220 lines
10 KiB
C++
220 lines
10 KiB
C++
#include "GenericFactory.h"
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#include <fsfw/cfdp/CfdpDistributor.h>
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#include <fsfw/cfdp/handler/CfdpHandler.h>
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#include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
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#include <fsfw/controller/ControllerBase.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/health/HealthTable.h>
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#include <fsfw/internalerror/InternalErrorReporter.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/pus/CService200ModeCommanding.h>
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#include <fsfw/pus/CServiceHealthCommanding.h>
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#include <fsfw/pus/Service17Test.h>
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#include <fsfw/pus/Service1TelecommandVerification.h>
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#include <fsfw/pus/Service20ParameterManagement.h>
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#include <fsfw/pus/Service2DeviceAccess.h>
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#include <fsfw/pus/Service3Housekeeping.h>
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#include <fsfw/pus/Service5EventReporting.h>
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#include <fsfw/pus/Service8FunctionManagement.h>
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#include <fsfw/pus/Service9TimeManagement.h>
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#include <fsfw/storagemanager/PoolManager.h>
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#include <fsfw/tcdistribution/CcsdsDistributor.h>
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#include <fsfw/tcdistribution/PusDistributor.h>
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#include <fsfw/timemanager/CdsShortTimeStamper.h>
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#include <fsfw_hal/host/HostFilesystem.h>
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#include <mission/controller/ThermalController.h>
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#include <mission/devices/HeaterHandler.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/tmtc/CfdpTmFunnel.h>
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#include <mission/tmtc/PusTmFunnel.h>
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#include <mission/tmtc/TmFunnelHandler.h>
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#include "OBSWConfig.h"
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#include "devices/gpioIds.h"
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#include "eive/definitions.h"
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#include "fsfw/pus/Service11TelecommandScheduling.h"
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#include "mission/cfdp/Config.h"
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#include "mission/system/tree/tcsModeTree.h"
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#include "objects/systemObjectList.h"
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#include "tmtc/pusIds.h"
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#if OBSW_ADD_TCPIP_SERVERS == 1
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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// UDP server includes
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#include "devices/gpioIds.h"
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#include "fsfw/osal/common/UdpTcPollingTask.h"
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#include "fsfw/osal/common/UdpTmTcBridge.h"
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#endif
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#if OBSW_ADD_TMTC_TCP_SERVER == 1
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// TCP server includes
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#include "fsfw/osal/common/TcpTmTcBridge.h"
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#include "fsfw/osal/common/TcpTmTcServer.h"
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#endif
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#endif
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#if OBSW_ADD_TEST_CODE == 1
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#include <test/testtasks/TestTask.h>
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#endif
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#ifndef OBSW_TM_TO_PTME
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#define OBSW_TM_TO_PTME 0
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#endif
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namespace cfdp {
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PacketInfoList<64> PACKET_LIST;
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LostSegmentsList<128> LOST_SEGMENTS;
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EntityId REMOTE_CFDP_ID(UnsignedByteField<uint16_t>(config::EIVE_GROUND_CFDP_ENTITY_ID));
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RemoteEntityCfg GROUND_REMOTE_CFG(REMOTE_CFDP_ID);
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OneRemoteConfigProvider REMOTE_CFG_PROVIDER(GROUND_REMOTE_CFG);
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HostFilesystem HOST_FS;
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EiveUserHandler USER_HANDLER(HOST_FS);
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EiveFaultHandler EIVE_FAULT_HANDLER;
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} // namespace cfdp
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void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel,
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CfdpTmFunnel** cfdpFunnel) {
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// Framework objects
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new EventManager(objects::EVENT_MANAGER);
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auto healthTable = new HealthTable(objects::HEALTH_TABLE);
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if (healthTable_ != nullptr) {
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*healthTable_ = healthTable;
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}
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new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
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new VerificationReporter();
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auto* timeStamper = new CdsShortTimeStamper(objects::TIME_STAMPER);
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StorageManagerIF* tcStore;
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StorageManagerIF* tmStore;
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{
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PoolManager::LocalPoolConfig poolCfg = {{250, 16}, {250, 32}, {250, 64},
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{150, 128}, {120, 1024}, {120, 2048}};
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tcStore = new PoolManager(objects::TC_STORE, poolCfg);
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}
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{
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PoolManager::LocalPoolConfig poolCfg = {{400, 32}, {350, 64}, {200, 128},
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{150, 512}, {150, 1024}, {150, 2048}};
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tmStore = new PoolManager(objects::TM_STORE, poolCfg);
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}
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{
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PoolManager::LocalPoolConfig poolCfg = {{300, 16}, {200, 32}, {150, 64}, {150, 128},
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{100, 256}, {50, 512}, {50, 1024}, {50, 2048}};
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new PoolManager(objects::IPC_STORE, poolCfg);
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}
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#if OBSW_ADD_TCPIP_SERVERS == 1
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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auto udpBridge = new UdpTmTcBridge(objects::UDP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
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new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
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sif::info << "Created UDP server for TMTC commanding with listener port "
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<< udpBridge->getUdpPort() << std::endl;
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udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
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#endif
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#if OBSW_ADD_TMTC_TCP_SERVER == 1
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auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
