From ed441dbef24685a99c83817128b84f7b00577321 Mon Sep 17 00:00:00 2001
From: Pietro Bortolus <Pietro.bortolus@skywarder.eu>
Date: Fri, 14 Feb 2025 18:59:36 +0100
Subject: [PATCH] [RIGV2] Implemented the new ValveScheduler class
Implemetned the new ValveScheduler class to use an active object
instead of creating the thread directly in the start function.
Also added the class contructor in the ValveScheduler class.
---
src/RIGv2/Actuators/Actuators.cpp | 52 +++----------------------------
src/RIGv2/Actuators/Actuators.h | 12 +++----
2 files changed, 9 insertions(+), 55 deletions(-)
diff --git a/src/RIGv2/Actuators/Actuators.cpp b/src/RIGv2/Actuators/Actuators.cpp
index 015e94619..9ca779b47 100644
--- a/src/RIGv2/Actuators/Actuators.cpp
+++ b/src/RIGv2/Actuators/Actuators.cpp
@@ -122,6 +122,8 @@ bool Actuators::ServoInfo::setOpeningTime(uint32_t time)
}
Actuators::Actuators()
+ : valveScheduler(STACK_DEFAULT_FOR_PTHREAD,
+ (miosix::Priority)(PRIORITY_MAX - 1))
{
// Initialize servos
infos[0].servo = std::make_unique<Servo>(
@@ -276,14 +278,8 @@ bool Actuators::start()
infos[8].servo->enable();
infos[9].servo->enable();
- miosix::Thread::create(
- [](void* arg) -> void*
- {
- static_cast<Actuators*>(arg)->valveSchedulerTask();
- return nullptr;
- },
- STACK_DEFAULT_FOR_PTHREAD, (miosix::Priority)(PRIORITY_MAX - 1),
- static_cast<void*>(this));
+ // Start the ValveScheduler thread
+ valveScheduler::start();
started = true;
return true;
@@ -610,43 +606,3 @@ void Actuators::updateNextActionTs()
if (nextActionTs == std::numeric_limits<long long>::max())
nextActionTs = 0;
}
-
-bool Actuators::terminateValveSchedulerTask()
-{
- if (!isValveSchedulerAlive)
- {
- LOG_ERR(logger, "valve scheduler task is not currently running");
- return 0;
- }
-
- isValveSchedulerAlive = 0;
- return 1;
-}
-
-void Actuators::valveSchedulerTask()
-{
- isValveSchedulerAlive = 1;
-
- while (isValveSchedulerAlive)
- {
- std::unique_lock<std::mutex> lock(conditionVariableMutex);
-
- std::cv_status waitResult;
-
- if (nextActionTs == 0)
- {
- cv.wait(lock);
- waitResult = std::cv_status::no_timeout;
- }
- else
- {
- waitResult = cv.wait_until(
- lock, time_point<steady_clock>(nanoseconds(nextActionTs)));
- }
-
- if (waitResult == std::cv_status::timeout)
- updatePositions();
-
- updateNextActionTs();
- }
-}
diff --git a/src/RIGv2/Actuators/Actuators.h b/src/RIGv2/Actuators/Actuators.h
index 564b5de8a..ea6d151d9 100644
--- a/src/RIGv2/Actuators/Actuators.h
+++ b/src/RIGv2/Actuators/Actuators.h
@@ -29,6 +29,7 @@
#include <common/MavlinkOrion.h>
#include <miosix.h>
#include <scheduler/TaskScheduler.h>
+#include <scheduler/ValveScheduler.h>
#include <condition_variable>
#include <memory>
@@ -37,7 +38,8 @@ namespace RIGv2
{
class Actuators
- : public Boardcore::InjectableWithDeps<BoardScheduler, CanHandler>
+ : public Boardcore::InjectableWithDeps<BoardScheduler, CanHandler>,
+ public Boardcore::valveScheduler
{
private:
struct ServoInfo : public Boardcore::InjectableWithDeps<Registry>
@@ -112,8 +114,6 @@ public:
void inject(Boardcore::DependencyInjector& injector) override;
- bool terminateValveSchedulerTask();
-
private:
ServoInfo* getServo(ServosList servo);
@@ -121,11 +121,9 @@ private:
void unsafeOpenChamber();
void unsafeCloseChamber();
- void updatePositions();
-
- void updateNextActionTs();
+ void updatePositions() override;
- void valveSchedulerTask();
+ void updateNextActionTs() override;
Boardcore::Logger& sdLogger = Boardcore::Logger::getInstance();
Boardcore::PrintLogger logger = Boardcore::Logging::getLogger("actuators");
--
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