From d226726a27825ae2df6322bd6a2c828552b971e2 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 24 Mar 2023 11:58:45 +0100
Subject: [PATCH] this is going to be annyoing

---
 bsp_q7s/core/scheduling.cpp                 | 8 +++++---
 fsfw                                        | 2 +-
 linux/devices/startracker/StrComHandler.cpp | 4 +---
 linux/scheduling.cpp                        | 5 +++--
 linux/scheduling.h                          | 5 +++++
 5 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index aee99b76..1ef14d41 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -68,12 +68,14 @@ void scheduling::initTasks() {
 #else
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
+  RR_SCHEDULING.policy = SchedulingPolicy::RR;
 
 #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 +83,7 @@ void scheduling::initTasks() {
 #endif
 
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
-      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "CORE_CTRL", 60, 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);
diff --git a/fsfw b/fsfw
index 7ed75ea8..e704295c 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 7ed75ea87b81ac071c1e2ec0f16633487b8300fd
+Subproject commit e704295cce76048d65bbb8893840b9ecedb05c94
diff --git a/linux/devices/startracker/StrComHandler.cpp b/linux/devices/startracker/StrComHandler.cpp
index 85be7871..fb11be27 100644
--- a/linux/devices/startracker/StrComHandler.cpp
+++ b/linux/devices/startracker/StrComHandler.cpp
@@ -155,9 +155,7 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) {
   return returnvalue::OK;
 }
 
-void StrComHandler::stopProcess() {
-  terminate = true;
-}
+void StrComHandler::stopProcess() { terminate = true; }
 
 void StrComHandler::setDownloadImageName(std::string filename) {
   downloadImage.filename = filename;
diff --git a/linux/scheduling.cpp b/linux/scheduling.cpp
index 85735729..d3b88661 100644
--- a/linux/scheduling.cpp
+++ b/linux/scheduling.cpp
@@ -18,8 +18,9 @@ void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexR
 #endif
 
   result = returnvalue::OK;
-  scexReaderTask = factory.createPeriodicTask(
-      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  scexReaderTask =
+      factory.createPeriodicTask("SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
+                                 missedDeadlineFunc, &NORMAL_SCHEDULING);
   result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
   if (result != returnvalue::OK) {
     printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
diff --git a/linux/scheduling.h b/linux/scheduling.h
index b5ec8ef2..d6c5b1f1 100644
--- a/linux/scheduling.h
+++ b/linux/scheduling.h
@@ -1,8 +1,13 @@
 #pragma once
 
+#include <fsfw/osal/linux/PosixThread.h>
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
+
+extern PosixThreadArgs RR_SCHEDULING;
+extern PosixThreadArgs NORMAL_SCHEDULING;
+
 void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
 void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);