fsfw/fsfw_example_public
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This commit is contained in:
Steffen Gaisser
2021-04-27 17:22:34 +02:00
commit 4f6fe6959f
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5
bsp_stm32_freertos/core/CMakeLists.txt Normal file
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target_sources(${TARGET_NAME} PRIVATE
InitMission.cpp
ObjectFactory.cpp
)

181
bsp_stm32_freertos/core/InitMission.cpp Normal file
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#include "InitMission.h"
#include <OBSWConfig.h>
#include <freertos/FreeRTOS.h>
#include <objects/systemObjectList.h>
#include <mission/utility/TaskCreation.h>
#include <pollingsequence/pollingSequenceFactory.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>
void InitMission::createTasks() {
#if OBSW_ADD_CORE_COMPONENTS == 1
/* TMTC Distribution */
PeriodicTaskIF* distributerTask = TaskFactory::instance()->createPeriodicTask(
"DIST", 5, 1024 * 2, 0.2, nullptr);
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);
}
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 6, 1024 * 2, 0.2, nullptr);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP bridge", objects::UDP_BRIDGE);
}
PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 8, 1024, 0.1, nullptr);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
}
PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
"EVENT_MGMT", 4, 1024 * 2, 0.1, nullptr);
result = eventManagerTask->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_PUS_STACK == 1
/* PUS Services */
PeriodicTaskIF* pusVerification = TaskFactory::instance()->createPeriodicTask(
"PUS_VERIF_1", 4, 1024 * 2, 0.2, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
task::printInitError("PUS 1", objects::PUS_SERVICE_1_VERIFICATION);
}
PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->createPeriodicTask(
"PUS_HIGH_PRIO", 5, 1024 * 2, 0.2, nullptr);
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);
}
PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->createPeriodicTask(
"PUS_HIGH_PRIO", 4, 1024 * 2, 0.8, nullptr);
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_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
task::printInitError("PUS 200", objects::PUS_SERVICE_200_MODE_MGMT);
}
PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->createPeriodicTask(
"PUS_LOW_PRIO", 3, 1024 * 2, 1.6, nullptr);
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_TASK_EXAMPLE == 1
FixedTimeslotTaskIF* timeslotDemoTask = TaskFactory::instance()->createFixedTimeslotTask(
"PST_TASK", 6, 1024 * 2, 0.5, nullptr);
result = pst::pollingSequenceExamples(timeslotDemoTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::createTasks: PST initialization failed!" << std::endl;
#else
sif::printError( "InitMission::createTasks: PST initialization failed!\n");
#endif
}
PeriodicTaskIF* readerTask = TaskFactory::instance()->createPeriodicTask(
"READER_TASK", 3, 1024, 1.0, nullptr);
result = readerTask->addComponent(objects::TEST_DUMMY_4);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("TEST_DUMMY_4", objects::TEST_DUMMY_4);
}
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
FixedTimeslotTaskIF* testDevicesTask = TaskFactory::instance()->createFixedTimeslotTask(
"PST_TEST_TASK", 10, 1024 * 2, 1.0, nullptr);
result = pst::pollingSequenceDevices(testDevicesTask);
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 faiedl!\n");
#endif
}
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
PeriodicTaskIF* testTask = TaskFactory::instance()->createPeriodicTask(
"TEST", 2, 2048, 1.0, nullptr);
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();
eventManagerTask->startTask();
udpBridgeTask->startTask();
udpPollingTask->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
testDevicesTask->startTask();
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
testTask->startTask();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Remaining FreeRTOS heap size: " << std::dec << xPortGetFreeHeapSize() <<
" bytes." << std::endl;
sif::info << "Tasks started.." << std::endl;
#else
sif::printInfo("Remaining FreeRTOS heap size: %lu\n",
static_cast<unsigned long>(xPortGetFreeHeapSize()));
sif::printInfo("Tasks started..\n");
#endif
}

10
bsp_stm32_freertos/core/InitMission.h Normal file
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#ifndef MISSION_CORE_INITMISSION_H_
#define MISSION_CORE_INITMISSION_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
namespace InitMission {
void createTasks();
};
#endif /* MISSION_CORE_INITMISSION_H_ */

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bsp_stm32_freertos/core/ObjectFactory.cpp Normal file
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#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <objects/systemObjectList.h>
#include <mission/utility/TmFunnel.h>
#include <mission/core/GenericFactory.h>
#include <common/stm32_nucleo/networking/UdpTcLwIpPollingTask.h>
#include <common/stm32_nucleo/networking/TmTcLwIpUdpBridge.h>
#include <common/stm32_nucleo/STM32TestTask.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/monitoring/MonitoringMessageContent.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
void ObjectFactory::produce() {
/* Located inside GenericFactory source file */
Factory::setStaticFrameworkObjectIds();
#if OBSW_ADD_CORE_COMPONENTS == 1
{
LocalPool::LocalPoolConfig poolCfg = {
{100, 32}, {30, 64}, {10, 128}, {2, 1024}
};
new PoolManager(objects::TC_STORE, poolCfg);
}
{
LocalPool::LocalPoolConfig poolCfg = {
{100, 32}, {30, 64}, {10, 128}, {2, 1024}
};
new PoolManager(objects::TM_STORE, poolCfg);
}
{
LocalPool::LocalPoolConfig poolCfg = {
{100, 32}, {30, 64}, {10, 128}, {2, 1024}
};
new PoolManager(objects::IPC_STORE, poolCfg);
}
/* UDP Server */
new TmTcLwIpUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_DISTRIBUTOR, objects::TM_STORE, objects::TC_STORE);
new UdpTcLwIpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
ObjectFactory::produceGenericObjects();
/* Test Device Handler */
new STM32TestTask(objects::TEST_TASK, false, true);
}

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bsp_stm32_freertos/core/ObjectFactory.h Normal file
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#ifndef MISSION_CORE_OBJECTFACTORY_H_
#define MISSION_CORE_OBJECTFACTORY_H_
namespace ObjectFactory {
void setStatics();
void produce();
};
#endif /* MISSION_CORE_OBJECTFACTORY_H_ */

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bsp_stm32_freertos/core/core.mk Normal file
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CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)