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Refactoring Syrlinks COM #517

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muellerr merged 7 commits from refactoring_syrlinks_com_if into develop 2023-03-24 14:49:09 +01:00
Conversation 0 Commits 7 Files Changed 37 +432 -342
47 changed files with 432 additions and 342 deletions
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29
bsp_q7s/core/scheduling.cpp
View File

@@ -204,12 +204,13 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
}
// TODO: Use user priorities for this task.
#if OBSW_ADD_CFDP_COMPONENTS == 1
PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
"CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
"CFDP", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = cfdpTask->addComponent(objects::CFDP_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER);
}
#endif
@@ -231,7 +232,7 @@ void scheduling::initTasks() {
#if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
"RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
"RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = rwPolling->addComponent(objects::RW_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
@@ -306,6 +307,15 @@ void scheduling::initTasks() {
}
#endif
#if OBSW_ADD_SYRLINKS == 1
PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask(
"SYRLINKS_COM", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER);
}
#endif
#if OBSW_ADD_STAR_TRACKER == 1
// Relatively high priority to make sure STR COM works well.
PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
@@ -316,6 +326,7 @@ void scheduling::initTasks() {
}
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
// 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);
@@ -325,6 +336,7 @@ void scheduling::initTasks() {
}
#endif /* OBSW_ADD_PLOC_MPSOC */
// 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);
@@ -335,7 +347,7 @@ void scheduling::initTasks() {
#endif /* OBSW_ADD_PLOC_SUPERVISOR */
PeriodicTaskIF* plTask = factory->createPeriodicTask(
"PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
"PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
plTask->addComponent(objects::CAM_SWITCHER);
scheduling::addMpsocSupvHandlers(plTask);
scheduling::scheduleScexDev(plTask);
@@ -402,6 +414,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_ACS_BOARD == 1
acsBrdPolling->startTask();
#endif
#if OBSW_ADD_SYRLINKS == 1
syrlinksCom->startTask();
#endif
#if OBSW_ADD_MGT == 1
imtqPolling->startTask();
#endif
@@ -487,7 +502,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
#if OBSW_ADD_I2C_TEST_CODE == 0
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
"I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
"I2C_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc);
result = pst::pstI2cProcessingSystem(i2cPst);
if (result != returnvalue::OK) {
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -527,11 +542,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
}
result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT);
}
taskVec.push_back(pusHighPrio);

2
linux/devices/SyrlinksComHandler.cpp
View File

@@ -22,8 +22,8 @@ ReturnValue_t SyrlinksComHandler::performOperation(uint8_t opCode) {
lock->lockMutex();
state = State::SLEEPING;
lock->unlockMutex();
readOneReply();
semaphore->acquire();
readOneReply();
}
return returnvalue::OK;
}

10
mission/core/pollingSeqTables.cpp
View File

@@ -21,13 +21,11 @@
ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_SYRLINKS == 1
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
static_cast<void>(length);