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fixes for scheduling
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This commit is contained in:
Robin Müller 2023-02-06 10:20:22 +01:00
parent fd7709ea81
commit 4d6215f546
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GPG Key ID: 11D4952C8CCEF814
3 changed files with 68 additions and 55 deletions
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78
bsp_q7s/core/scheduling.cpp
View File

@ -173,54 +173,25 @@ void scheduling::initTasks() {
}
#endif
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_GPS_CTRL == 1
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_GPS_CTRL */
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
// To be removed soon because it will be part of the ACS PST.
#if OBSW_ADD_ACS_CTRL == 1
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
gpsTask->addComponent(objects::ACS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
#if OBSW_Q7S_EM == 1
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
acsCtrlTask->addComponent(objects::STAR_TRACKER);
acsCtrlTask->addComponent(objects::RW1);
acsCtrlTask->addComponent(objects::RW2);
acsCtrlTask->addComponent(objects::RW3);
acsCtrlTask->addComponent(objects::RW4);
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != returnvalue::OK) {
@ -244,6 +215,35 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
#if OBSW_Q7S_EM == 1
acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsSysTask->addComponent(objects::IMTQ_HANDLER);
acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsSysTask->addComponent(objects::GPS_CONTROLLER);
acsSysTask->addComponent(objects::STAR_TRACKER);
acsSysTask->addComponent(objects::RW1);
acsSysTask->addComponent(objects::RW2);
acsSysTask->addComponent(objects::RW3);
acsSysTask->addComponent(objects::RW4);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
"TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
@ -414,7 +414,9 @@ void scheduling::initTasks() {
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
acsCtrlTask->startTask();
#if OBSW_ADD_GPS_CTRL == 1
gpsTask->startTask();
#endif
acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();

39
linux/devices/GpsHyperionLinuxController.cpp
View File

@ -27,12 +27,6 @@ GpsHyperionLinuxController::~GpsHyperionLinuxController() {
gps_close(&gps);
}
void GpsHyperionLinuxController::performControlOperation() {
#ifdef FSFW_OSAL_LINUX
readGpsDataFromGpsd();
#endif
}
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
@ -98,6 +92,18 @@ void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t
resetCallbackArgs = args;
}
ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
while (true) {
bool noDataRead = readGpsDataFromGpsd();
if (noDataRead) {
handleQueue();
poolManager.performHkOperation();
}
}
// Should never be reached.
return returnvalue::OK;
}
ReturnValue_t GpsHyperionLinuxController::initialize() {
ReturnValue_t result = ExtendedControllerBase::initialize();
if (result != returnvalue::OK) {
@ -133,7 +139,7 @@ ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *m
#ifdef FSFW_OSAL_LINUX
void GpsHyperionLinuxController::readGpsDataFromGpsd() {
bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
auto readError = [&](int error) {
if (gpsReadFailedSwitch) {
gpsReadFailedSwitch = false;
@ -145,15 +151,15 @@ void GpsHyperionLinuxController::readGpsDataFromGpsd() {
currentClientBuf = gps_data(&gps);
if (readMode == ReadModes::SOCKET) {
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
// Exit if no data is seen in 2 seconds (should not happen)
if (gps_waiting(&gps, 2000000)) {
// Perform other necessary handling if not data seen for 0.2 seconds.
if (gps_waiting(&gps, 200000)) {
int result = gps_read(&gps);
while (result > 0) {
result = gps_read(&gps);
}
if (result == -1) {
readError(result);
return;
return false;
}
if (MODE_SET != (MODE_SET & gps.set)) {
if (mode == MODE_ON) {
@ -168,19 +174,20 @@ void GpsHyperionLinuxController::readGpsDataFromGpsd() {
noModeSetCntr = -1;
}
// did not event get mode, nothing to see.
return;
return false;
}
}
noModeSetCntr = 0;
} else {
return false;
}
} else if (readMode == ReadModes::SHM) {
int result = gps_read(&gps);
if (result == -1) {
readError(result);
return;
}
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
"SHM read not implemented"
<< std::endl;
}
handleGpsReadData();
return true;
}
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {

6
linux/devices/GpsHyperionLinuxController.h
View File

@ -32,6 +32,7 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
ReturnValue_t performOperation(uint8_t opCode) override;
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
void performControlOperation() override;
@ -66,7 +67,10 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
uint32_t timeIsConstantCounter = 0;
Countdown timeUpdateCd = Countdown(60);
void readGpsDataFromGpsd();
// Returns true if data was read and function should be called again
// immediately, and false if the gps_waiting blocked for 0.2 seconds
// without new data arriving.
bool readGpsDataFromGpsd();
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */