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Use LinuxTimer to drive RateGroups for nasa/fprime#3651 #46

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Merged
thomas-bc merged 1 commit into from
Jun 4, 2025
Merged

Use LinuxTimer to drive RateGroups for nasa/fprime#3651 #46

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2 changes: 1 addition & 1 deletion HelloWorldDeployment/Main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ int main(int argc, char* argv[]) {

// Setup, cycle, and teardown topology
HelloWorldDeployment::setupTopology(inputs);
HelloWorldDeployment::startSimulatedCycle(1000); // Program loop cycling rate groups at 1Hz
HelloWorldDeployment::startSimulatedCycle(Fw::TimeInterval(1, 0)); // Program loop cycling rate groups at 1Hz
HelloWorldDeployment::teardownTopology(inputs);
(void)printf("Exiting...\n");
return 0;
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21 changes: 3 additions & 18 deletions HelloWorldDeployment/Top/HelloWorldDeploymentTopology.cpp
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Expand Up @@ -56,7 +56,6 @@ enum TopologyConstants {

// Ping entries are autocoded, however; this code is not properly exported. Thus, it is copied here.
Svc::Health::PingEntry pingEntries[] = {
{PingEntries::HelloWorldDeployment_blockDrv::WARN, PingEntries::HelloWorldDeployment_blockDrv::FATAL, "blockDrv"},
{PingEntries::HelloWorldDeployment_tlmSend::WARN, PingEntries::HelloWorldDeployment_tlmSend::FATAL, "chanTlm"},
{PingEntries::HelloWorldDeployment_cmdDisp::WARN, PingEntries::HelloWorldDeployment_cmdDisp::FATAL, "cmdDisp"},
{PingEntries::HelloWorldDeployment_cmdSeq::WARN, PingEntries::HelloWorldDeployment_cmdSeq::FATAL, "cmdSeq"},
Expand Down Expand Up @@ -163,26 +162,12 @@ void setupTopology(const TopologyState& state) {
Os::Mutex cycleLock;
volatile bool cycleFlag = true;

void startSimulatedCycle(U32 milliseconds) {
cycleLock.lock();
bool cycling = cycleFlag;
cycleLock.unLock();

// Main loop
while (cycling) {
HelloWorldDeployment::blockDrv.callIsr();
Os::Task::delay(Fw::TimeInterval(milliseconds/1000, milliseconds % 1000));

cycleLock.lock();
cycling = cycleFlag;
cycleLock.unLock();
}
void startSimulatedCycle(Fw::TimeInterval interval) {
linuxTimer.startTimer(interval.getSeconds()*1000+interval.getUSeconds()/1000);
}

void stopSimulatedCycle() {
cycleLock.lock();
cycleFlag = false;
cycleLock.unLock();
linuxTimer.quit();
}

void teardownTopology(const TopologyState& state) {
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2 changes: 1 addition & 1 deletion HelloWorldDeployment/Top/HelloWorldDeploymentTopology.hpp
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Expand Up @@ -73,7 +73,7 @@ void teardownTopology(const TopologyState& state);
*
* \param milliseconds: milliseconds to delay for each cycle. Default: 1000 or 1Hz.
*/
void startSimulatedCycle(U32 milliseconds = 1000);
void startSimulatedCycle(Fw::TimeInterval interval);

/**
* \brief stop the simulated cycle started by startSimulatedCycle
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1 change: 0 additions & 1 deletion HelloWorldDeployment/Top/HelloWorldDeploymentTopologyDefs.hpp
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Expand Up @@ -6,7 +6,6 @@
#ifndef HelloWorldDeployment_HelloWorldDeploymentTOPOLOGYDEFS_HPP
#define HelloWorldDeployment_HelloWorldDeploymentTOPOLOGYDEFS_HPP

#include "Drv/BlockDriver/BlockDriver.hpp"
#include "Fw/Types/MallocAllocator.hpp"
#include "HelloWorldDeployment/Top/FppConstantsAc.hpp"
#include "Svc/FramingProtocol/FprimeProtocol.hpp"
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7 changes: 2 additions & 5 deletions HelloWorldDeployment/Top/instances.fpp
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Expand Up @@ -13,11 +13,6 @@ module HelloWorldDeployment {
# Active component instances
# ----------------------------------------------------------------------

instance blockDrv: Drv.BlockDriver base id 0x0100 \
queue size Default.QUEUE_SIZE \
stack size Default.STACK_SIZE \
priority 140

instance rateGroup1: Svc.ActiveRateGroup base id 0x0200 \
queue size Default.QUEUE_SIZE \
stack size Default.STACK_SIZE \
Expand Down Expand Up @@ -130,4 +125,6 @@ module HelloWorldDeployment {

instance comStub: Svc.ComStub base id 0x4D00

instance linuxTimer: Svc.LinuxTimer base id 0x4E00

}
10 changes: 5 additions & 5 deletions HelloWorldDeployment/Top/topology.fpp
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Expand Up @@ -17,7 +17,6 @@ module HelloWorldDeployment {
# ----------------------------------------------------------------------

instance $health
instance blockDrv
instance tlmSend
instance cmdDisp
instance cmdSeq
Expand Down Expand Up @@ -46,6 +45,8 @@ module HelloWorldDeployment {

instance helloWorld

instance linuxTimer

# ----------------------------------------------------------------------
# Pattern graph specifiers
# ----------------------------------------------------------------------
Expand Down Expand Up @@ -96,8 +97,8 @@ module HelloWorldDeployment {
}

connections RateGroups {
# Block driver
blockDrv.CycleOut -> rateGroupDriver.CycleIn
# Linux timer to drive rate group
linuxTimer.CycleOut -> rateGroupDriver.CycleIn

# Rate group 1
rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup1] -> rateGroup1.CycleIn
Expand All @@ -112,8 +113,7 @@ module HelloWorldDeployment {
# Rate group 3
rateGroupDriver.CycleOut[Ports_RateGroups.rateGroup3] -> rateGroup3.CycleIn
rateGroup3.RateGroupMemberOut[0] -> $health.Run
rateGroup3.RateGroupMemberOut[1] -> blockDrv.Sched
rateGroup3.RateGroupMemberOut[2] -> bufferManager.schedIn
rateGroup3.RateGroupMemberOut[1] -> bufferManager.schedIn
}

connections Sequencer {
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