void taskExecuter(void *param)
{
printf(">>[Executer] Started\n");
ExeCmd RunCmd;
int cmdStat, queueStat, cmdParam;
while(1)
{
/* Read the CMD that Dispatcher sent - BLOCKING */
queueStat = xQueueReceive(executerCmdQueue, &RunCmd, portMAX_DELAY);
if(queueStat == pdPASS)
{
printf("[Executer] Running a command...\n");
/* Commands may take a long time, so reset the WDT */
ClrWdt();
/* Execute the command */
cmdParam = RunCmd.param;
cmdStat = RunCmd.fnct((void *)&cmdParam);
/* Commands may take a long time, so reset the WDT */
ClrWdt();
printf("[Executer] Command result: %d\n", cmdStat);
/* Send the result to Dispatcher - BLOCKING */
xQueueSend(executerStatQueue, &cmdStat, portMAX_DELAY);
}
}
}
void taskExecuter(void *param)
{
#if (SCH_TEXECUTER_VERBOSE>=1)
printf("[Executer] Started\r\n");
#endif
ExeCmd RunCmd;
int cmdStat, queueStat, cmdParam;
while(1)
{
/* Read the CMD that Dispatcher sent - BLOCKING */
queueStat = xQueueReceive(executerCmdQueue, &RunCmd, portMAX_DELAY);
#if (SCH_TEXECUTER_VERBOSE > 1)
printf("[Executer] Executing a new command...\r\n");
#endif
if(queueStat == pdPASS)
{
/* El comando tiene 2min aprox para ejecutarse */
ClrWdt();
/* Execute the command */
cmdParam = RunCmd.param;
cmdStat = RunCmd.fnct((void *)&cmdParam);
/* Si el comando se ejecuto bien reseteo el WDT */
ClrWdt();
#if (SCH_TEXECUTER_VERBOSE > 1)
printf("[Executer] Return status: %d\n", (unsigned int)cmdStat );
#endif
/* Send the result to Dispatcher - BLOCKING */
xQueueSend(executerStatQueue, &cmdStat, portMAX_DELAY);
}
}
}
int drp_fpl_check_and_exec(void *param){
//FP, programmed actions
unsigned int index, current_hour, current_mins;
static unsigned int last_index; //to enter the first try, then check every time
DispCmd NewCmd;
NewCmd.idOrig = 0;
NewCmd.cmdId = CMD_CMDNULL;
NewCmd.param = 0;
ExeCmd exeCmd; /* The cmd to executer */
int cmdParam;
int cmdResult;
/* Map hh:mm to MM minutues of the day to obtain the
* index of the next command to read from fligh plan */
current_hour = sta_get_stateVar(sta_rtc_hours);
current_mins = sta_get_stateVar(sta_rtc_minutes);
index = current_hour*60 + current_mins;
index = index / SCH_FLIGHTPLAN_RESOLUTION;
#if SCH_TASKFLIGHTPLAN_VERBOSE
/* Debug info */
printf(" [drp_fpl_check_and_exec] index = %d = (%d*60+%d)/SCH_FP_RESOLUTION \n last_index=%d | SCH_FP_N_CMD=%d\r\n",
index, current_hour, current_mins, last_index, SCH_FLIGHTPLAN_N_CMD);
#endif
/* If check time is less than flight plan resolution (as it should be)
* we need to prevent an index repetition */
if(last_index != index)
{
/* Update last_index */
last_index = index;
/* Get the next command from flight plan */
NewCmd = dat_get_FlightPlan(index); //get cmdId and param
//NewCmd.idOrig = CMD_IDORIG_TFLIGHTPLAN3;
/* Check if valid cmd */
if(NewCmd.cmdId == CMD_CMDNULL){
#if SCH_TASKFLIGHTPLAN_VERBOSE
printf(" [drp_fpl_check_and_exec] Se extrae CMD_CMDNULL, se omite\r\n");
#endif
return 0;
}
#if SCH_TASKFLIGHTPLAN_VERBOSE
/* Print the command code */
printf(" [drp_fpl_check_and_exec] Se extrae cmdId = 0x%X, param = %d, ejecutando .. \r\n",
(unsigned int)NewCmd.cmdId, (unsigned int)NewCmd.param);
#endif
/* Queue NewCmd - Blocking */
//xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
/* Check if command is executable */
//not performed
/* Fill the executer command */
exeCmd.fnct = repo_getFunction(NewCmd.cmdId);
exeCmd.param = NewCmd.param;
/* Execute the command */
cmdParam = exeCmd.param;
cmdResult = exeCmd.fnct((void *)&cmdParam);
}
else{
#if(SCH_TASKFLIGHTPLAN_VERBOSE >= 1)
/* Print the command code */
printf(" [drp_fpl_check_and_exec] (last_index==index) => NO se genera comando\r\n");
#endif
return 1;
}
return cmdResult;
}
