249 lines
10 KiB
C++
249 lines
10 KiB
C++
#include "InitMission.h"
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#include <OBSWConfig.h>
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#include <bsp_linux/fsfwconfig/objects/systemObjectList.h>
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#include <bsp_linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h>
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#include <mission/utility/TaskCreation.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 <fsfw/ipc/MessageQueueSenderIF.h>
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#include <fsfw/ipc/CommandMessage.h>
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#include <fsfw/modes/ModeMessage.h>
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
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#include <mission/assemblies/TestAssembly.h>
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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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#if OBSW_ADD_CORE_COMPONENTS == 1
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/* TMTC Distribution */
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PeriodicTaskIF* distributerTask = taskFactory->
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createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
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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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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = taskFactory->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, 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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/* UDP polling task */
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PeriodicTaskIF* udpPollingTask = taskFactory->createPeriodicTask(
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"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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", objects::UDP_POLLING_TASK);
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}
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PeriodicTaskIF* eventTask = taskFactory->createPeriodicTask(
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"EVENT_MGMT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, nullptr);
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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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FixedTimeslotTaskIF* timeslotDemoTask = taskFactory->createFixedTimeslotTask
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("PST_TASK", 50, 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: Timeslot demo task"
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<<" initialization failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Timeslot demo task"
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" initialization failed!\n");
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#endif
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}
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PeriodicTaskIF* readerTask = taskFactory->
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createPeriodicTask("READER_TASK", 40,
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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("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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PeriodicTaskIF* pusVerification = taskFactory->createPeriodicTask(
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"PUS_VERIF_1", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, 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->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->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_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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PeriodicTaskIF* pusLowPrio = taskFactory->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_DEVICE_HANDLER_DEMO == 1
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FixedTimeslotTaskIF* testDeviceTask = taskFactory->createFixedTimeslotTask(
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"PST_TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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result = pst::pollingSequenceDevices(testDeviceTask);
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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: Test PST initialization failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Test PST initialization failed!\n\r");
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#endif
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}
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PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
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if(assemblyTask == nullptr){
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "InitMission::createTasks: Test Assembly Task creation failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Test Assembly Task creation failed!\n\r");
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#endif
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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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if(assemblyTask == nullptr){
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "InitMission::createTasks: Test Assembly Task adding failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Test Assembly Task adding failed!\n\r");
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#endif
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}
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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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PeriodicTaskIF* controllerTask = taskFactory->createPeriodicTask(
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"TEST_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr);
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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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PeriodicTaskIF* testTask = taskFactory->createPeriodicTask(
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"TEST", 15, 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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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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testDeviceTask->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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sif::info << "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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HasModesIF* assembly = objectManager->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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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Waiting 5 Seconds and then command Test Assembly to Normal, Dual" << std::endl;
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#else
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sif::printInfo("Waiting 5 Seconds and then command Test Assembly to Normal, Dual \n");
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#endif
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TaskFactory::delayTask(5000);
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CommandMessage modeMessage;
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ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL, TestAssembly::submodes::DUAL);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
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#else
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sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
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#endif
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MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage, MessageQueueIF::NO_QUEUE);
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#endif
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}
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