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Merge remote-tracking branch 'origin/develop' into rw_refactoring

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This commit is contained in:
Robin Müller
2023-02-16 16:02:39 +01:00
parent a026f5e2d0 efe63b394c
commit 6be54a9485
7 changed files with 113 additions and 112 deletions
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172
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
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@ -193,102 +193,102 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
@ -616,19 +616,19 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_2_PERIOD, 0);
thisSequence->addSlot(objects::ACS_CONTROLLER, length * config::acs::SCHED_BLOCK_3_PERIOD, 0);
if (cfg.scheduleImtq) {
// This is the torquing cycle.
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
}
@ -711,94 +711,94 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
if (cfg.scheduleRws) {
// this is the torquing cycle
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW1, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW2, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW3, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_2_PERIOD,
thisSequence->addSlot(objects::RW4, length * config::acs::SCHED_BLOCK_4_PERIOD,
DeviceHandlerIF::GET_READ);
}