void taskFlightPlan2(void *param)
{
#if (SCH_FLIGHTPLAN2_VERBOSE)
printf(">>[FlightPlan2] Started\r\n");
#endif
#if SCH_FLIGHTPLAN2_REALTIME
unsigned int min_check_period_ms = 10000; /* check every x ms */
portTickType xDelay_ticks = (min_check_period_ms) / portTICK_RATE_MS;
portTickType check_deployment_time = (10000) / portTICK_RATE_MS; /* check every 10sec */
#else
unsigned int min_check_period_ms = 1000; /* check every 2sec */
portTickType xDelay_ticks = (min_check_period_ms) / portTICK_RATE_MS;
portTickType check_deployment_time = (10000) / portTICK_RATE_MS; /* check every 10sec */
#endif
DispCmd NewCmd;
NewCmd.idOrig = CMD_IDORIG_TFLIGHTPLAN2; /* Housekeeping */
NewCmd.cmdId = CMD_CMDNULL;
NewCmd.param = 0;
/*Avoid the acummulation of commands while the SUCHAI is still deploying.. */
portTickType xLastWakeTime = xTaskGetTickCount();
#if (SCH_USE_HOUSEKEEPING == 1)
while( TRUE ){
if( sta_get_stateVar(sta_dep_ant_deployed)==1 ){
break;
}
vTaskDelayUntil(&xLastWakeTime, check_deployment_time);
}
#endif
while(1)
{
/* min_check_period_ms actions */
vTaskDelayUntil(&xLastWakeTime, xDelay_ticks);
/* Check if the next tick to wake has already
* expired (*pxPreviousWakeTime = xTimeToWake;)
* This avoids multiple reentries on vTaskDelayUntil */
BOOL xShouldDelay = shouldDelayTask(&xLastWakeTime, xDelay_ticks);
if( xShouldDelay == FALSE )
{
xLastWakeTime = xTaskGetTickCount();
#if (SCH_FLIGHTPLAN2_VERBOSE>=1)
printf("[FlightPlan2] xLastWakeTime + xDelay_ticks < xTickCount, "
"update xLastWakeTime to xTickCount ..\r\n");
#endif
}
//Add commands below ..
#if (SCH_FLIGHTPLAN2_VERBOSE>=1)
printf("[FlightPlan2] min_check_period_ms (%d) actions ..\r\n", min_check_period_ms);
#endif
if(sta_get_stateVar(sta_ppc_opMode)==STA_PPC_OPMODE_NORMAL){
NewCmd.cmdId = pay_id_fp2_default_fsm;
NewCmd.param = 0;
xQueueSend(dispatcherQueue, (const void *) &NewCmd, portMAX_DELAY);
}
}
}
void taskFlightPlan3(void *param)
{
#if (SCH_TFLIGHTPLAN3_VERBOSE)
printf(">>[FlightPlan3] Started\r\n");
#endif
#if (SCH_TFLIGHTPLAN3_REALTIME == 1)
unsigned int tick_period_ms = 10000; /* check every x ms */
portTickType xDelay_ticks = (tick_period_ms) / portTICK_RATE_MS;
#if (SCH_THOUSEKEEPING_USE == 1)
//portTickType check_deployment_time = (10000) / portTICK_RATE_MS; /* check every 10sec */
#endif
#else
unsigned int tick_period_ms = 1000; /* check every 2sec */
portTickType xDelay_ticks = (tick_period_ms) / portTICK_RATE_MS;
portTickType check_deployment_time = (10000) / portTICK_RATE_MS; /* check every 10sec */
#endif
DispCmd NewCmd;
NewCmd.idOrig = SCH_TFLIGHTPLAN3_IDORIG;
NewCmd.cmdId = CMD_CMDNULL;
NewCmd.param = 0;
/*Avoid the acummulation of commands while the SUCHAI is still deploying.. */
portTickType xLastWakeTime = xTaskGetTickCount();
// #if (SCH_THOUSEKEEPING_USE == 1)
// while( TRUE ){
// if( sta_get_BusStateVar(sta_dep_ant_deployed)==1 ){
// break;
// }
// vTaskDelayUntil(&xLastWakeTime, check_deployment_time);
// }
// #endif
int ticks_elapsed = 1;
int res_ticks = (60*(SCH_TFLIGHTPLAN_RESOLUTION))/(2*(tick_period_ms/1000));
while(1)
{
/* min_check_period_ms actions */
vTaskDelayUntil(&xLastWakeTime, xDelay_ticks);
/* Check if the next tick to wake has already
* expired (*pxPreviousWakeTime = xTimeToWake;)
* This avoids multiple reentries on vTaskDelayUntil */
BOOL xShouldDelay = shouldDelayTask(&xLastWakeTime, xDelay_ticks);
if( xShouldDelay == FALSE )
{
xLastWakeTime = xTaskGetTickCount();
#if (SCH_TFLIGHTPLAN3_VERBOSE>=1)
printf("[FlightPlan3] xLastWakeTime + xDelay_ticks < xTickCount, "
"update xLastWakeTime to xTickCount ..\r\n");
#endif
}
//Add commands below ..
#if (SCH_TFLIGHTPLAN3_VERBOSE>=1)
printf("[FlightPlan3] min_check_period_ms (%d) actions, ticks_elapsed/res_ticks = %u/%u ..\r\n", tick_period_ms, ticks_elapsed, res_ticks);
#endif
//execute regular/cyclic payloads ..
