[ConRIGv2] Adjust priority of various modules

* Radio
* Buttons
* Buzzer (set to low priority)

src/ConRIGv2/BoardScheduler.h

@@ -34,37 +34,68 @@ namespace ConRIGv2
 class BoardScheduler : public Boardcore::Injectable
 {
 public:
-    BoardScheduler()
-        : radio{miosix::PRIORITY_MAX - 1}, buttons{miosix::PRIORITY_MAX - 2}
+    /**
+     * @brief Enclosing struct to avoid polluting the BoardScheduler namespace.
+     */
+    struct Priority
     {
-    }
+        /**
+         * @brief Priority levels for the board schedulers.
+         */
+        enum PriorityLevel
+        {
+            LOW      = miosix::PRIORITY_MAX - 4,
+            MEDIUM   = miosix::PRIORITY_MAX - 3,
+            HIGH     = miosix::PRIORITY_MAX - 2,
+            CRITICAL = miosix::PRIORITY_MAX - 1,
+        };
+    };
+
 
+    Boardcore::TaskScheduler& radio() { return high; }
+    Boardcore::TaskScheduler& buttons() { return critical; }
+    Boardcore::TaskScheduler& buzzer() { return medium; }
+
+    /**
+     * @brief Starts all the schedulers
+     */
     [[nodiscard]] bool start()
     {
-        if (!radio.start())
+        if (!critical.start())
         {
-            LOG_ERR(logger, "Failed to start radio scheduler");
+            LOG_ERR(logger, "Critical priority scheduler failed to start");
             return false;
         }
 
-        if (!buttons.start())
+        if (!high.start())
         {
-            LOG_ERR(logger, "Failed to start buttons scheduler");
+            LOG_ERR(logger, "High priority scheduler failed to start");
             return false;
         }
 
-        return true;
+        if (!medium.start())
+        {
+            LOG_ERR(logger, "Medium priority scheduler failed to start");
+            return false;
         }
 
-    Boardcore::TaskScheduler& getRadioScheduler() { return radio; }
+        started = true;
+        return true;
+    }
 
-    Boardcore::TaskScheduler& getButtonsScheduler() { return buttons; }
+    /**
+     * @brief Returns if all the schedulers are up and running
+     */
+    bool isStarted() { return started; }
 
 private:
+    Boardcore::TaskScheduler critical{Priority::CRITICAL};
+    Boardcore::TaskScheduler high{Priority::HIGH};
+    Boardcore::TaskScheduler medium{Priority::MEDIUM};
+
+    std::atomic<bool> started{false};
+
     Boardcore::PrintLogger logger =
         Boardcore::Logging::getLogger("boardscheduler");
-
-    Boardcore::TaskScheduler radio;
-    Boardcore::TaskScheduler buttons;
 };
 }  // namespace ConRIGv2

src/ConRIGv2/Buttons/Buttons.cpp

@@ -63,8 +63,7 @@ void printStateDiff(const mavlink_conrig_state_tc_t& oldState,
 
 bool Buttons::start()
 {
-    TaskScheduler& scheduler =
-        getModule<BoardScheduler>()->getButtonsScheduler();
+    TaskScheduler& scheduler = getModule<BoardScheduler>()->buttons();
 
     return scheduler.addTask([this]() { periodicStatusCheck(); },
                              Config::Buttons::BUTTON_SAMPLE_PERIOD) != 0;

src/ConRIGv2/Radio/Radio.cpp

@@ -36,6 +36,7 @@ using namespace miosix;
 using namespace Boardcore;
 using namespace ConRIGv2;
 using namespace Common;
+using namespace Boardcore::Units::Frequency;
 
 SX1278Lora* gRadio{nullptr};
 
@@ -241,9 +242,8 @@ bool Radio::start()
         return false;
     }
 
-    TaskScheduler& scheduler = getModule<BoardScheduler>()->getRadioScheduler();
-
-    if (scheduler.addTask([this]() { sendPeriodicPing(); },
+    auto& radioSched = getModule<BoardScheduler>()->radio();
+    if (radioSched.addTask([this]() { sendPeriodicPing(); },
                            Config::Radio::PING_GSE_PERIOD,
                            TaskScheduler::Policy::RECOVER) == 0)
     {
@@ -251,7 +251,8 @@ bool Radio::start()
         return false;
     }
 
-    scheduler.addTask([this]() { buzzerTask(); }, 50,
+    auto& buzzzerSched = getModule<BoardScheduler>()->buzzer();
+    buzzzerSched.addTask([this]() { buzzerTask(); }, 20_hz,
                          TaskScheduler::Policy::RECOVER);
 
     return true;