197 lines
7.9 KiB
C++
197 lines
7.9 KiB
C++
#include "InitMission.h"
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#include <OBSWConfig.h>
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#include <mission/utility/TaskCreation.h>
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#include <objects/systemObjectList.h>
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#include <pollingsequence/pollingSequenceFactory.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 <rtems/rtems/support.h>
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#include <rtems/score/heapinfo.h>
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void InitMission::createTasks() {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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#if OBSW_ADD_CORE_COMPONENTS == 1
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/* TMTC Distribution */
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PeriodicTaskIF* distributerTask = TaskFactory::instance()->createPeriodicTask(
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"DIST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
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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::CCSDS_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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PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
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"EVENT_MGMT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, nullptr);
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result = eventManagerTask->addComponent(objects::EVENT_MANAGER);
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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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#if OBSW_ADD_LWIP_COMPONENTS == 1
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
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result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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task::printInitError("UDP bridge", objects::UDP_BRIDGE);
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}
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PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->createPeriodicTask(
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"UDP_POLLING", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.1, nullptr);
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result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
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}
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#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
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#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
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#if OBSW_ADD_PUS_STACK == 1
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/* PUS Services */
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PeriodicTaskIF* pusVerification = TaskFactory::instance()->createPeriodicTask(
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"PUS_VERIF_1", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
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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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PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->createPeriodicTask(
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"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
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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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PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->createPeriodicTask(
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"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr);
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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_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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PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, nullptr);
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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_TASK_EXAMPLE == 1
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FixedTimeslotTaskIF* timeslotDemoTask = TaskFactory::instance()->createFixedTimeslotTask(
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"PST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, nullptr);
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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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sif::error << "InitMission::createTasks: Examples PST initialization failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Examples PST initialization failed!\n");
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#endif
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}
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PeriodicTaskIF* readerTask = TaskFactory::instance()->
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createPeriodicTask("READER_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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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("Demo Reader Task", 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_DEVICE_HANDLER_DEMO == 1
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FixedTimeslotTaskIF* testTimeslotTask = TaskFactory::instance()->createFixedTimeslotTask(
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"PST_TEST_TASK", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = pst::pollingSequenceDevices(testTimeslotTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "InitMission::createTasks: Devices PST initialization failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Devices PST initialization failed!\n");
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#endif
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}
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#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
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PeriodicTaskIF* testTask = TaskFactory::instance()->
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createPeriodicTask("TEST", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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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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sif::info << "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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eventManagerTask->startTask();
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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udpBridgeTask->startTask();
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udpPollingTask->startTask();
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#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
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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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testTimeslotTask->startTask();
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#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
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testTask->startTask();
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Heap_Information_block block;
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rtems_workspace_get_information(&block);
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uint32_t failedAllocs = block.Stats.failed_allocs;
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Tasks started.." << std::endl;
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sif::info << "Remaining RTEMS heap: " << block.Stats.free_size << " bytes" << std::endl;
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#else
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sif::printInfo("Tasks started..\n");
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sif::printInfo("Allocated RTEMS heap: %lu bytes\n", static_cast<unsigned long>(
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block.Stats.size));
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sif::printInfo("Remaining RTEMS heap: %lu bytes\n", static_cast<unsigned long>(
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block.Stats.free_size));
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if(failedAllocs > 0) {
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sif::printWarning("%d allocations from RTEMS workspace failed!\n", failedAllocs);
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}
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#endif
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}
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