#include "InitMission.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include void InitMission::createTasks() { TaskFactory* taskFactory = TaskFactory::instance(); if(taskFactory == nullptr) { return; } #if OBSW_ADD_CORE_COMPONENTS == 1 /* TMTC Distribution */ PeriodicTaskIF* distributerTask = taskFactory-> createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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->createPeriodicTask( "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr); result = udpBridgeTask->addComponent(objects::UDP_BRIDGE); if(result != HasReturnvaluesIF::RETURN_OK) { task::printInitError("UDP bridge", objects::UDP_BRIDGE); } /* UDP polling task */ PeriodicTaskIF* udpPollingTask = taskFactory->createPeriodicTask( "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, nullptr); result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK); if(result != HasReturnvaluesIF::RETURN_OK) { task::printInitError("UDP polling", objects::UDP_POLLING_TASK); } PeriodicTaskIF* eventTask = taskFactory->createPeriodicTask( "EVENT_MGMT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, nullptr); 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 FixedTimeslotTaskIF* timeslotDemoTask = taskFactory->createFixedTimeslotTask ("PST_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, nullptr); 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 } PeriodicTaskIF* readerTask = taskFactory-> createPeriodicTask("READER_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); 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 */ PeriodicTaskIF* pusVerification = taskFactory->createPeriodicTask( "PUS_VERIF_1", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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->createPeriodicTask( "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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->createPeriodicTask( "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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_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); } PeriodicTaskIF* pusLowPrio = taskFactory->createPeriodicTask( "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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_DEVICE_HANDLER_DEMO == 1 FixedTimeslotTaskIF* testDeviceTask = taskFactory->createFixedTimeslotTask( "PST_TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); result = pst::pollingSequenceDevices(testDeviceTask); 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\r"); #endif } PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr); if(assemblyTask == nullptr){ #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "InitMission::createTasks: Test Assembly Task creation failed!" << std::endl; #else sif::printError("InitMission::createTasks: Test Assembly Task creation failed!\n\r"); #endif } result = assemblyTask->addComponent(objects::TEST_ASSEMBLY); if(result != HasReturnvaluesIF::RETURN_OK) { if(assemblyTask == nullptr){ #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::error << "InitMission::createTasks: Test Assembly Task adding failed!" << std::endl; #else sif::printError("InitMission::createTasks: Test Assembly Task adding failed!\n\r"); #endif } } #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */ #if OBSW_ADD_CONTROLLER_DEMO == 1 PeriodicTaskIF* controllerTask = taskFactory->createPeriodicTask( "TEST_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr); result = controllerTask->addComponent(objects::TEST_CONTROLLER); if(result != HasReturnvaluesIF::RETURN_OK) { task::printInitError("Controller Task", objects::TEST_CONTROLLER); } #endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */ PeriodicTaskIF* testTask = taskFactory->createPeriodicTask( "TEST", 15, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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(); 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 testDeviceTask->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->get(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 }