706 lines
28 KiB
C++
706 lines
28 KiB
C++
#include "scheduling.h"
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <fsfw/subsystem/Subsystem.h>
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#include <linux/scheduling.h>
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#include <mission/tcs/Max31865Definitions.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 "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/pollingSeqTables.h"
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#include "mission/scheduling.h"
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#include "mission/utility/InitMission.h"
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#include "objectFactory.h"
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#include "q7sConfig.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 =
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factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
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missedDeadlineFunc, &RR_SCHEDULING);
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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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// Medium priority, higher than something like payload, but not the highest priority to also
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// detect tasks which choke other tasks.
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PeriodicTaskIF* xiphosWdtTask =
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factory->createPeriodicTask("XIPHOS_WDT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
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missedDeadlineFunc, &RR_SCHEDULING);
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result = xiphosWdtTask->addComponent(objects::XIPHOS_WDT);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("XIPHOS_WDT", objects::XIPHOS_WDT);
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}
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PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
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"CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = coreCtrlTask->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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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
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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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result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
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}
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#endif
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#if OBSW_ADD_TMTC_TCP_SERVER == 1
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result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
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}
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#endif
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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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#if OBSW_ADD_TCPIP_SERVERS == 1
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#if OBSW_ADD_TMTC_UDP_SERVER == 1
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PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
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"UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
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}
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#endif
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#if OBSW_ADD_TMTC_TCP_SERVER == 1
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PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
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"TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
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}
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#endif
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#endif
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PeriodicTaskIF* genericSysTask =
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factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
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missedDeadlineFunc, &RR_SCHEDULING);
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result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
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}
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result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
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}
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result = genericSysTask->addComponent(objects::SYRLINKS_ASSY);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SYRLINKS_ASSY", objects::SYRLINKS_ASSY);
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}
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result = genericSysTask->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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result = genericSysTask->addComponent(objects::EPS_SUBSYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("EPS_SUBSYSTEM", objects::EPS_SUBSYSTEM);
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}
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result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
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}
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result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
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}
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#if OBSW_ADD_CCSDS_IP_CORES == 1
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result = genericSysTask->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, nullptr, &RR_SCHEDULING);
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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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// All the TM store tasks run in permanent loops, frequency does not matter
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PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
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"LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
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result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
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}
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PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
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"LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
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}
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PeriodicTaskIF* hkTmTask =
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factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
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}
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PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
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"CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
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}
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// TODO: Use user priorities for this task.
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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PeriodicTaskIF* cfdpTask =
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factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
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missedDeadlineFunc, &RR_SCHEDULING);
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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", objects::CFDP_HANDLER);
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}
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#endif
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PeriodicTaskIF* gpsTask =
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factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
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missedDeadlineFunc, &RR_SCHEDULING);
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result = gpsTask->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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#if OBSW_ADD_ACS_BOARD == 1
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PeriodicTaskIF* acsBrdPolling =
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factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
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0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
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}
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#endif
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#if OBSW_ADD_RW == 1
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PeriodicTaskIF* rwPolling =
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factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
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0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = rwPolling->addComponent(objects::RW_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
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}
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#endif
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#if OBSW_ADD_MGT == 1
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PeriodicTaskIF* imtqPolling =
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factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
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0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = imtqPolling->addComponent(objects::IMTQ_POLLING);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
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}
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#endif
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#if OBSW_ADD_SUN_SENSORS == 1
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PeriodicTaskIF* susPolling =
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factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
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0.4, missedDeadlineFunc, &RR_SCHEDULING);
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result = susPolling->addComponent(objects::SUS_POLLING_TASK);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
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}
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#endif
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PeriodicTaskIF* acsSysTask =
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factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
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missedDeadlineFunc, &RR_SCHEDULING);
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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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result = acsSysTask->addComponent(objects::IMTQ_ASSY);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("IMTQ_ASSY", objects::IMTQ_ASSY);
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}
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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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result = acsSysTask->addComponent(objects::RW_ASSY);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("RW_ASS", objects::RW_ASSY);
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}
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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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result = acsSysTask->addComponent(objects::STR_ASSY);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("STR_ASSY", objects::STR_ASSY);
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}
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result = acsSysTask->addComponent(objects::GPS_0_HEALTH_DEV);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("GPS_0_HEALTH_DEV", objects::GPS_0_HEALTH_DEV);
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}
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result = acsSysTask->addComponent(objects::GPS_1_HEALTH_DEV);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("GPS_1_HEALTH_DEV", objects::GPS_1_HEALTH_DEV);
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}
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PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
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"TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
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#if OBSW_ADD_THERMAL_TEMP_INSERTER == 1
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tcsSystemTask->addComponent(objects::THERMAL_TEMP_INSERTER);
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#endif
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scheduling::scheduleRtdSensors(tcsSystemTask);
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result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
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}
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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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#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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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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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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#if OBSW_ADD_SYRLINKS == 1
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PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
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"SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
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result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
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}
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#endif
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#if OBSW_ADD_STAR_TRACKER == 1
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// Relatively high priority to make sure STR COM works well.
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PeriodicTaskIF* strHelperTask =
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factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
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missedDeadlineFunc, &RR_SCHEDULING);
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result = strHelperTask->addComponent(objects::STR_COM_IF);
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if (result != returnvalue::OK) {
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scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
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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", 0, 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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// TODO: Use regular scheduler for this task
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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", 0, 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 */
|
|
|
|
FixedTimeslotTaskIF* plTask = factory->createFixedTimeslotTask(
|
|
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
|
|
// plTask->addComponent(objects::CAM_SWITCHER);
|
|
// scheduling::addMpsocSupvHandlers(plTask);
|
|
// scheduling::scheduleScexDev(plTask);
|
|
pst::pstPayload(plTask);
|
|
|
|
#if OBSW_ADD_SCEX_DEVICE == 1
|
|
PeriodicTaskIF* scexReaderTask;
|
|
scheduling::scheduleScexReader(*factory, scexReaderTask);
|
|
#endif
|
|
|
|
std::vector<PeriodicTaskIF*> pusTasks;
|
|
createPusTasks(*factory, missedDeadlineFunc, pusTasks);
|
|
std::vector<PeriodicTaskIF*> pstTasks;
|
|
AcsPstCfg cfg;
|
|
createPstTasks(*factory, missedDeadlineFunc, pstTasks, cfg);
|
|
|
|
#if OBSW_ADD_TEST_CODE == 1
|
|
#if OBSW_TEST_CCSDS_BRIDGE == 1
|
|
PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
|
|
"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
|
result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
|
|
}
|
|
#endif
|
|
std::vector<PeriodicTaskIF*> testTasks;
|
|
createTestTasks(*factory, missedDeadlineFunc, testTasks);
|
|
#endif
|
|
|
|
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
|
|
for (const auto& task : taskVector) {
|
|
if (task != nullptr) {
|
|
task->startTask();
|
|
} else {
|
|
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
|
|
}
|
|
}
|
|
};
|
|
|
|
sif::info << "Starting tasks.." << std::endl;
|
|
xiphosWdtTask->startTask();
|
|
tmTcDistributor->startTask();
|
|
|
|
#if OBSW_ADD_TCPIP_SERVERS == 1
|
|
#if OBSW_ADD_TMTC_UDP_SERVER == 1
|
|
udpPollingTask->startTask();
|
|
#endif
|
|
#if OBSW_ADD_TMTC_TCP_SERVER == 1
|
|
tcpPollingTask->startTask();
|
|
#endif
|
|
#endif
|
|
|
|
genericSysTask->startTask();
|
|
#if OBSW_ADD_CCSDS_IP_CORES == 1
|
|
pdecHandlerTask->startTask();
|
|
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
|
|
liveTmTask->startTask();
|
|
logTmTask->startTask();
|
|
hkTmTask->startTask();
|
|
cfdpTmTask->startTask();
|
|
|
|
coreCtrlTask->startTask();
|
|
#if OBSW_ADD_SA_DEPL == 1
|
|
solarArrayDeplTask->startTask();
|
|
#endif
|
|
#if OBSW_ADD_ACS_BOARD == 1
|
|
acsBrdPolling->startTask();
|
|
#endif
|
|
#if OBSW_ADD_SYRLINKS == 1
|
|
syrlinksCom->startTask();
|
|
#endif
|
|
#if OBSW_ADD_MGT == 1
|
|
imtqPolling->startTask();
|
|
#endif
|
|
#if OBSW_ADD_SUN_SENSORS == 1
|
|
susPolling->startTask();
|
|
#endif
|
|
|
|
taskStarter(pstTasks, "PST task vector");
|
|
taskStarter(pusTasks, "PUS task vector");
|
|
#if OBSW_ADD_SCEX_DEVICE == 1
|
|
scexReaderTask->startTask();
|
|
#endif
|
|
|
|
#if OBSW_TEST_CCSDS_BRIDGE == 1
|
|
ptmeTestTask->startTask();
|
|
#endif
|
|
|
|
#if OBSW_ADD_CFDP_COMPONENTS == 1
|
|
cfdpTask->startTask();
|
|
#endif
|
|
|
|
#if OBSW_ADD_STAR_TRACKER == 1
|
|
strHelperTask->startTask();
|
|
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
|
|
|
#if OBSW_ADD_RW == 1
|
|
rwPolling->startTask();
|
|
#endif
|
|
gpsTask->startTask();
|
|
acsSysTask->startTask();
|
|
if (not tcsSystemTask->isEmpty()) {
|
|
tcsSystemTask->startTask();
|
|
}
|
|
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
|
supvHelperTask->startTask();
|
|
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
|
