eive-obsw/bsp_q7s/em/emObjectFactory.cpp
Robin Müller bb8d4fbc57
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Merge branch 'develop' into feature_set_up_periodic_hk
2023-03-26 16:58:18 +02:00

145 lines
5.1 KiB
C++

#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/PcduHandlerDummy.h>
#include <fsfw/health/HealthTableIF.h>
#include <fsfw/power/DummyPowerSwitcher.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <mission/power/gsDefs.h>
#include <mission/system/tree/system.h>
#include <mission/utility/DummySdCardManager.h>
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "devConf.h"
#include "dummies/helpers.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "mission/genericFactory.h"
#include "mission/system/com/comModeTree.h"
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
HealthTableIF* healthTable = nullptr;
PusTmFunnel* pusFunnel = nullptr;
CfdpTmFunnel* cfdpFunnel = nullptr;
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
PersistentTmStores stores;
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores);
LinuxLibgpioIF* gpioComIF = nullptr;
SerialComIF* uartComIF = nullptr;
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
/* Adding gpios for chip select decoding to the gpioComIf */
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
// Hardware is usually not connected to EM, so we need to create dummies which replace lower
// level components.
dummy::DummyCfg dummyCfg;
dummyCfg.addCoreCtrlCfg = false;
#if OBSW_ADD_SYRLINKS == 1
dummyCfg.addSyrlinksDummies = false;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
#endif
#if OBSW_ADD_ACS_BOARD == 1
dummyCfg.addAcsBoardDummies = false;
#endif
PowerSwitchIF* pwrSwitcher = nullptr;
#if OBSW_ADD_GOMSPACE_PCDU == 0
auto* comCookieDummy = new ComCookieDummy();
pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
#else
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
#endif
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
// Regular FM code, does not work for EM if the hardware is not connected
// createPcduComponents(gpioComIF, &pwrSwitcher);
// createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
// createSyrlinksComponents(pwrSwitcher);
// createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
// createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
// createTmpComponents();
// createSolarArrayDeploymentComponents();
// createPayloadComponents(gpioComIF);
// createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
// TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
// and will cause xsc_boot_copy commands to always boot to 0 0
// createRadSensorComponent(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
createAcsBoardGpios(*acsBoardGpios);
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets);
#endif
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
#if OBSW_ADD_RW == 1
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
&ipCoreHandler);
createCcsdsComponents(ccsdsArgs);
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if OBSW_ADD_SCEX_DEVICE == 1
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler = nullptr;
ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
createThermalController(*heaterHandler);
satsystem::init();
}