#include #include #include #include #include #include #include #include #include #include #include "example/utility/TaskCreation.h" #include "fsfw_tests/integration/assemblies/TestAssembly.h" #ifdef _WIN32 #include #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( "TCPIP_TMTC_BRIDGE", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, deadlineMissedFunc); result = udpBridgeTask->addComponent(objects::TCPIP_TMTC_BRIDGE); if (result != HasReturnvaluesIF::RETURN_OK) { task::printInitError("TMTC bridge", objects::TCPIP_TMTC_BRIDGE); } #ifdef __unix__ currPrio = 80; #endif PeriodicTaskIF* udpPollingTask = taskFactory->createPeriodicTask( "TMTC_POLLING", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, deadlineMissedFunc); result = udpPollingTask->addComponent(objects::TCPIP_TMTC_POLLING_TASK); if (result != HasReturnvaluesIF::RETURN_OK) { task::printInitError("TMTC polling", objects::TCPIP_TMTC_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 auto* assembly = ObjectManager::instance()->get(objects::TEST_ASSEMBLY); if (assembly == nullptr) { return; } #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO */ }