diff --git a/cmake/dependencies.cmake b/cmake/dependencies.cmake
index ab4872b2a0ccc323429989208e81fa317caee663..f15b5c01bf51bf4a26af6e9e52d0fba696673210 100644
--- a/cmake/dependencies.cmake
+++ b/cmake/dependencies.cmake
@@ -83,7 +83,6 @@ set(PAYLOAD_COMPUTER
src/boards/Payload/CanHandler/CanHandler.cpp
src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
src/boards/Payload/Sensors/Sensors.cpp
- src/boards/Payload/BoardScheduler.cpp
src/boards/Payload/PinHandler/PinHandler.cpp
src/boards/Payload/Radio/Radio.cpp
src/boards/Payload/TMRepository/TMRepository.cpp
diff --git a/src/boards/Payload/Actuators/Actuators.cpp b/src/boards/Payload/Actuators/Actuators.cpp
index 759aef675a7d6b20a281ce92ed3cab0563e7e28a..ab96acfc4b046bef4874ddc553f23f63e5a796cc 100644
--- a/src/boards/Payload/Actuators/Actuators.cpp
+++ b/src/boards/Payload/Actuators/Actuators.cpp
@@ -35,7 +35,7 @@ using namespace Payload::ActuatorsConfigs;
namespace Payload
{
-Actuators::Actuators(Boardcore::TaskScheduler* sched) : scheduler(sched)
+Actuators::Actuators(Boardcore::TaskScheduler& sched) : scheduler(sched)
{
leftServo = new Servo(SERVO_1_TIMER, SERVO_1_PWM_CH, LEFT_SERVO_MIN_PULSE,
LEFT_SERVO_MAX_PULSE);
@@ -56,8 +56,8 @@ bool Actuators::start()
// Signaling Devices configurations
- return scheduler->addTask([&]() { updateBuzzer(); }, BUZZER_UPDATE_PERIOD,
- TaskScheduler::Policy::RECOVER) != 0;
+ return scheduler.addTask([this]() { updateBuzzer(); }, BUZZER_UPDATE_PERIOD,
+ TaskScheduler::Policy::RECOVER) != 0;
}
bool Actuators::setServo(ServosList servoId, float percentage)
diff --git a/src/boards/Payload/Actuators/Actuators.h b/src/boards/Payload/Actuators/Actuators.h
index 73a207d7307250932104cb63e0de07530123541c..7a29bab90874eee439b1069f96be1912bec37eca 100644
--- a/src/boards/Payload/Actuators/Actuators.h
+++ b/src/boards/Payload/Actuators/Actuators.h
@@ -34,7 +34,7 @@ namespace Payload
struct Actuators : public Boardcore::Module
{
- explicit Actuators(Boardcore::TaskScheduler* sched);
+ explicit Actuators(Boardcore::TaskScheduler& sched);
[[nodiscard]] bool start();
@@ -119,10 +119,10 @@ private:
*/
void updateBuzzer();
- Boardcore::TaskScheduler* scheduler = nullptr;
- Boardcore::Servo* leftServo = nullptr;
- Boardcore::Servo* rightServo = nullptr;
- Boardcore::PWM* buzzer = nullptr;
+ Boardcore::TaskScheduler& scheduler;
+ Boardcore::Servo* leftServo = nullptr;
+ Boardcore::Servo* rightServo = nullptr;
+ Boardcore::PWM* buzzer = nullptr;
// mutexes
miosix::FastMutex leftServoMutex;
diff --git a/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.cpp b/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.cpp
index 6398f6e51ee398d55ca657035461a5f32a3cdddc..d72a2c469de5caef401d1821faecba6b7e9eef07 100644
--- a/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.cpp
+++ b/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.cpp
@@ -34,7 +34,7 @@ using namespace Common;
namespace Payload
{
-AltitudeTrigger::AltitudeTrigger(TaskScheduler *sched)
+AltitudeTrigger::AltitudeTrigger(TaskScheduler& sched)
: running(false), confidence(0),
deploymentAltitude(WingConfig::ALTITUDE_TRIGGER_DEPLOYMENT_ALTITUDE),
scheduler(sched)
@@ -43,8 +43,8 @@ AltitudeTrigger::AltitudeTrigger(TaskScheduler *sched)
bool AltitudeTrigger::start()
{
- return (scheduler->addTask(std::bind(&AltitudeTrigger::update, this),
- WingConfig::ALTITUDE_TRIGGER_PERIOD) != 0);
+ return (scheduler.addTask([this] { update(); },
+ WingConfig::ALTITUDE_TRIGGER_PERIOD) != 0);
}
void AltitudeTrigger::enable()
diff --git a/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.h b/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.h
index b0d2731ac9ecbcdc19ca2cd5f0ae9edd156735e1..3454064216fea40310a788ed39c63fcaf945bb50 100644
--- a/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.h
+++ b/src/boards/Payload/AltitudeTrigger/AltitudeTrigger.h
@@ -33,7 +33,7 @@ namespace Payload
class AltitudeTrigger : public Boardcore::Module
{
public:
- explicit AltitudeTrigger(Boardcore::TaskScheduler *sched);
+ explicit AltitudeTrigger(Boardcore::TaskScheduler &sched);
/**
* @brief Adds the update() task to the task scheduler.
