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Code Issues Releases Activity

OP-1212 Fix priority queue handling and use it for setting processing

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This commit is contained in:
Alessio Morale 2014-02-04 20:49:36 +01:00
parent 0e163b7d97
commit 01822d7a0c
1 changed files with 17 additions and 28 deletions
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45
flight/modules/Telemetry/telemetry.c
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@ -45,7 +45,6 @@
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
@ -59,8 +58,6 @@ static xQueueHandle queue;
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static xQueueHandle priorityQueue;
static xTaskHandle telemetryTxPriTaskHandle;
static void telemetryTxPriTask(void *parameters);
#else
#define priorityQueue queue
#endif
@ -119,11 +116,6 @@ int32_t TelemetryStart(void)
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
#endif
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
@ -276,7 +268,12 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
eventMask |= EV_LOGGING_MANUAL;
break;
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
if(UAVObjIsSettings(obj)){
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else {
UAVObjConnectQueue(obj, queue, eventMask);
}
}
/**
@ -374,32 +371,24 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
// Loop forever
while (1) {
// Wait for queue message
if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
}
}
/**
* Telemetry transmit task, high priority
*/
/**
* Tries to empty the high priority queue before handling any standard priority item
*/
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static void telemetryTxPriTask(__attribute__((unused)) void *parameters)
{
UAVObjEvent ev;
// Loop forever
while (1) {
// Loop forever
while (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
#endif
// Wait for queue message
if (xQueueReceive(priorityQueue, &ev, portMAX_DELAY) == pdTRUE) {
if (xQueueReceive(queue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
}
}
#endif
/**
* Telemetry receive task. Processes queue events and periodic updates.