From 07d93b6b671f97bf189719abe619c0af75dded83 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 10 Nov 2022 14:08:44 +0100
Subject: [PATCH] schedule PL components differently

---
 bsp_q7s/core/InitMission.cpp                  | 22 +++++++++----------
 linux/InitMission.cpp                         | 13 +++++++++++
 linux/InitMission.h                           |  4 +++-
 .../pollingSequenceFactory.cpp                | 20 -----------------
 4 files changed, 26 insertions(+), 33 deletions(-)

diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 9740912a..bbeaded8 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -280,19 +280,9 @@ void initmission::initTasks() {
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
       "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
-  }
+  scheduling::addMpsocSupvHandlers(plTask);
+  plTask->addComponent(objects::CAM_SWITCHER);
 
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
-      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
-  }
-#endif
 #if OBSW_ADD_SCEX_DEVICE == 1
   PeriodicTaskIF* scexDevHandler;
   PeriodicTaskIF* scexReaderTask;
@@ -305,6 +295,14 @@ void initmission::initTasks() {
   createPstTasks(*factory, missedDeadlineFunc, pstTasks);
 
 #if OBSW_ADD_TEST_CODE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
+  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
+      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
+  }
+#endif
   std::vector<PeriodicTaskIF*> testTasks;
   createTestTasks(*factory, missedDeadlineFunc, testTasks);
 #endif
diff --git a/linux/InitMission.cpp b/linux/InitMission.cpp
index eb8f677a..b433e4aa 100644
--- a/linux/InitMission.cpp
+++ b/linux/InitMission.cpp
@@ -45,3 +45,16 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
     printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
   }
 }
+
+void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_WRITE);
+  plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::PERFORM_OPERATION);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_WRITE);
+  plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
+}
diff --git a/linux/InitMission.h b/linux/InitMission.h
index e5a3afff..dd809ff7 100644
--- a/linux/InitMission.h
+++ b/linux/InitMission.h
@@ -4,4 +4,6 @@
 namespace scheduling {
 void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
                     PeriodicTaskIF*& scexReaderTask);
-}
+void addMpsocSupvHandlers(PeriodicTaskIF* task);
+
+}  // namespace scheduling
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index f0a1c2fb..e7f753bd 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -461,26 +461,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();
   static_cast<void>(length);
-#if OBSW_ADD_PLOC_MPSOC == 1
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
-                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif
 
 #if OBSW_ADD_SYRLINKS == 1
   thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,