360 lines
15 KiB
C++
360 lines
15 KiB
C++
#include "InitMission.h"
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#include "ObjectFactory.h"
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#include "OBSWConfig.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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#include "mission/utility/InitMission.h"
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#include "fsfw/platform.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 <iostream>
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#include <vector>
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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", 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::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
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sif::info << "Initializing all objects.." << std::endl;
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ObjectManager::instance()->initialize();
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/* This function creates and starts all tasks */
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initTasks();
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}
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void initmission::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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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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#if BOARD_TE0720 == 0
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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(objects::CORE_CONTROLLER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
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}
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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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result = tmTcDistributor->addComponent(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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#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(objects::TMTC_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UDP_BRIDGE", objects::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(objects::TMTC_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("UDP_POLLING", objects::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(objects::CCSDS_HANDLER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("CCSDS Handler", objects::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(objects::PDEC_HANDLER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
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}
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#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
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# if BOARD_TE0720 == 0
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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(objects::FILE_SYSTEM_HANDLER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
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}
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PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
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"FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = strImgLoaderTask->addComponent(objects::STR_IMG_LOADER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_IMG_LOADER);
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}
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#endif /* BOARD_TE0720 */
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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 != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PTME_TEST", objects::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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}
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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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#if BOARD_TE0720 == 0
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coreController->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_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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#if BOARD_TE0720 == 0
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fsTask->startTask();
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strImgLoaderTask->startTask();
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#endif
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sif::info << "Tasks started.." << std::endl;
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}
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void initmission::createPstTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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#if BOARD_TE0720 == 0
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/* Polling Sequence Table Default */
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#if OBSW_ADD_SPI_TEST_CODE == 0
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FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pstSpi(spiPst);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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if(result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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}
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else {
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taskVec.push_back(spiPst);
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}
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#endif
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FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
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"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
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result = pst::pstUart(uartPst);
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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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taskVec.push_back(uartPst);
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FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
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"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
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result = pst::pstGpio(gpioPst);
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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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taskVec.push_back(gpioPst);
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FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
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"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
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result = pst::pstI2c(i2cPst);
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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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FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
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"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
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result = pst::pstGompaceCan(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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taskVec.push_back(gomSpacePstTask);
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#else /* BOARD_TE7020 == 0 */
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FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
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"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
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}
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taskVec.push_back(pollingSequenceTaskTE0720);
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#endif /* BOARD_TE7020 == 1 */
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}
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void initmission::createPusTasks(TaskFactory &factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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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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taskVec.push_back(pusVerification);
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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 = pusEvents->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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result = pusEvents->addComponent(objects::EVENT_MANAGER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
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}
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taskVec.push_back(pusEvents);
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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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taskVec.push_back(pusHighPrio);
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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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taskVec.push_back(pusMedPrio);
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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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result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
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}
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taskVec.push_back(pusLowPrio);
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}
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void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec) {
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#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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#endif
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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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#if OBSW_ADD_TEST_TASK == 1
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result = testTask->addComponent(objects::TEST_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#endif /* OBSW_ADD_TEST_TASK == 1 */
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#if OBSW_ADD_SPI_TEST_CODE == 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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#if BOARD_TE0720 == 1 && OBSW_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 /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
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taskVec.push_back(testTask);
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}
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