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adapt all priorities
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Robin Müller 2023-03-24 13:26:27 +01:00
parent d226726a27
commit 349332c1e1
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GPG Key ID: 11D4952C8CCEF814
3 changed files with 70 additions and 49 deletions
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114
bsp_q7s/core/scheduling.cpp
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@ -68,7 +68,6 @@ void scheduling::initTasks() {
#else #else
void (*missedDeadlineFunc)(void) = nullptr; void (*missedDeadlineFunc)(void) = nullptr;
#endif #endif
RR_SCHEDULING.policy = SchedulingPolicy::RR;
#if OBSW_ADD_SA_DEPL == 1 #if OBSW_ADD_SA_DEPL == 1
// Could add this to the core controller but the core controller does so many thing that I would // Could add this to the core controller but the core controller does so many thing that I would
@ -91,7 +90,7 @@ void scheduling::initTasks() {
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING);
#if OBSW_ADD_TCPIP_SERVERS == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1 #if OBSW_ADD_TMTC_UDP_SERVER == 1
result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER); result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@ -121,16 +120,18 @@ void scheduling::initTasks() {
#if OBSW_ADD_TCPIP_SERVERS == 1 #if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1 #if OBSW_ADD_TMTC_UDP_SERVER == 1
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( PeriodicTaskIF* udpPollingTask =
"UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); factory->createPeriodicTask("UDP_TMTC_POLLING", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
missedDeadlineFunc, &RR_SCHEDULING);
result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK); result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK); scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
} }
#endif #endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1 #if OBSW_ADD_TMTC_TCP_SERVER == 1
PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask( PeriodicTaskIF* tcpPollingTask =
"TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); factory->createPeriodicTask("TCP_TMTC_POLLING", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
missedDeadlineFunc, &RR_SCHEDULING);
result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK); result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK); scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@ -138,8 +139,9 @@ void scheduling::initTasks() {
#endif #endif
#endif #endif
PeriodicTaskIF* genericSysTask = factory->createPeriodicTask( PeriodicTaskIF* genericSysTask =
"SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc); factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
missedDeadlineFunc, &RR_SCHEDULING);
result = genericSysTask->addComponent(objects::EIVE_SYSTEM); result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM); scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@ -173,7 +175,7 @@ void scheduling::initTasks() {
// Runs in IRQ mode, frequency does not really matter // Runs in IRQ mode, frequency does not really matter
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask( PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER); result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER); scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
@ -181,50 +183,53 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */ #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
// All the TM store tasks run in permanent loops, frequency does not matter // All the TM store tasks run in permanent loops, frequency does not matter
PeriodicTaskIF* liveTmTask = PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
result = liveTmTask->addComponent(objects::LIVE_TM_TASK); result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK); scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
} }
PeriodicTaskIF* logTmTask = factory->createPeriodicTask( PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
"LOG_PSTORE", 120, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); "LOG_PSTORE", -10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &NORMAL_SCHEDULING);
result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK); result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK); scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
} }
PeriodicTaskIF* hkTmTask = factory->createPeriodicTask( PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
"HK_PSTORE", 120, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); "HK_PSTORE", -10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &NORMAL_SCHEDULING);
result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK); result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK); scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
} }
PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask( PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
"CFDP_PSTORE", 120, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); "CFDP_PSTORE", -5, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &NORMAL_SCHEDULING);
result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK); result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK); scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
} }
#if OBSW_ADD_CFDP_COMPONENTS == 1 #if OBSW_ADD_CFDP_COMPONENTS == 1
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask( PeriodicTaskIF* cfdpTask =
"CFDP_HANDLER", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
result = cfdpTask->addComponent(objects::CFDP_HANDLER); result = cfdpTask->addComponent(objects::CFDP_HANDLER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER); scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
} }
#endif #endif
PeriodicTaskIF* gpsTask = factory->createPeriodicTask( PeriodicTaskIF* gpsTask =
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
result = gpsTask->addComponent(objects::GPS_CONTROLLER); result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER); scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
} }
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask( PeriodicTaskIF* acsBrdPolling =
"ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK); result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK); scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
@ -232,16 +237,18 @@ void scheduling::initTasks() {
#endif #endif
#if OBSW_ADD_RW == 1 #if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask( PeriodicTaskIF* rwPolling =
"RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); factory->createPeriodicTask("RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
result = rwPolling->addComponent(objects::RW_POLLING_TASK); result = rwPolling->addComponent(objects::RW_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK); scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
} }
#endif #endif
#if OBSW_ADD_MGT == 1 #if OBSW_ADD_MGT == 1
PeriodicTaskIF* imtqPolling = factory->createPeriodicTask( PeriodicTaskIF* imtqPolling =
"IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