@@ -61,21 +61,19 @@ public:
void setDeploymentAltitude(float altitude);
private:
- // Update method that posts a FLIGHT_WING_ALT_PASSED when the correct
- // altitude is reached
+ /**
+ * @brief Update method that posts a FLIGHT_WING_ALT_PASSED when the correct
+ * altitude is reached
+ */
void update();
bool running;
-
- // Number of times that the algorithm detects to be below the fixed
- // altitude
- int confidence;
-
+ int confidence; ///< Number of times that the algorithm detects to be below
+ ///< the fixed altitude
float deploymentAltitude;
miosix::FastMutex mutex;
-
- Boardcore::TaskScheduler *scheduler = nullptr;
+ Boardcore::TaskScheduler &scheduler;
};
} // namespace Payload
diff --git a/src/boards/Payload/BoardScheduler.cpp b/src/boards/Payload/BoardScheduler.cpp
deleted file mode 100644
index 10eafa5f52b0d11473470ae239165890a3795661..0000000000000000000000000000000000000000
--- a/src/boards/Payload/BoardScheduler.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include "BoardScheduler.h"
-
-using namespace Boardcore;
-
-namespace Payload
-{
-
-BoardScheduler::BoardScheduler()
-{
- scheduler1 = new TaskScheduler(miosix::PRIORITY_MAX - 4);
- scheduler2 = new TaskScheduler(miosix::PRIORITY_MAX - 3);
- scheduler3 = new TaskScheduler(miosix::PRIORITY_MAX - 2);
- scheduler4 = new TaskScheduler(miosix::PRIORITY_MAX - 1);
-}
-
-TaskScheduler* BoardScheduler::getScheduler(miosix::Priority priority)
-{
- switch (priority.get())
- {
- case miosix::PRIORITY_MAX:
- return scheduler4;
- case miosix::PRIORITY_MAX - 1:
- return scheduler3;
- case miosix::PRIORITY_MAX - 2:
- return scheduler2;
- case miosix::MAIN_PRIORITY:
- return scheduler1;
- default:
- return scheduler1;
- }
-}
-
-bool BoardScheduler::start()
-{
- return scheduler1->start() && scheduler2->start() && scheduler3->start() &&
- scheduler4->start();
-}
-
-bool BoardScheduler::isStarted()
-{
- return scheduler1->isRunning() && scheduler2->isRunning() &&
- scheduler3->isRunning() && scheduler4->isRunning();
-}
-} // namespace Payload
\ No newline at end of file
diff --git a/src/boards/Payload/BoardScheduler.h b/src/boards/Payload/BoardScheduler.h
index 3a09bccc34b1508ff13df578ce9e8a9440badf43..9ec1a1d0ed53dc98a739339ccb15c6c2654e3b84 100644
--- a/src/boards/Payload/BoardScheduler.h
+++ b/src/boards/Payload/BoardScheduler.h
@@ -1,5 +1,5 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Matteo Pignataro
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Niccolò Betto
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -34,29 +34,48 @@ namespace Payload
class BoardScheduler : public Boardcore::Module
{
public:
- BoardScheduler();
+ /**
+ * @brief Returns the scheduler for critical tasks (highest priority)
+ */
+ Boardcore::TaskScheduler& getCriticalScheduler() { return critical; }
+
+ /**
+ * @brief Returns the scheduler for high priority tasks
+ */
+ Boardcore::TaskScheduler& getHighScheduler() { return high; }
/**
- * @brief Get the Scheduler object relative to the requested priority
- *
- * @param priority The task scheduler priority
- * @return Boardcore::TaskScheduler& Reference to the requested task
- * scheduler.
- * @note Min priority scheduler is returned in case of non valid priority.
