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* Adjust task priorities to fit in supported platforms' priority ranges Darwin's task priority range is most restrictive (15-47); adjusted priorities to reside within that range. * Add comment clarifying TASK_PRIORITY_DEFAULT and TASK_DEFAULT * Adjust relative task priorities for uplink and downlink This moves uplink tasks to higher priority than downlink tasks and places consumer tasks at higher priority than producer tasks.
113 lines
4.5 KiB
C++
113 lines
4.5 KiB
C++
// ======================================================================
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// \title Topology.cpp
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// \author mstarch
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// \brief cpp file containing the topology instantiation code
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//
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// \copyright
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// Copyright 2009-2022, by the California Institute of Technology.
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// ALL RIGHTS RESERVED. United States Government Sponsorship
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// acknowledged.
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// ======================================================================
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// Provides access to autocoded functions
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#include <Ref/Top/RefTopologyAc.hpp>
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// Necessary project-specified types
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#include <Fw/Types/MallocAllocator.hpp>
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// Allows easy reference to objects in FPP/autocoder required namespaces
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using namespace Ref;
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// Instantiate a malloc allocator for cmdSeq buffer allocation
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Fw::MallocAllocator mallocator;
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// The reference topology divides the incoming clock signal (1Hz) into sub-signals: 1Hz, 1/2Hz, and 1/4Hz and
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// zero offset for all the dividers
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Svc::RateGroupDriver::DividerSet rateGroupDivisorsSet{{{1, 0}, {2, 0}, {4, 0}}};
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// Rate groups may supply a context token to each of the attached children whose purpose is set by the project. The
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// reference topology sets each token to zero as these contexts are unused in this project.
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U32 rateGroup1Context[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {};
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U32 rateGroup2Context[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {};
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U32 rateGroup3Context[Svc::ActiveRateGroup::CONNECTION_COUNT_MAX] = {};
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enum TopologyConstants {
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COMM_PRIORITY = 34,
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};
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/**
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* \brief configure/setup components in project-specific way
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*
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* This is a *helper* function which configures/sets up each component requiring project specific input. This includes
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* allocating resources, passing-in arguments, etc. This function may be inlined into the topology setup function if
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* desired, but is extracted here for clarity.
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*/
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void configureTopology() {
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// Rate group driver needs a divisor list
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rateGroupDriverComp.configure(rateGroupDivisorsSet);
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// Rate groups require context arrays. Empty for Reference example.
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rateGroup1Comp.configure(rateGroup1Context, FW_NUM_ARRAY_ELEMENTS(rateGroup1Context));
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rateGroup2Comp.configure(rateGroup2Context, FW_NUM_ARRAY_ELEMENTS(rateGroup2Context));
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rateGroup3Comp.configure(rateGroup3Context, FW_NUM_ARRAY_ELEMENTS(rateGroup3Context));
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// Command sequencer needs to allocate memory to hold contents of command sequences
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cmdSeq.allocateBuffer(0, mallocator, 5 * 1024);
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}
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// Public functions for use in main program are namespaced with deployment name Ref
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namespace Ref {
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void setupTopology(const TopologyState& state) {
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// Autocoded initialization. Function provided by autocoder.
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initComponents(state);
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// Autocoded id setup. Function provided by autocoder.
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setBaseIds();
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// Autocoded connection wiring. Function provided by autocoder.
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connectComponents();
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// Autocoded command registration. Function provided by autocoder.
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regCommands();
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// Autocoded configuration. Function provided by autocoder.
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configComponents(state);
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if (state.hostname != nullptr && state.port != 0) {
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comDriver.configure(state.hostname, state.port);
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}
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// Project-specific component configuration. Function provided above. May be inlined, if desired.
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configureTopology();
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// Autocoded parameter loading. Function provided by autocoder.
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loadParameters();
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// Autocoded task kick-off (active components). Function provided by autocoder.
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startTasks(state);
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// Initialize socket client communication if and only if there is a valid specification
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if (state.hostname != nullptr && state.port != 0) {
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Os::TaskString name("ReceiveTask");
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comDriver.start(name, COMM_PRIORITY, Default::STACK_SIZE);
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}
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}
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void startRateGroups(const Fw::TimeInterval& interval) {
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// This timer drives the fundamental tick rate of the system.
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// Svc::RateGroupDriver will divide this down to the slower rate groups.
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// This call will block until the stopRateGroups() call is made.
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// For this Linux demo, that call is made from a signal handler.
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linuxTimer.startTimer(interval);
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}
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void stopRateGroups() {
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linuxTimer.quit();
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}
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void teardownTopology(const TopologyState& state) {
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// Autocoded (active component) task clean-up. Functions provided by topology autocoder.
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stopTasks(state);
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freeThreads(state);
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// Stop the comDriver component, free thread
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comDriver.stop();
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(void)comDriver.join();
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// Resource deallocation
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cmdSeq.deallocateBuffer(mallocator);
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tearDownComponents(state);
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}
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} // namespace Ref
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