#if OBSW_ADD_PLOC_MPSOC == 1
|
|
mpsocHelperTask->startTask();
|
|
#endif
|
|
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, AcsPstCfg cfg) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
#ifdef RELEASE_BUILD
|
|
static constexpr float acsPstPeriod = 0.4;
|
|
#else
|
|
static constexpr float acsPstPeriod = 0.4;
|
|
#endif
|
|
FixedTimeslotTaskIF* acsTcsPst =
|
|
factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
|
|
acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
|
|
result = pst::pstTcsAndAcs(acsTcsPst, cfg);
|
|
if (result != returnvalue::OK) {
|
|
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
|
sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
|
|
} else {
|
|
sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
|
|
}
|
|
} else {
|
|
taskVec.push_back(acsTcsPst);
|
|
}
|
|
|
|
/* Polling Sequence Table Default */
|
|
#if OBSW_ADD_SPI_TEST_CODE == 0
|
|
FixedTimeslotTaskIF* syrlinksPst =
|
|
factory.createFixedTimeslotTask("SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
|
|
missedDeadlineFunc, &RR_SCHEDULING);
|
|
result = pst::pstSyrlinks(syrlinksPst);
|
|
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(syrlinksPst);
|
|
}
|
|
#endif
|
|
|
|
#if OBSW_ADD_I2C_TEST_CODE == 0
|
|
FixedTimeslotTaskIF* i2cPst =
|
|
factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
|
|
missedDeadlineFunc, &RR_SCHEDULING);
|
|
pst::TmpSchedConfig tmpSchedConf;
|
|
#if OBSW_Q7S_EM == 1
|
|
tmpSchedConf.scheduleTmpDev0 = true;
|
|
tmpSchedConf.scheduleTmpDev1 = true;
|
|
tmpSchedConf.schedulePlPcduDev0 = true;
|
|
tmpSchedConf.schedulePlPcduDev1 = true;
|
|
tmpSchedConf.scheduleIfBoardDev = true;
|
|
#endif
|
|
result = pst::pstI2c(tmpSchedConf, 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
|
|
|
|
FixedTimeslotTaskIF* gomSpacePstTask =
|
|
factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
|
|
0.25, missedDeadlineFunc, &RR_SCHEDULING);
|
|
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);
|
|
}
|
|
|
|
void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
|
std::vector<PeriodicTaskIF*>& taskVec) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
/* PUS Services */
|
|
PeriodicTaskIF* pusHighPrio =
|
|
factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
|
|
missedDeadlineFunc, &RR_SCHEDULING);
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
|
|
}
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
|
|
}
|
|
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
|
|
}
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
|
|
}
|
|
taskVec.push_back(pusHighPrio);
|
|
|
|
PeriodicTaskIF* pusMedPrio =
|
|
factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
|
|
missedDeadlineFunc, &RR_SCHEDULING);
|
|
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_15_TM_STORAGE);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_15", objects::PUS_SERVICE_15_TM_STORAGE);
|
|
}
|
|
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);
|
|
}
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
|
if (result != returnvalue::OK) {
|
|
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
|
}
|
|
taskVec.push_back(pusMedPrio);
|
|
}
|
|
|
|
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
|
|
}
|
|
|
|
/**
|
|
▄ ▄
|
|
▌▒█ ▄▀▒▌
|
|
▌▒▒█ ▄▀▒▒▒▐
|
|
▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
|
|
▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
|
|
▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
|
|
▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
|
|
▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
|
|
▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
|
|
▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
|
|
▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
|
|
▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
|
|
▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
|
|
▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
|
|
▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
|
|
▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
|
|
▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
|
|
▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
|
|
▒▒▒▒▒▒▒▒▒▒▀▀
|
|
**/
|