621 lines
24 KiB
C++
621 lines
24 KiB
C++
#include "scheduling.h"
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <linux/scheduling.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/returnvalue.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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void scheduling::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 << "scheduling::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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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 scheduling::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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ReturnValue_t result = returnvalue::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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#if OBSW_ADD_SA_DEPL == 1
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// Could add this to the core controller but the core controller does so many thing that I would
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// prefer to have the solar array deployment in a seprate task.
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PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
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"SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
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}
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#endif
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PeriodicTaskIF* sysTask = factory->createPeriodicTask(
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"CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = sysTask->addComponent(objects::CORE_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
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}
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result = sysTask->addComponent(objects::PL_SUBSYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
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}
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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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#if OBSW_ADD_TCPIP_BRIDGE == 1
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result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
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}
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#endif
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result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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scheduling::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 != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
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}
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result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
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}
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result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
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}
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#if OBSW_ADD_TCPIP_BRIDGE == 1
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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(objects::TMTC_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
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}
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#endif
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#if OBSW_ADD_CCSDS_IP_CORES == 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(objects::CCSDS_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
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}
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// Runs in IRQ mode, frequency does not really matter
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PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
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"PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
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}
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#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
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"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = cfdpTask->addComponent(objects::CFDP_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
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}
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#endif
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PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
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"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
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#if OBSW_ADD_GPS_CTRL == 1
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result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
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}
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#endif /* OBSW_ADD_GPS_CTRL */
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#if OBSW_ADD_ACS_CTRL == 1
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acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
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}
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#endif
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#if OBSW_Q7S_EM == 1
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acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
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acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
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acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
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acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
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acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
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acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
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acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
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acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
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acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
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acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
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acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
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acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
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acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
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acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
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acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
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acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
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acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
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acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
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acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
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acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
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acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
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acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
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acsCtrlTask->addComponent(objects::STAR_TRACKER);
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acsCtrlTask->addComponent(objects::RW1);
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acsCtrlTask->addComponent(objects::RW2);
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acsCtrlTask->addComponent(objects::RW3);
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acsCtrlTask->addComponent(objects::RW4);
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#endif
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PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
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"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
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static_cast<void>(acsSysTask);
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#if OBSW_ADD_ACS_BOARD == 1
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result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("ACS_BOARD_ASS", objects::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 = acsSysTask->addComponent(objects::RW_ASS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("RW_ASS", objects::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 = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
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}
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#endif
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result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
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}
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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(objects::SPI_RTD_COM_IF);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SPI_RTD_POLLING", objects::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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objects::RTD_0_IC3_PLOC_HEATSPREADER,
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objects::RTD_1_IC4_PLOC_MISSIONBOARD,
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objects::RTD_2_IC5_4K_CAMERA,
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objects::RTD_3_IC6_DAC_HEATSPREADER,
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objects::RTD_4_IC7_STARTRACKER,
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objects::RTD_5_IC8_RW1_MX_MY,
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objects::RTD_6_IC9_DRO,
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objects::RTD_7_IC10_SCEX,
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objects::RTD_8_IC11_X8,
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objects::RTD_9_IC12_HPA,
