaceStream sif::warning("WARNING");
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ServiceInterfaceStream sif::error("ERROR", false, false, true);
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#else
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ServiceInterfaceStream sif::debug("DEBUG", true);
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ServiceInterfaceStream sif::info("INFO", true);
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ServiceInterfaceStream sif::warning("WARNING", true);
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ServiceInterfaceStream sif::error("ERROR", true, false, true);
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#endif
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ObjectManagerIF *objectManager = nullptr;
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void 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 = new ObjectManager(ObjectFactory::produce);
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sif::info << "Initializing all objects.." << std::endl;
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objectManager->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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initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
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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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initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
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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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initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
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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::UDP_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
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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::UDP_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
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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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initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
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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("PUS_EVENTS", 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("PUS_2", 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("PUS_9", 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("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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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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sif::error << "Object add component failed" << std::endl;
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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("PUS_200", 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("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
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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("PUS_17", objects::PUS_SERVICE_17_TEST);
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}
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//TODO: Add handling of missed deadlines
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/* Polling Sequence Table Default */
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#if Q7S_ADD_SPI_TEST == 0
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FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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#endif
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#if TE0720 == 0
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FixedTimeslotTaskIF* gomSpacePstTask = factory->
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createFixedTimeslotTask("GS_PST_TASK", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
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result = pst::gomspacePstInit(gomSpacePstTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
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}
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#endif
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#if OBSW_ADD_TEST_CODE == 1
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
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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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#if Q7S_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
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if TE0720 == 1 && TEST_LIBGPIOD == 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 /* TE0720 == 1 && TEST_LIBGPIOD == 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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#if TE0720 == 0
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gomSpacePstTask->startTask();
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#endif
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#if Q7S_ADD_SPI_TEST == 0
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pollingSequenceTableTaskDefault->startTask();
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#endif
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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
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sif::info << "Tasks started.." << std::endl;
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}
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