+ * @brief Returns the scheduler for medium priority tasks
*/
- Boardcore::TaskScheduler* getScheduler(miosix::Priority priority);
+ Boardcore::TaskScheduler& getMediumScheduler() { return medium; }
- [[nodiscard]] bool start();
+ /**
+ * @brief Returns the scheduler for low priority tasks (lowest priority)
+ */
+ Boardcore::TaskScheduler& getLowScheduler() { return low; }
+
+ /**
+ * @brief Starts all the schedulers
+ */
+ [[nodiscard]] bool start()
+ {
+ return critical.start() && high.start() && medium.start() &&
+ low.start();
+ }
/**
* @brief Returns if all the schedulers are up and running
*/
- bool isStarted();
+ bool isStarted()
+ {
+ return critical.isRunning() && high.isRunning() && medium.isRunning() &&
+ low.isRunning();
+ }
private:
- Boardcore::TaskScheduler* scheduler1;
- Boardcore::TaskScheduler* scheduler2;
- Boardcore::TaskScheduler* scheduler3;
- Boardcore::TaskScheduler* scheduler4;
+ Boardcore::TaskScheduler critical{miosix::PRIORITY_MAX - 1};
+ Boardcore::TaskScheduler high{miosix::PRIORITY_MAX - 2};
+ Boardcore::TaskScheduler medium{miosix::PRIORITY_MAX - 3};
+ Boardcore::TaskScheduler low{miosix::PRIORITY_MAX - 4};
};
} // namespace Payload
diff --git a/src/boards/Payload/CanHandler/CanHandler.cpp b/src/boards/Payload/CanHandler/CanHandler.cpp
index e9ba14e44aba062f39f77f000624f9084b2ac35c..d23389e734e0ac0657bec33b06c6dce8700323d6 100644
--- a/src/boards/Payload/CanHandler/CanHandler.cpp
+++ b/src/boards/Payload/CanHandler/CanHandler.cpp
@@ -30,8 +30,6 @@
#include <functional>
-using namespace std;
-using namespace placeholders;
using namespace Boardcore;
using namespace Canbus;
using namespace Common;
@@ -41,17 +39,18 @@ using namespace Payload::CanHandlerConfig;
namespace Payload
{
-CanHandler::CanHandler(TaskScheduler *sched) : scheduler(sched)
+CanHandler::CanHandler(TaskScheduler& sched) : scheduler(sched)
{
CanbusDriver::AutoBitTiming bitTiming;
bitTiming.baudRate = BAUD_RATE;
bitTiming.samplePoint = SAMPLE_POINT;
+
CanbusDriver::CanbusConfig config;
driver = new CanbusDriver(CAN2, config, bitTiming);
- protocol =
- new CanProtocol(driver, bind(&CanHandler::handleCanMessage, this, _1),
- miosix::PRIORITY_MAX - 1);
+ protocol = new CanProtocol(
+ driver, [this](auto msg) { handleCanMessage(msg); },
+ miosix::PRIORITY_MAX - 1);
// Accept messages only from the main and RIG board
protocol->addFilter(static_cast<uint8_t>(Board::MAIN),
@@ -65,7 +64,7 @@ bool CanHandler::start()
{
bool result;
// Add a task to periodically send the pitot data
- result = scheduler->addTask( // sensor template
+ result = scheduler.addTask( // sensor template
[&]()
{
protocol->enqueueData(
@@ -82,7 +81,7 @@ bool CanHandler::start()
result =
result &&
- scheduler->addTask( // status
+ scheduler.addTask( // status
[&]()
{
FlightModeManagerState state = ModuleManager::getInstance()
@@ -112,7 +111,7 @@ void CanHandler::sendEvent(EventId event)
static_cast<uint8_t>(event));
}
-void CanHandler::handleCanMessage(const CanMessage &msg)
+void CanHandler::handleCanMessage(const CanMessage& msg)
{
PrimaryType msgType = static_cast<PrimaryType>(msg.getPrimaryType());
@@ -132,7 +131,7 @@ void CanHandler::handleCanMessage(const CanMessage &msg)
}
}
-void CanHandler::handleCanEvent(const Boardcore::Canbus::CanMessage &msg)
+void CanHandler::handleCanEvent(const Boardcore::Canbus::CanMessage& msg)
{
EventId eventId = static_cast<EventId>(msg.getSecondaryType());
diff --git a/src/boards/Payload/CanHandler/CanHandler.h b/src/boards/Payload/CanHandler/CanHandler.h
index 2f040b4e05bdaf1b7cf1793dc231c790e59d87f0..1e8a586e6a1443b786ee73f53e826ed8d7d621e0 100644
--- a/src/boards/Payload/CanHandler/CanHandler.h
+++ b/src/boards/Payload/CanHandler/CanHandler.h
@@ -46,7 +46,7 @@ public:
* @warning With Payload motherboard CanDriver initialization could be
* blocking
*/
- explicit CanHandler(Boardcore::TaskScheduler *sched);
+ explicit CanHandler(Boardcore::TaskScheduler& sched);
/**
* @brief Starts the protocol and adds the periodic messages to the task
@@ -72,19 +72,19 @@ private:
/**
* @brief Function called by CanProtocol when a new message is received
*/
- void handleCanMessage(const Boardcore::Canbus::CanMessage &msg);
+ void handleCanMessage(const Boardcore::Canbus::CanMessage& msg);
/**
* @brief Converts the received CanEvent in Event and post it on TOPIC_CAN
*/
- void handleCanEvent(const Boardcore::Canbus::CanMessage &msg);
+ void handleCanEvent(const Boardcore::Canbus::CanMessage& msg);
- Boardcore::Canbus::CanbusDriver *driver;
- Boardcore::Canbus::CanProtocol *protocol;
+ Boardcore::Canbus::CanbusDriver* driver;
+ Boardcore::Canbus::CanProtocol* protocol;
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("canhandler");
- Boardcore::TaskScheduler *scheduler = nullptr;
+ Boardcore::TaskScheduler& scheduler;
};
} // namespace Payload
diff --git a/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp b/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
index faf62811c45892dd27aac1dcf5d63833f2db9f2b..8e697720bbb1169b0f41c1dff9395b7dd84798bd 100644
--- a/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
+++ b/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.cpp
@@ -35,7 +35,7 @@ using namespace miosix;
namespace Payload
{
-FlightStatsRecorder::FlightStatsRecorder(TaskScheduler* sched)
+FlightStatsRecorder::FlightStatsRecorder(TaskScheduler& sched)
: scheduler(sched)
{
// Init the data structure to avoid UB
@@ -58,8 +58,8 @@ FlightStatsRecorder::FlightStatsRecorder(TaskScheduler* sched)
bool FlightStatsRecorder::start()
{
- return scheduler->addTask([&]() { update(); }, FSR_UPDATE_PERIOD,
- TaskScheduler::Policy::RECOVER);
+ return scheduler.addTask([this] { update(); }, FSR_UPDATE_PERIOD,
+ TaskScheduler::Policy::RECOVER);
}
void FlightStatsRecorder::update()
diff --git a/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.h b/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.h
index 2b034bd4a9f6762e7323e01407ddcec66a7285b6..8041652b129854afc20fd85ff9766bb35270facc 100644
--- a/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.h
+++ b/src/boards/Payload/FlightStatsRecorder/FlightStatsRecorder.h
@@ -37,7 +37,7 @@ namespace Payload
class FlightStatsRecorder : public Boardcore::Module
{
public:
- FlightStatsRecorder(Boardcore::TaskScheduler* sched);
+ explicit FlightStatsRecorder(Boardcore::TaskScheduler& sched);
/**
* @brief Adds a task to the scheduler to update the stats
@@ -69,7 +69,7 @@ private:
Boardcore::NASState data);
// Update scheduler to update all the data
- Boardcore::TaskScheduler* scheduler = nullptr;
+ Boardcore::TaskScheduler& scheduler;
// Data structure
mavlink_payload_stats_tm_t stats;
diff --git a/src/boards/Payload/Radio/Radio.cpp b/src/boards/Payload/Radio/Radio.cpp
index 3611f2a44fbd05c3396553b552061e9f868333d0..392f38deb26b378352e11b4e989bdb9b155677d3 100644
--- a/src/boards/Payload/Radio/Radio.cpp
+++ b/src/boards/Payload/Radio/Radio.cpp
@@ -73,7 +73,7 @@ void __attribute__((used)) SX1278_IRQ_DIO3()
namespace Payload
{
-Radio::Radio(TaskScheduler* sched) : scheduler(sched) {}
+Radio::Radio(TaskScheduler& sched) : scheduler(sched) {}
bool Radio::start()
{
@@ -105,10 +105,10 @@ bool Radio::start()
// Add periodic telemetry send task
uint8_t result =
- scheduler->addTask([&]() { this->sendPeriodicMessage(); },
- RadioConfig::RADIO_PERIODIC_TELEMETRY_PERIOD,
- TaskScheduler::Policy::RECOVER);
- result *= scheduler->addTask(
+ scheduler.addTask([&]() { this->sendPeriodicMessage(); },
+ RadioConfig::RADIO_PERIODIC_TELEMETRY_PERIOD,
+ TaskScheduler::Policy::RECOVER);
+ result *= scheduler.addTask(