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TcpTmTcServer::TcpConfig cfg(true, true);
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auto tcpServer = new TcpTmTcServer(objects::TCP_TMTC_POLLING_TASK, objects::TCP_TMTC_SERVER, cfg);
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// TCP is stream based. Use packet ID as start marker when parsing for space packets
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tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
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sif::info << "Created TCP server for TMTC commanding with listener port "
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<< tcpServer->getTcpPort() << std::endl;
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tcpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_TCP);
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#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
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#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
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auto* ccsdsDistrib =
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new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
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new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
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*cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
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*pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore,
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config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
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#if OBSW_ADD_TCPIP_SERVERS == 1
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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(*cfdpFunnel)->addDestination("UDP Server", *udpBridge, 0);
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(*pusFunnel)->addDestination("UDP Server", *udpBridge, 0);
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#endif
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#if OBSW_ADD_TMTC_TCP_SERVER == 1
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(*cfdpFunnel)->addDestination("TCP Server", *tcpBridge, 0);
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(*pusFunnel)->addDestination("TCP Server", *tcpBridge, 0);
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#endif
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#endif
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// Every TM packet goes through this funnel
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new TmFunnelHandler(objects::TM_FUNNEL, **pusFunnel, **cfdpFunnel);
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// PUS service stack
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new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 20);
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new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_2, 3, 10);
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new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_3);
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new Service5EventReporting(
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PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, config::EIVE_PUS_APID, pus::PUS_SERVICE_5),
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15, 45);
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new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_8, 16, 60);
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new Service9TimeManagement(
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PsbParams(objects::PUS_SERVICE_9_TIME_MGMT, config::EIVE_PUS_APID, pus::PUS_SERVICE_9));
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new Service11TelecommandScheduling<common::OBSW_MAX_SCHEDULED_TCS>(
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PsbParams(objects::PUS_SERVICE_11_TC_SCHEDULER, config::EIVE_PUS_APID, pus::PUS_SERVICE_11),
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ccsdsDistrib);
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new Service17Test(
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PsbParams(objects::PUS_SERVICE_17_TEST, config::EIVE_PUS_APID, pus::PUS_SERVICE_17));
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new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_20);
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new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_200, 8);
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HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
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20);
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new CServiceHealthCommanding(healthCfg);
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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using namespace cfdp;
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MessageQueueIF* cfdpMsgQueue = QueueFactory::instance()->createMessageQueue(32);
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CfdpDistribCfg distribCfg(objects::CFDP_DISTRIBUTOR, *tcStore, cfdpMsgQueue);
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new CfdpDistributor(distribCfg);
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auto* msgQueue = QueueFactory::instance()->createMessageQueue(32);
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FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, **cfdpFunnel, *tcStore, *tmStore,
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*msgQueue);
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cfdp::IndicationCfg indicationCfg;
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UnsignedByteField<uint16_t> apid(config::EIVE_LOCAL_CFDP_ENTITY_ID);
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cfdp::EntityId localId(apid);
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GROUND_REMOTE_CFG.defaultChecksum = cfdp::ChecksumType::CRC_32;
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CfdpHandlerCfg cfdpCfg(localId, indicationCfg, USER_HANDLER, EIVE_FAULT_HANDLER, PACKET_LIST,
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LOST_SEGMENTS, REMOTE_CFG_PROVIDER);
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auto* cfdpHandler = new CfdpHandler(params, cfdpCfg);
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// All CFDP packets arrive wrapped inside CCSDS space packets
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CcsdsDistributorIF::DestInfo info("CFDP Destination", config::EIVE_CFDP_APID,
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cfdpHandler->getRequestQueue(), true);
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ccsdsDistrib->registerApplication(info);
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#endif
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}
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void ObjectFactory::createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher,
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HeaterHandler*& heaterHandler) {
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HeaterHelper helper({{
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{new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
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gpioIds::HEATER_0},
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{new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
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{new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
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{new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
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{new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
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{new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
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{new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
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{new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
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}});
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heaterHandler = new HeaterHandler(objects::HEATER_HANDLER, &gpioIF, helper, &pwrSwitcher,
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pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
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}
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void ObjectFactory::createThermalController(HeaterHandler& heaterHandler) {
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auto* tcsCtrl = new ThermalController(objects::THERMAL_CONTROLLER, heaterHandler);
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tcsCtrl->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
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}
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