//if(sta_get_BusStateVar(sta_ppc_opMode)==STA_PPC_OPMODE_NORMAL){
NewCmd.cmdId = pay_id_fp2_default_fsm;
NewCmd.param = tick_period_ms;
xQueueSend(dispatcherQueue, (const void *) &NewCmd, portMAX_DELAY);
//}
if(ticks_elapsed >= res_ticks){
ticks_elapsed = 1;
//execute programmed/itinerary actions ..
NewCmd.cmdId = drp_id_fpl_check_and_exec;
NewCmd.param = 0;
xQueueSend(dispatcherQueue, (const void *) &NewCmd, portMAX_DELAY);
}
else{
ticks_elapsed++;
}
}
}
void taskHousekeeping(void *param)
{
#if SCH_THOUSEKEEPING_VERBOSE
printf(">>[Housekeeping] Started\r\n");
#endif
portTickType delay_ms = 10000; //Task period in [ms]
portTickType xDelay_ticks = delay_ms / portTICK_RATE_MS; //Task period in ticks
#if (SCH_THOUSEKEEPING_REALTIME == 1)
unsigned int elapsed_sec = 0; // Seconds counter
unsigned int elapsed_hrs = 0; // Hours counter
unsigned int check_20sec = 20; //20[s] condition
unsigned int check_1min = 1*60; //1[m] condition
unsigned int check_5min = 5*60; //5[m] condition
unsigned int check_1hour = 60*60; //1[h] condition
unsigned int check_1day = 24; //24[hrs] condition
#else
unsigned int elapsed_sec = 0; // Seconds counter
unsigned int elapsed_hrs = 0; // Hours counter
unsigned int check_20sec = 2; //2[s] condition
unsigned int check_1min = 3*check_20sec; //3[s] condition
unsigned int check_5min = 3*3*check_20sec; //5[s] condition
unsigned int check_1hour = 3*3*3*check_20sec; //10[s] condition
unsigned int check_1day = 3; //1[m] condition
#endif
DispCmd NewCmd;
NewCmd.idOrig = SCH_THOUSEKEEPING_IDORIG; /* Housekeeping */
NewCmd.cmdId = CMD_CMDNULL;
NewCmd.param = 0;
//deploy if necessary
//if( sta_get_BusStateVar(sta_dep_ant_deployed) == 0 ){
#if (SCH_THOUSEKEEPING_SILENT_REALTIME==1)
NewCmd.cmdId = thk_id_suchai_deployment;
NewCmd.param = 31; //in minutes
xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
#else
NewCmd.cmdId = thk_id_suchai_deployment;
NewCmd.param = 3; //in minutes
xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
#endif
//}
/*Avoid the acummulation of commands while the SUCHAI is still deploying.. */
portTickType xLastWakeTime = xTaskGetTickCount();
while(TRUE)
{
vTaskDelayUntil(&xLastWakeTime, xDelay_ticks); //Suspend task
elapsed_sec += delay_ms/1000; //Update seconds counts
/* Check if the next tick to wake has already
* expired (*pxPreviousWakeTime = xTimeToWake;)
* This avoids multiple reentries on vTaskDelayUntil */
BOOL xShouldDelay = shouldDelayTask(&xLastWakeTime, xDelay_ticks);
if( xShouldDelay == FALSE )
{
xLastWakeTime = xTaskGetTickCount();
#if (SCH_TFLIGHTPLAN2_VERBOSE>=1)
printf("[Housekeeping] xLastWakeTime + xDelay_ticks < xTickCount, "
"update xLastWakeTime to xTickCount ..\r\n");
#endif
}
//Add commands below ..
/* 20 seconds actions */
if((elapsed_sec % check_20sec) == 0)
{
#if (SCH_THOUSEKEEPING_VERBOSE>=2)
printf("[Houskeeping]: 20[s] actions ..\r\n");
#endif
//Add commands below ..
}
/* 1 minute actions */
if((elapsed_sec % check_1min) == 0)
{
#if (SCH_THOUSEKEEPING_VERBOSE>=2)
printf("[Houskeeping] 1[min] actions ..\r\n");
#endif
//Add commands below ..
}
/* 5 minutes actions */
if((elapsed_sec % check_5min) == 0)
{
#if (SCH_THOUSEKEEPING_VERBOSE>=1)
printf("[Houskeeping] 5[min] actions ..\r\n");
#endif
//Add commands below ..
// //print StateVars, debug purposes
// NewCmd.cmdId = srp_id_print_STA_stateVar;
// NewCmd.param = 1;
// xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
}
/* 1 hour actions */
if((elapsed_sec % check_1hour) == 0)
{
elapsed_hrs++;
elapsed_sec = 0; //Prevent overflow
#if (SCH_THOUSEKEEPING_VERBOSE>=1)
printf("[Houskeeping] 1[hr] actions ..\r\n");
#endif
//Add commands below ..
//test trx ping
NewCmd.cmdId = trx_id_isAlive;
NewCmd.param = 0;
xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
//test eps ping
NewCmd.cmdId = eps_id_isAlive;
NewCmd.param = 0;
xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
// hoursWithoutReset++
NewCmd.cmdId = srp_id_increment_STA_stateVar_hoursWithoutReset;
NewCmd.param = 0;
xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
// hoursAlive ++
NewCmd.cmdId = srp_id_increment_STA_stateVar_hoursAlive;
NewCmd.param = 0;
xQueueSend(dispatcherQueue, &NewCmd, portMAX_DELAY);
}
/* codigo para _1day_check */
if( (elapsed_hrs % check_1day == 0) && (elapsed_hrs != 0) )
{
#if (SCH_THOUSEKEEPING_VERBOSE>=1)
printf("[Houskeeping]: 1[day] actions ..\r\n");
#endif
elapsed_hrs = 0; //Prevent overflow
//Add commands below ..
}
}
}