[&]()
{
this->enqueueMsg(
@@ -119,8 +119,7 @@ bool Radio::start()
// Config mavDriver
mavDriver = new MavDriver(
- transceiver,
- [=](MavDriver*, const mavlink_message_t& msg)
+ transceiver, [=](MavDriver*, const mavlink_message_t& msg)
{ this->handleMavlinkMessage(msg); },
RadioConfig::RADIO_SLEEP_AFTER_SEND,
RadioConfig::RADIO_OUT_BUFFER_MAX_AGE);
@@ -157,7 +156,7 @@ void Radio::logStatus() { Logger::getInstance().log(mavDriver->getStatus()); }
bool Radio::isStarted()
{
- return mavDriver->isStarted() && scheduler->isRunning();
+ return mavDriver->isStarted() && scheduler.isRunning();
}
void Radio::handleMavlinkMessage(const mavlink_message_t& msg)
diff --git a/src/boards/Payload/Radio/Radio.h b/src/boards/Payload/Radio/Radio.h
index 10cb47178051036e8438a1e023501ccd433fea8b..c5fdc24890346c8f123909d24feecbd732282aea 100644
--- a/src/boards/Payload/Radio/Radio.h
+++ b/src/boards/Payload/Radio/Radio.h
@@ -38,7 +38,7 @@ using MavDriver = Boardcore::MavlinkDriver<Boardcore::SX1278Fsk::MTU,
class Radio : public Boardcore::Module
{
public:
- Radio(Boardcore::TaskScheduler* sched);
+ Radio(Boardcore::TaskScheduler& sched);
/**
* @brief Starts the MavlinkDriver
@@ -97,7 +97,7 @@ private:
miosix::FastMutex queueMutex;
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("Radio");
- Boardcore::TaskScheduler* scheduler = nullptr;
+ Boardcore::TaskScheduler& scheduler;
};
} // namespace Payload
diff --git a/src/boards/Payload/Sensors/Sensors.cpp b/src/boards/Payload/Sensors/Sensors.cpp
index d43d378e2350128af19a0b960224791701bbf9e9..ecc7fd213803bbc48ae768337e3a5f9905d65721 100644
--- a/src/boards/Payload/Sensors/Sensors.cpp
+++ b/src/boards/Payload/Sensors/Sensors.cpp
@@ -165,7 +165,7 @@ MagnetometerData Sensors::getCalibratedMagnetometerLastSample()
return result;
}
-Sensors::Sensors(TaskScheduler* sched) : scheduler(sched), sensorsCounter(0) {}
+Sensors::Sensors(TaskScheduler& sched) : scheduler(sched), sensorsCounter(0) {}
bool Sensors::start()
{
@@ -186,7 +186,7 @@ bool Sensors::start()
imuInit();
// Add the magnetometer calibration to the scheduler
- size_t result = scheduler->addTask(
+ size_t result = scheduler.addTask(
[&]()
{
// Gather the last sample data
@@ -203,7 +203,7 @@ bool Sensors::start()
MAG_CALIBRATION_PERIOD);
// Create sensor manager with populated map and configured scheduler
- manager = new SensorManager(sensorMap, scheduler);
+ manager = new SensorManager(sensorMap, &scheduler);
return manager->start() && result != 0;
}
@@ -211,7 +211,7 @@ void Sensors::stop() { manager->stop(); }
bool Sensors::isStarted()
{
- return manager->areAllSensorsInitialized() && scheduler->isRunning();
+ return manager->areAllSensorsInitialized() && scheduler.isRunning();
}
void Sensors::calibrate()
diff --git a/src/boards/Payload/Sensors/Sensors.h b/src/boards/Payload/Sensors/Sensors.h
index faeee0b846d2c6b90b85ad3772128a35ce119fe8..62ce45051432116a410353ff8708cc78efa53065 100644
--- a/src/boards/Payload/Sensors/Sensors.h
+++ b/src/boards/Payload/Sensors/Sensors.h
@@ -49,7 +49,7 @@ namespace Payload
class Sensors : public Boardcore::Module
{
public:
- explicit Sensors(Boardcore::TaskScheduler* sched);
+ explicit Sensors(Boardcore::TaskScheduler& sched);
[[nodiscard]] bool start();
@@ -164,7 +164,7 @@ private:
// Sensor manager
Boardcore::SensorManager* manager = nullptr;
Boardcore::SensorManager::SensorMap_t sensorMap;
- Boardcore::TaskScheduler* scheduler = nullptr;
+ Boardcore::TaskScheduler& scheduler;
uint8_t sensorsCounter;
diff --git a/src/boards/Payload/StateMachines/NASController/NASController.cpp b/src/boards/Payload/StateMachines/NASController/NASController.cpp
index 8bb088495e5543f2f30c236268a92788f78e9d42..b68152a704447a8bac587eee645e1f2457de2911 100644
--- a/src/boards/Payload/StateMachines/NASController/NASController.cpp