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objects::RTD_10_IC13_PL_TX,
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objects::RTD_11_IC14_MPA,
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objects::RTD_12_IC15_ACU,
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objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
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objects::RTD_14_IC17_TCS_BOARD,
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objects::RTD_15_IC18_IMTQ,
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};
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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
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PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
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"TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
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#if OBSW_ADD_RTD_DEVICES == 1
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result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
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}
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#endif /* OBSW_ADD_RTD_DEVICES */
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#if OBSW_ADD_TCS_CTRL == 1
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result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
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}
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#endif
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#if OBSW_ADD_HEATERS == 1
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result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
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}
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#endif
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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(objects::STR_HELPER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("STR_HELPER", objects::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(objects::PLOC_MPSOC_HELPER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::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(objects::PLOC_SUPERVISOR_HELPER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
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}
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#endif /* OBSW_ADD_PLOC_SUPERVISOR */
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PeriodicTaskIF* plTask = factory->createPeriodicTask(
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"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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scheduling::addMpsocSupvHandlers(plTask);
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plTask->addComponent(objects::CAM_SWITCHER);
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#if OBSW_ADD_SCEX_DEVICE == 1
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PeriodicTaskIF* scexDevHandler;
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PeriodicTaskIF* scexReaderTask;
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scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
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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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#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(objects::CCSDS_IP_CORE_BRIDGE);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
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}
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#endif
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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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tmtcPollingTask->startTask();
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#endif
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#if OBSW_ADD_CCSDS_IP_CORES == 1
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ccsdsHandlerTask->startTask();
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pdecHandlerTask->startTask();
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#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
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sysTask->startTask();
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#if OBSW_ADD_SA_DEPL == 1
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solarArrayDeplTask->startTask();
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#endif
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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_SCEX_DEVICE == 1
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scexDevHandler->startTask();
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scexReaderTask->startTask();
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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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#if OBSW_ADD_CFDP_COMPONENTS == 1
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cfdpTask->startTask();
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#endif
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#if OBSW_ADD_STAR_TRACKER == 1
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strHelperTask->startTask();
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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acsCtrlTask->startTask();
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acsSysTask->startTask();
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#if OBSW_ADD_RTD_DEVICES == 1
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tcsPollingTask->startTask();
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tcsTask->startTask();
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#endif /* OBSW_ADD_RTD_DEVICES == 1 */
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if (not tcsSystemTask->isEmpty()) {
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tcsSystemTask->startTask();
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}
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#if OBSW_ADD_PLOC_SUPERVISOR == 1
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supvHelperTask->startTask();
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#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
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plTask->startTask();
|
|
|
|
#if OBSW_ADD_TEST_CODE == 1
|
|
taskStarter(testTasks, "Test task vector");
|
|
#endif
|
|
|
|
sif::info << "Tasks started.." << std::endl;
|
|
}
|
|
|
|
void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
|
std::vector<PeriodicTaskIF*>& taskVec) {
|
|
ReturnValue_t result = returnvalue::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 != returnvalue::OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "scheduling::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 != returnvalue::OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "scheduling::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 != returnvalue::OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(uartPst);
|
|
}
|
|
|
|
#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 != returnvalue::OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "scheduling::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 != returnvalue::OK) {
|
|
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
|
|
}
|
|
}
|
|
taskVec.push_back(gomSpacePstTask);
|
|
#endif
|
|
}
|
|
|
|
void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
|
std::vector<PeriodicTaskIF*>& taskVec) {
|
|
ReturnValue_t result = returnvalue::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 != returnvalue::OK) {
|
|
scheduling::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 != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
|
}
|
|
result = pusEvents->addComponent(objects::EVENT_MANAGER);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
|
|
}
|
|
taskVec.push_back(pusEvents);
|
|
|
|
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
|
|
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
|
}
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::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 != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
|
|
}
|
|
// Used for connection tests, therefore use higher priority
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
|
|
}
|
|
taskVec.push_back(pusMedPrio);
|
|
|
|
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
|
|
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
|
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
|
|
}
|
|
taskVec.push_back(pusLowPrio);
|
|
}
|
|
|
|
void scheduling::createTestTasks(TaskFactory& factory,
|
|
TaskDeadlineMissedFunction missedDeadlineFunc,
|
|
std::vector<PeriodicTaskIF*>& taskVec) {
|
|
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
|
|
ReturnValue_t result = returnvalue::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(objects::TEST_TASK);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
|
|
}
|
|
|
|
#if OBSW_ADD_SPI_TEST_CODE == 1
|
|
result = testTask->addComponent(objects::SPI_TEST);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
|
}
|
|
#endif
|
|
#if OBSW_ADD_I2C_TEST_CODE == 1
|
|
result = testTask->addComponent(objects::I2C_TEST);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
|
|
}
|
|
#endif
|
|
#if OBSW_ADD_UART_TEST_CODE == 1
|
|
result = testTask->addComponent(objects::UART_TEST);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
|
|
}
|
|
#endif
|
|
|
|
taskVec.push_back(testTask);
|
|
|
|
#endif // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
|
|
}
|
|
|
|
/**
|
|
▄ ▄
|
|
▌▒█ ▄▀▒▌
|
|
▌▒▒█ ▄▀▒▒▒▐
|
|
▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
|
|
▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
|
|
▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
|
|
▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
|
|
▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
|
|
▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
|
|
▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
|
|
▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
|
|
▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
|
|
▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
|
|
▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
|
|
▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
|
|
▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
|
|
▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
|
|
▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
|
|
▒▒▒▒▒▒▒▒▒▒▀▀
|
|
**/
|