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