+++ b/src/boards/Payload/StateMachines/NASController/NASController.cpp
@@ -31,11 +31,11 @@
using namespace Boardcore;
using namespace Eigen;
-using namespace std;
using namespace Common;
+
namespace Payload
{
-NASController::NASController(TaskScheduler* sched)
+NASController::NASController(TaskScheduler& sched)
: FSM(&NASController::state_idle), nas(NASConfig::config), scheduler(sched)
{
// Subscribe the class to the topics
@@ -64,9 +64,9 @@ NASController::NASController(TaskScheduler* sched)
bool NASController::start()
{
// Add the task to the scheduler
- size_t result = scheduler->addTask(bind(&NASController::update, this),
- NASConfig::UPDATE_PERIOD,
- TaskScheduler::Policy::RECOVER);
+ size_t result =
+ scheduler.addTask([this] { update(); }, NASConfig::UPDATE_PERIOD,
+ TaskScheduler::Policy::RECOVER);
return ActiveObject::start() && result != 0;
}
diff --git a/src/boards/Payload/StateMachines/NASController/NASController.h b/src/boards/Payload/StateMachines/NASController/NASController.h
index 73a256714815349a9b293bb41457f5a98212efb9..3cf42f15a5f9564feccaf4515b0456156127d87c 100644
--- a/src/boards/Payload/StateMachines/NASController/NASController.h
+++ b/src/boards/Payload/StateMachines/NASController/NASController.h
@@ -37,7 +37,7 @@ class NASController : public Boardcore::FSM<NASController>,
public Boardcore::Module
{
public:
- NASController(Boardcore::TaskScheduler* sched);
+ NASController(Boardcore::TaskScheduler& sched);
/**
* @brief Starts the FSM thread and adds the update function into the
@@ -84,7 +84,7 @@ private:
Boardcore::NAS nas;
// Scheduler to be used for update function
- Boardcore::TaskScheduler* scheduler;
+ Boardcore::TaskScheduler& scheduler;
// User set (or triac set) initial orientation
Eigen::Vector3f initialOrientation;
diff --git a/src/boards/Payload/StateMachines/WingController/WingController.cpp b/src/boards/Payload/StateMachines/WingController/WingController.cpp
index 33a64f24aaf0617aa5b7566e903019e42a292449..fa753f2c8c03fb144f6674446f953692611719f9 100644
--- a/src/boards/Payload/StateMachines/WingController/WingController.cpp
+++ b/src/boards/Payload/StateMachines/WingController/WingController.cpp
@@ -47,7 +47,7 @@ using namespace miosix;
namespace Payload
{
-WingController::WingController(TaskScheduler* sched)
+WingController::WingController(TaskScheduler& sched)
: HSM(&WingController::state_idle), running(false), selectedAlgorithm(0),
scheduler(sched)
{
@@ -59,8 +59,7 @@ WingController::WingController(TaskScheduler* sched)
bool WingController::start()
{
- return scheduler->addTask(std::bind(&WingController::update, this),
- WING_UPDATE_PERIOD) &&
+ return scheduler.addTask([this] { update(); }, WING_UPDATE_PERIOD) &&
addAlgorithms() && HSM::start();
}
diff --git a/src/boards/Payload/StateMachines/WingController/WingController.h b/src/boards/Payload/StateMachines/WingController/WingController.h
index 1fb84ee6638df0990638911734ca37c7d6f9b8c1..e2fee5eaf13bc22ce6938431738ed467a946af38 100644
--- a/src/boards/Payload/StateMachines/WingController/WingController.h
+++ b/src/boards/Payload/StateMachines/WingController/WingController.h
@@ -57,21 +57,24 @@ namespace Payload
{
class WingController : public Boardcore::HSM<WingController>,
public Boardcore::Module
-
{
-
public:
- Boardcore::State state_idle(const Boardcore::Event& event);
- Boardcore::State state_flying(const Boardcore::Event& event);
- Boardcore::State state_calibration(const Boardcore::Event& event);
- Boardcore::State state_controlled_descent(const Boardcore::Event& event);
- Boardcore::State state_on_ground(const Boardcore::Event& event);
+ /**
+ * @brief Construct a new Wing Controller object
+ */
+ explicit WingController(Boardcore::TaskScheduler& sched);
/**
* @brief Destroy the Wing Controller object.
