311 lines
11 KiB
C++
311 lines
11 KiB
C++
|
#include <OBSWConfig.h>
|
||
|
|
|
||
|
|
#include <bsp_hosted/core/InitMission.h>
|
||
|
|
#include <bsp_hosted/fsfwconfig/objects/systemObjectList.h>
|
||
|
|
#include <bsp_hosted/fsfwconfig/pollingsequence/pollingSequenceFactory.h>
|
||
|
|
#include <fsfw/modes/HasModesIF.h>
|
||
|
|
|
||
|
|
#include <mission/utility/TaskCreation.h>
|
||
|
|
|
||
|
|
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||
|
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||
|
|
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||
|
|
#include <fsfw/tasks/PeriodicTaskIF.h>
|
||
|
|
#include <fsfw/tasks/TaskFactory.h>
|
||
|
|
#include <mission/assemblies/TestAssembly.h>
|
||
|
|
|
||
|
|
#ifdef _WIN32
|
||
|
|
#include <fsfw/osal/windows/winTaskHelpers.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
void InitMission::createTasks() {
|
||
|
|
TaskFactory* taskFactory = TaskFactory::instance();
|
||
|
|
if(taskFactory == nullptr) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
TaskPriority currPrio;
|
||
|
|
#ifdef _WIN32
|
||
|
|
currPrio = tasks::makeWinPriority();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
TaskDeadlineMissedFunction deadlineMissedFunc = nullptr;
|
||
|
|
#if OBSW_PRINT_MISSED_DEADLINES == 1
|
||
|
|
deadlineMissedFunc = TaskFactory::printMissedDeadline;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if OBSW_ADD_CORE_COMPONENTS == 1
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 40;
|
||
|
|
#endif
|
||
|
|
/* TMTC Distribution */
|
||
|
|
PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
|
||
|
|
"DIST", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, deadlineMissedFunc);
|
||
|
|
ReturnValue_t result = distributerTask->addComponent(
|
||
|
|
objects::CCSDS_DISTRIBUTOR);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
|
||
|
|
}
|
||
|
|
result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
|
||
|
|
if (result!=HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS distributor", objects::PUS_DISTRIBUTOR);
|
||
|
|
}
|
||
|
|
result = distributerTask->addComponent(objects::TM_FUNNEL);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("TM funnel", objects::TM_FUNNEL);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 50;
|
||
|
|
#endif
|
||
|
|
/* UDP bridge */
|
||
|
|
PeriodicTaskIF* udpBridgeTask = taskFactory->createPeriodicTask(
|
||
|
|
"UDP_UNIX_BRIDGE", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
|
||
|
|
deadlineMissedFunc
|
||
|
|
);
|
||
|
|
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("UDP bridge", objects::UDP_BRIDGE);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 80;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* udpPollingTask = taskFactory->createPeriodicTask(
|
||
|
|
"UDP_POLLING", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, deadlineMissedFunc
|
||
|
|
);
|
||
|
|
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("UDP polling", objects::UDP_POLLING_TASK);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 20;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* eventTask = taskFactory->createPeriodicTask(
|
||
|
|
"EVENT", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.100, deadlineMissedFunc
|
||
|
|
);
|
||
|
|
result = eventTask->addComponent(objects::EVENT_MANAGER);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("Event Manager", objects::EVENT_MANAGER);
|
||
|
|
}
|
||
|
|
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_TASK_EXAMPLE == 1
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 50;
|
||
|
|
#endif
|
||
|
|
FixedTimeslotTaskIF* timeslotDemoTask = taskFactory->createFixedTimeslotTask(
|
||
|
|
"PST_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, deadlineMissedFunc);
|
||
|
|
result = pst::pollingSequenceExamples(timeslotDemoTask);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
|
|
sif::error << "InitMission::createTasks: Timeslot demo task initialization failed!" <<
|
||
|
|
std::endl;
|
||
|
|
#else
|
||
|
|
sif::printError("InitMission::createTasks: Timeslot demo task initialization failed!\n");
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 40;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* readerTask = taskFactory->createPeriodicTask(
|
||
|
|
"READER_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, deadlineMissedFunc);
|
||
|
|
result = readerTask->addComponent(objects::TEST_DUMMY_4);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("Dummy 4", objects::TEST_DUMMY_4);
|
||
|
|
}
|
||
|
|
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
|
||
|
|
|
||
|
|
|
||
|
|
#if OBSW_ADD_PUS_STACK == 1
|
||
|
|
/* PUS Services */
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 45;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* pusVerification = taskFactory->createPeriodicTask(
|
||
|
|
"PUS_VERIF_1", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, deadlineMissedFunc);
|
||
|
|
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 1", objects::PUS_SERVICE_1_VERIFICATION);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 50;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* pusHighPrio = taskFactory->createPeriodicTask(
|
||
|
|
"PUS_HIGH_PRIO", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, deadlineMissedFunc);
|
||
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||
|
|
}
|
||
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK){
|
||
|
|
task::printInitError("PUS 5",objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||
|
|
}
|
||
|
|
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 40;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* pusMedPrio = taskFactory->createPeriodicTask(
|
||
|
|
"PUS_MED_PRIO", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.6, deadlineMissedFunc);
|
||
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 3", objects::PUS_SERVICE_3_HOUSEKEEPING);
|
||
|
|
}
|
||
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||
|
|
}
|
||
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 20", objects::PUS_SERVICE_20_PARAMETERS);
|
||
|
|
}
|
||
|
|
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
|
||
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 200", objects::PUS_SERVICE_200_MODE_MGMT);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 30;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* pusLowPrio = taskFactory->createPeriodicTask(
|
||
|
|
"PUS_LOW_PRIO", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.2, deadlineMissedFunc);
|
||
|
|
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||
|
|
if(result!=HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("PUS 17", objects::PUS_SERVICE_17_TEST);
|
||
|
|
}
|
||
|
|
#endif /* OBSW_ADD_PUS_STACK == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 60;
|
||
|
|
#elif _WIN32
|
||
|
|
currPrio = tasks::makeWinPriority(tasks::PriorityClass::CLASS_HIGH,
|
||
|
|
tasks::PriorityNumber::HIGHEST);
|
||
|
|
#endif
|
||
|
|
FixedTimeslotTaskIF* testDevicesTimeslotTask = taskFactory->createFixedTimeslotTask(
|
||
|
|
"PST_TEST_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, deadlineMissedFunc);
|
||
|
|
result = pst::pollingSequenceDevices(testDevicesTimeslotTask);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
|
|
sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
|
||
|
|
#else
|
||
|
|
sif::printError("InitMission::createTasks: Test PST initialization failed!\n");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#if _WIN32
|
||
|
|
currPrio = tasks::makeWinPriority();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", currPrio,
|
||
|
|
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
|
||
|
|
if(assemblyTask == nullptr){
|
||
|
|
task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
|
||
|
|
}
|
||
|
|
result = assemblyTask->addComponent(objects::TEST_ASSEMBLY);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
|
||
|
|
}
|
||
|
|
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_CONTROLLER_DEMO == 1
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 45;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* controllerTask = taskFactory->createPeriodicTask(
|
||
|
|
"TEST_CTRL", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, deadlineMissedFunc);
|
||
|
|
result = controllerTask->addComponent(objects::TEST_CONTROLLER);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("Controller Task", objects::TEST_CONTROLLER);
|
||
|
|
}
|
||
|
|
#endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
|
||
|
|
#ifdef __unix__
|
||
|
|
currPrio = 15;
|
||
|
|
#endif
|
||
|
|
PeriodicTaskIF* testTask = TaskFactory::instance()->createPeriodicTask(
|
||
|
|
"TEST_TASK", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, deadlineMissedFunc);
|
||
|
|
result = testTask->addComponent(objects::TEST_TASK);
|
||
|
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||
|
|
task::printInitError("Test Task", objects::TEST_TASK);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
|
|
sif::info << "Starting tasks.." << std::endl;
|
||
|
|
#else
|
||
|
|
sif::printInfo("Starting tasks..\n");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if OBSW_ADD_CORE_COMPONENTS == 1
|
||
|
|
distributerTask->startTask();
|
||
|
|
udpBridgeTask->startTask();
|
||
|
|
udpPollingTask->startTask();
|
||
|
|
eventTask->startTask();
|
||
|
|
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_PUS_STACK == 1
|
||
|
|
pusVerification->startTask();
|
||
|
|
pusHighPrio->startTask();
|
||
|
|
pusMedPrio->startTask();
|
||
|
|
pusLowPrio->startTask();
|
||
|
|
#endif /* OBSW_ADD_PUS_STACK == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_TASK_EXAMPLE == 1
|
||
|
|
timeslotDemoTask->startTask();
|
||
|
|
readerTask->startTask();
|
||
|
|
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
|
||
|
|
testDevicesTimeslotTask->startTask();
|
||
|
|
assemblyTask->startTask();
|
||
|
|
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
|
||
|
|
|
||
|
|
#if OBSW_ADD_CONTROLLER_DEMO == 1
|
||
|
|
controllerTask->startTask();
|
||
|
|
#endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
|
||
|
|
|
||
|
|
testTask->startTask();
|
||
|
|
|
||
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
|
|
sif::info << "Tasks started.." << std::endl;
|
||
|
|
#else
|
||
|
|
sif::printInfo("Tasks started..\n");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if OBSW_ADD_DEVICE_HANDLER_DEMO
|
||
|
|
HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
|
||
|
|
if (assembly == nullptr){
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
|
|
sif::info << "Waiting 5 Seconds and then command Test Assembly to Normal, Dual" << std::endl;
|
||
|
|
#else
|
||
|
|
sif::printInfo("Waiting 5 Seconds and then command Test Assembly to Normal, Dual \n");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
TaskFactory::delayTask(5000);
|
||
|
|
CommandMessage modeMessage;
|
||
|
|
ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
|
||
|
|
DeviceHandlerIF::MODE_NORMAL, TestAssembly::submodes::DUAL);
|
||
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||
|
|
sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
|
||
|
|
#else
|
||
|
|
sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
|
||
|
|
#endif
|
||
|
|
MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage,
|
||
|
|
MessageQueueIF::NO_QUEUE);
|
||
|
|
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO */
|
||
|
|
}
|
||
|
|
|
||
|
|
|