eive/eive-obsw
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further cut down the number of threads
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This commit is contained in:
Robin Müller
2023-02-14 11:32:03 +01:00
parent 9b2398888d
commit ecb22bdd85
3 changed files with 56 additions and 70 deletions
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56
bsp_q7s/core/scheduling.cpp
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@ -154,6 +154,14 @@ void scheduling::initTasks() {
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
}
result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
#if OBSW_ADD_CCSDS_IP_CORES == 1
result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
@ -266,14 +274,16 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
scheduling::addMpsocSupvHandlers(plTask);
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_SCEX_DEVICE == 1
scheduling::scheduleScexDev(plTask);
#endif
#if OBSW_ADD_SCEX_DEVICE == 1
PeriodicTaskIF* scexDevHandler;
PeriodicTaskIF* scexReaderTask;
scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
scheduling::scheduleScexReader(*factory, scexReaderTask);
#endif
std::vector<PeriodicTaskIF*> pusTasks;
@ -330,7 +340,6 @@ void scheduling::initTasks() {
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
scexDevHandler->startTask();
scexReaderTask->startTask();
#endif
@ -435,42 +444,28 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = returnvalue::OK;
/* PUS Services */
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusEvents->addComponent(objects::EVENT_MANAGER);
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
}
taskVec.push_back(pusEvents);
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@ -495,20 +490,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
}
// Used for connection tests, therefore use higher priority
result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
}
taskVec.push_back(pusLowPrio);
}
void scheduling::createTestTasks(TaskFactory& factory,