*/
~WingController();
+ Boardcore::State state_idle(const Boardcore::Event& event);
+ Boardcore::State state_flying(const Boardcore::Event& event);
+ Boardcore::State state_calibration(const Boardcore::Event& event);
+ Boardcore::State state_controlled_descent(const Boardcore::Event& event);
+ Boardcore::State state_on_ground(const Boardcore::Event& event);
+
/**
* @brief Method to set the target position.
*/
@@ -88,11 +91,6 @@ public:
WingControllerStatus getStatus();
- /**
- * @brief Construct a new Wing Controller object
- */
- explicit WingController(Boardcore::TaskScheduler* sched);
-
bool start() override;
private:
@@ -177,6 +175,6 @@ private:
void update();
- Boardcore::TaskScheduler* scheduler = nullptr;
+ Boardcore::TaskScheduler& scheduler;
};
} // namespace Payload
diff --git a/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.cpp b/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.cpp
index 538d58a45b8441582492659d9f91faf28fe5217f..f99f176f6c720ca031b5a095ee4443da0a3880b4 100644
--- a/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.cpp
+++ b/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.cpp
@@ -29,22 +29,21 @@
#include <functional>
-using namespace std;
using namespace Boardcore;
using namespace Common;
namespace Payload
{
-VerticalVelocityTrigger::VerticalVelocityTrigger(TaskScheduler* sched)
+VerticalVelocityTrigger::VerticalVelocityTrigger(TaskScheduler& sched)
: running(false), confidence(0), scheduler(sched)
{
}
bool VerticalVelocityTrigger::start()
{
- return scheduler->addTask(
- bind(&VerticalVelocityTrigger::update, this),
+ return scheduler.addTask(
+ [this] { update(); },
FailSafe::FAILSAFE_VERTICAL_VELOCITY_TRIGGER_PERIOD);
}
diff --git a/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.h b/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.h
index 84f721f35a6e05efdff43de2da985f81ed8de9da..a0c137c533135bdc2acd84b29e6a716a8988654f 100644
--- a/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.h
+++ b/src/boards/Payload/VerticalVelocityTrigger/VerticalVelocityTrigger.h
@@ -44,7 +44,7 @@ public:
* Default constructor for VerticalVelocityTrigger
* Sets the trigger to disabled by default
*/
- VerticalVelocityTrigger(Boardcore::TaskScheduler* sched);
+ explicit VerticalVelocityTrigger(Boardcore::TaskScheduler& sched);
/**
* Starts the module by inserting it in the BoardScheduler
@@ -84,7 +84,7 @@ private:
// threshold
std::atomic<int> confidence;
- Boardcore::TaskScheduler* scheduler;
+ Boardcore::TaskScheduler& scheduler;
};
} // namespace Payload
diff --git a/src/boards/Payload/WindEstimationScheme/WindEstimation.cpp b/src/boards/Payload/WindEstimationScheme/WindEstimation.cpp
index e6cc50cc7baec7997e6986e7119837eee200cde4..f705cbc38cc498009572304784dd5140df0968e5 100644
--- a/src/boards/Payload/WindEstimationScheme/WindEstimation.cpp
+++ b/src/boards/Payload/WindEstimationScheme/WindEstimation.cpp
@@ -33,12 +33,11 @@
using namespace Payload::WESConfig;
using namespace Boardcore;
using namespace Common;
-using namespace miosix;
namespace Payload
{
-WindEstimation::WindEstimation(TaskScheduler* sched)
+WindEstimation::WindEstimation(TaskScheduler& sched)
: running(false), calRunning(false), scheduler(sched)
{
funv << 1.0f, 0.0f, 0.0f, 1.0f; // cppcheck-suppress constStatement
@@ -46,13 +45,12 @@ WindEstimation::WindEstimation(TaskScheduler* sched)
bool WindEstimation::start()
{
- scheduler->addTask(
- std::bind(&WindEstimation::windEstimationSchemeCalibration, this),
- WES_CALIBRATION_UPDATE_PERIOD);
+ scheduler.addTask([this] { windEstimationSchemeCalibration(); },
+ WES_CALIBRATION_UPDATE_PERIOD);
// Register the WES task
- scheduler->addTask(std::bind(&WindEstimation::windEstimationScheme, this),
- WES_PREDICTION_UPDATE_PERIOD);
+ scheduler.addTask([this] { windEstimationScheme(); },
+ WES_PREDICTION_UPDATE_PERIOD);
return true;
}
diff --git a/src/boards/Payload/WindEstimationScheme/WindEstimation.h b/src/boards/Payload/WindEstimationScheme/WindEstimation.h
index e3c5e0148ab938b66afcc26fda9ccd412842b31e..b54feba6b6649f5da6e8de93af258bde863af39f 100644
--- a/src/boards/Payload/WindEstimationScheme/WindEstimation.h
+++ b/src/boards/Payload/WindEstimationScheme/WindEstimation.h
@@ -32,6 +32,7 @@
#include <utils/ModuleManager/ModuleManager.hpp>
#include "WindEstimationData.h"
+
namespace Payload
{
@@ -45,7 +46,7 @@ public:
/**
* @brief Construct a new Wing Controller object
*/
- explicit WindEstimation(Boardcore::TaskScheduler* sched);
+ explicit WindEstimation(Boardcore::TaskScheduler& sched);
/**
* @brief Destroy the Wing Controller object.
