testArduino/bsp_linux/core/InitMission.cpp

179 lines
6.4 KiB
C++

#include "../../bsp_linux/core/InitMission.h"
#include <OBSWConfig.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <iostream>
#include "../../bsp_linux/fsfwconfig/objects/systemObjectList.h"
#include "../../bsp_linux/fsfwconfig/OBSWConfig.h"
#include "../fsfwconfig/pollingsequence/PollingSequenceArduino.h"
void InitMission::createTasks(){
/* TMTC Distribution */
PeriodicTaskIF* distributerTask = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.100, nullptr);
ReturnValue_t result = distributerTask->addComponent(
objects::CCSDS_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = distributerTask->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
PeriodicTaskIF* eventTask = TaskFactory::instance()->
createPeriodicTask("EVENT", 20,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.100, nullptr);
result = eventTask->addComponent(objects::EVENT_MANAGER);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* pusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
4, nullptr);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
FixedTimeslotTaskIF* arduinoTask = TaskFactory::instance()->
createFixedTimeslotTask("ARDUINO_TASK",40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 3.2, nullptr);
result = pollingSequenceArduinoFunction(arduinoTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks:ArduinoPST initialization failed!"
<< std::endl;
}
PeriodicTaskIF* controllerTask = TaskFactory::instance()->
createPeriodicTask("CONTROLLER_TASK",40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 3, nullptr);
//result = pollingSequenceControllerFunction(controllerTask);
result = controllerTask->addComponent(objects::THERMAL_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks:ArduinoController initialization failed!"
<< std::endl;
}
#if OBSW_ADD_TEST_CODE == 1
FixedTimeslotTaskIF* testTimeslotTask = TaskFactory::instance()->
createFixedTimeslotTask("PST_TEST_TASK", 10,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = pst::pollingSequenceTestFunction(testTimeslotTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::createTasks: Test PST initialization "
<< "failed!" << std::endl;
}
PeriodicTaskIF* testTask = TaskFactory::instance()->
createPeriodicTask("TEST", 15, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.0, nullptr);
result = testTask->addComponent(objects::TEST_TASK);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "InitMission::createTasks: Adding test task "
<< "failed" << std::endl;
}
#endif
//Main thread sleep
sif::debug << "Starting Tasks in 3.2 seconds" << std::endl;
TaskFactory::delayTask(3200);
distributerTask->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
//serializeTask->startTask();
//arduinoTask->startTask();
controllerTask->startTask();
//payloadTask->startTask();
eventTask->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTimeslotTask->startTask();
testTask->startTask();
#endif
sif::debug << "Tasks started.." << std::endl;
}