result = imtqPolling->addComponent(objects::IMTQ_POLLING); result = imtqPolling->addComponent(objects::IMTQ_POLLING);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING); scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
@ -249,16 +256,18 @@ void scheduling::initTasks() {
#endif #endif
#if OBSW_ADD_SUN_SENSORS == 1 #if OBSW_ADD_SUN_SENSORS == 1
PeriodicTaskIF* susPolling = factory->createPeriodicTask( PeriodicTaskIF* susPolling =
"SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
0.4, missedDeadlineFunc, &RR_SCHEDULING);
result = susPolling->addComponent(objects::SUS_POLLING_TASK); result = susPolling->addComponent(objects::SUS_POLLING_TASK);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK); scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
} }
#endif #endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask( PeriodicTaskIF* acsSysTask =
"ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
missedDeadlineFunc, &RR_SCHEDULING);
result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM); result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM); scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@ -285,7 +294,7 @@ void scheduling::initTasks() {
} }
PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask( PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
"TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc); "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
scheduling::scheduleRtdSensors(tcsSystemTask); scheduling::scheduleRtdSensors(tcsSystemTask);
result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM); result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
@ -310,8 +319,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
// Relatively high priority to make sure STR COM works well. // Relatively high priority to make sure STR COM works well.
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask( PeriodicTaskIF* strHelperTask =
"STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
missedDeadlineFunc, &RR_SCHEDULING);
result = strHelperTask->addComponent(objects::STR_COM_IF); result = strHelperTask->addComponent(objects::STR_COM_IF);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF); scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
@ -319,8 +329,9 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_PLOC_MPSOC == 1 #if OBSW_ADD_PLOC_MPSOC == 1
PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask( PeriodicTaskIF* mpsocHelperTask =
"PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); factory->createPeriodicTask("PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
missedDeadlineFunc, &NORMAL_SCHEDULING);
result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER); result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER); scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
@ -328,8 +339,9 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_PLOC_MPSOC */ #endif /* OBSW_ADD_PLOC_MPSOC */
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask( PeriodicTaskIF* supvHelperTask =
"PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); factory->createPeriodicTask("PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0,
missedDeadlineFunc, &NORMAL_SCHEDULING);
result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER); result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER); scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@ -337,7 +349,7 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_PLOC_SUPERVISOR */ #endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask( PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
plTask->addComponent(objects::CAM_SWITCHER); plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask); scheduling::addMpsocSupvHandlers(plTask);
scheduling::scheduleScexDev(plTask); scheduling::scheduleScexDev(plTask);
@ -458,8 +470,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#else #else
static constexpr float acsPstPeriod = 0.4; static constexpr float acsPstPeriod = 0.4;
#endif #endif
FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* acsTcsPst =
"ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc); factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstTcsAndAcs(acsTcsPst, cfg); result = pst::pstTcsAndAcs(acsTcsPst, cfg);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -473,8 +486,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
/* Polling Sequence Table Default */ /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0 #if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* syrlinksPst =
"SYRLINKS", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); factory.createFixedTimeslotTask("SYRLINKS", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstSyrlinks(syrlinksPst); result = pst::pstSyrlinks(syrlinksPst);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -488,8 +502,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#endif #endif
#if OBSW_ADD_I2C_TEST_CODE == 0 #if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* i2cPst =
"I2C_PS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc); factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstI2cProcessingSystem(i2cPst); result = pst::pstI2cProcessingSystem(i2cPst);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -502,8 +517,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
} }
#endif #endif
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* gomSpacePstTask =
"GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
0.5, missedDeadlineFunc, &RR_SCHEDULING);
result = pst::pstGompaceCan(gomSpacePstTask); result = pst::pstGompaceCan(gomSpacePstTask);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -517,8 +533,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
std::vector<PeriodicTaskIF*>& taskVec) { std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
/* PUS Services */ /* PUS Services */
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask( PeriodicTaskIF* pusHighPrio =
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
missedDeadlineFunc, &RR_SCHEDULING);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
@ -537,8 +554,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
} }
taskVec.push_back(pusHighPrio); taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask( PeriodicTaskIF* pusMedPrio =
"PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
missedDeadlineFunc, &RR_SCHEDULING);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING); scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);

2
fsfw

@ -1 +1 @@
Subproject commit e704295cce76048d65bbb8893840b9ecedb05c94 Subproject commit 4415dc24e1bee0252e5282b583fcade7f37a97bf

3
linux/scheduling.cpp
View File

@ -8,6 +8,9 @@
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "eive/objects.h" #include "eive/objects.h"
PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR};
PosixThreadArgs scheduling::NORMAL_SCHEDULING;
void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) { void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
using namespace scheduling; using namespace scheduling;
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;