@@ -125,6 +126,6 @@ private:
std::atomic<bool> running;
std::atomic<bool> calRunning;
- Boardcore::TaskScheduler* scheduler = nullptr;
+ Boardcore::TaskScheduler& scheduler;
};
} // namespace Payload
diff --git a/src/entrypoints/Payload/payload-entry.cpp b/src/entrypoints/Payload/payload-entry.cpp
index 00bdfcda541e4c497ec9d8212cde8f9e2e5ef469..0554b34d73bd905d6cce95ee8dab88489737ed50 100644
--- a/src/entrypoints/Payload/payload-entry.cpp
+++ b/src/entrypoints/Payload/payload-entry.cpp
@@ -61,44 +61,33 @@ int main()
bool initResult = true;
PrintLogger logger = Logging::getLogger("Payload");
- // Scheduler
- BoardScheduler* scheduler = new BoardScheduler();
-
- // Nas priority (Max priority)
- NASController* nas =
- new NASController(scheduler->getScheduler(miosix::PRIORITY_MAX));
-
- // Sensors priority (MAX - 1)
- Sensors* sensors =
- new Sensors(scheduler->getScheduler(miosix::PRIORITY_MAX - 1));
-
- // Other critical components (Max - 2)
- Radio* radio = new Radio(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
- AltitudeTrigger* altTrigger =
- new AltitudeTrigger(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
- WingController* wingController =
- new WingController(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
- VerticalVelocityTrigger* verticalVelocityTrigger =
- new VerticalVelocityTrigger(
- scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
- WindEstimation* windEstimation =
- new WindEstimation(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
- CanHandler* canHandler =
- new CanHandler(scheduler->getScheduler(miosix::PRIORITY_MAX - 2));
-
- // Non critical components (Max - 3)
+ auto buses = new Buses();
+ auto scheduler = new BoardScheduler();
+
+ // Attitude estimation are critical components
+ auto nas = new NASController(scheduler->getCriticalScheduler());
+ auto sensors = new Sensors(scheduler->getHighScheduler());
+
+ // Radio and CAN
+ auto radio = new Radio(scheduler->getMediumScheduler());
+ auto canHandler = new CanHandler(scheduler->getMediumScheduler());
+
+ // Flight algorithms
+ auto altTrigger = new AltitudeTrigger(scheduler->getMediumScheduler());
+ auto wingController = new WingController(scheduler->getMediumScheduler());
+ auto verticalVelocityTrigger =
+ new VerticalVelocityTrigger(scheduler->getMediumScheduler());
+ auto windEstimation = new WindEstimation(scheduler->getMediumScheduler());
+
// Actuators is considered non-critical since the scheduler is only used for
// the led and buzzer tasks
- Actuators* actuators =
- new Actuators(scheduler->getScheduler(miosix::PRIORITY_MAX - 3));
- FlightStatsRecorder* statesRecorder = new FlightStatsRecorder(
- scheduler->getScheduler(miosix::PRIORITY_MAX - 3));
+ auto actuators = new Actuators(scheduler->getLowScheduler());
+ auto statesRecorder = new FlightStatsRecorder(scheduler->getLowScheduler());
// Components without a scheduler
- TMRepository* tmRepo = new TMRepository();
- FlightModeManager* fmm = new FlightModeManager();
- Buses* buses = new Buses();
- PinHandler* pinHandler = new PinHandler();
+ auto tmRepo = new TMRepository();
+ auto fmm = new FlightModeManager();
+ auto pinHandler = new PinHandler();
// Insert modules
if (!modules.insert<BoardScheduler>(scheduler))