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

2023-03-24 14:22:12 +01:00
parent 21159107d7 cbbac0d7a9
commit 74603f9969
25 changed files with 235 additions and 114 deletions
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -72,8 +72,9 @@ void scheduling::initTasks() {
 #if OBSW_ADD_SA_DEPL == 1
  // Could add this to the core controller but the core controller does so many thing that I would
  // prefer to have the solar array deployment in a seprate task.
-  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
-      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* solarArrayDeplTask =
+      factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
@ -81,7 +82,7 @@ void scheduling::initTasks() {
 #endif

  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
@ -89,7 +90,7 @@ void scheduling::initTasks() {

  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "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_TMTC_UDP_SERVER == 1
  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
@ -120,7 +121,7 @@ void scheduling::initTasks() {
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "UDP_TMTC_POLLING", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
@ -128,7 +129,7 @@ void scheduling::initTasks() {
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
-      "TCP_TMTC_POLLING", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
@ -136,8 +137,9 @@ void scheduling::initTasks() {
 #endif
 #endif

-  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
-      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  PeriodicTaskIF* genericSysTask =
+      factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
@ -171,7 +173,7 @@ void scheduling::initTasks() {

  // Runs in IRQ mode, frequency does not really matter
  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);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
@ -179,26 +181,26 @@ void scheduling::initTasks() {

 #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */
  // All the TM store tasks run in permanent loops, frequency does not matter
-  PeriodicTaskIF* liveTmTask =
-      factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
+      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING);
  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
  }
  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
-      "LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
  }
  PeriodicTaskIF* hkTmTask = factory->createPeriodicTask(
-      "HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
  }
  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
-      "CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
+      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
@ -206,24 +208,27 @@ void scheduling::initTasks() {

  // TODO: Use user priorities for this task.
 #if OBSW_ADD_CFDP_COMPONENTS == 1
-  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
-      "CFDP", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* cfdpTask =
+      factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
  }
 #endif

-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
-      "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* gpsTask =
+      factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }

 #if OBSW_ADD_ACS_BOARD == 1
-  PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
-      "ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsBrdPolling =
+      factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
@ -231,16 +236,18 @@ void scheduling::initTasks() {
 #endif

 #if OBSW_ADD_RW == 1
-  PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
-      "RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* rwPolling =
+      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = rwPolling->addComponent(objects::RW_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
  }
 #endif
 #if OBSW_ADD_MGT == 1
-  PeriodicTaskIF* imtqPolling = factory->createPeriodicTask(
-      "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* imtqPolling =
+      factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = imtqPolling->addComponent(objects::IMTQ_POLLING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING);
@ -248,16 +255,18 @@ void scheduling::initTasks() {
 #endif

 #if OBSW_ADD_SUN_SENSORS == 1
-  PeriodicTaskIF* susPolling = factory->createPeriodicTask(
-      "SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* susPolling =
+      factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                  0.4, missedDeadlineFunc, &RR_SCHEDULING);
  result = susPolling->addComponent(objects::SUS_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
  }
 #endif

-  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  PeriodicTaskIF* acsSysTask =
+      factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
@ -284,7 +293,7 @@ void scheduling::initTasks() {
  }

  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);
  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
  if (result != returnvalue::OK) {
@ -318,8 +327,9 @@ void scheduling::initTasks() {

 #if OBSW_ADD_STAR_TRACKER == 1
  // Relatively high priority to make sure STR COM works well.
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* strHelperTask =
+      factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
  result = strHelperTask->addComponent(objects::STR_COM_IF);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF);
@ -328,8 +338,9 @@ void scheduling::initTasks() {

  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_MPSOC == 1
-  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
-      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* mpsocHelperTask =
+      factory->createPeriodicTask("PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                  missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
@ -338,8 +349,9 @@ void scheduling::initTasks() {

  // TODO: Use regular scheduler for this task
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
-  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
-      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  PeriodicTaskIF* supvHelperTask =
+      factory->createPeriodicTask("PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0,
+                                  missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
@ -347,7 +359,7 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */

  PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING);
  plTask->addComponent(objects::CAM_SWITCHER);
  scheduling::addMpsocSupvHandlers(plTask);
  scheduling::scheduleScexDev(plTask);
@ -471,8 +483,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
  static constexpr float acsPstPeriod = 0.4;
 #endif
-  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  FixedTimeslotTaskIF* acsTcsPst =
+      factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+                                      acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -487,7 +500,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
  /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask(
-      "SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstSyrlinks(syrlinksPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -501,8 +514,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #endif

 #if OBSW_ADD_I2C_TEST_CODE == 0
-  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
+  FixedTimeslotTaskIF* i2cPst =
+      factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6,
+                                      missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstI2cProcessingSystem(i2cPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -515,8 +529,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
  }
 #endif

-  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
-      "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  FixedTimeslotTaskIF* gomSpacePstTask =
+      factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4,
+                                      0.5, missedDeadlineFunc, &RR_SCHEDULING);
  result = pst::pstGompaceCan(gomSpacePstTask);
  if (result != returnvalue::OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@ -530,8 +545,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = returnvalue::OK;
  /* PUS Services */
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* pusHighPrio =
+      factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
@ -550,8 +566,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
  }
  taskVec.push_back(pusHighPrio);

-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  PeriodicTaskIF* pusMedPrio =
+      factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8,
+                                 missedDeadlineFunc, &RR_SCHEDULING);
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);