Fix nasa#103, add option to configure base tick rate

SCH_LAB was fixed at 1Hz because it bound to the 1Hz tick from CFE_TIME.
This creates an OSAL timer instead, which posts a semaphore, and this
can serve as a much more flexible time source, with configurable rate.

This still binds to 1Hz and the SCH does not start its first message
until the first 1Hz is received, thereby keeping some form of 1Hz sync.

fsw/platform_inc/sch_lab_table.h

@@ -48,12 +48,13 @@
 typedef struct
 {
     CFE_SB_MsgId_t    MessageID;  /* Message ID for the table entry */
-    uint32            PacketRate; /* Rate: Send packet every N seconds */
+    uint32            PacketRate; /* Rate: Send packet every N ticks */
     CFE_MSG_FcnCode_t FcnCode;    /* Command/Function code to set */
 } SCH_LAB_ScheduleTableEntry_t;
 
 typedef struct
 {
+    uint32                       TickRate; /* Ticks per second to configure for timer (0=default) */
     SCH_LAB_ScheduleTableEntry_t Config[SCH_LAB_MAX_SCHEDULE_ENTRIES];
 } SCH_LAB_ScheduleTable_t;
 

fsw/src/sch_lab_app.c

@@ -59,6 +59,8 @@ typedef struct
 typedef struct
 {
     SCH_LAB_StateEntry_t State[SCH_LAB_MAX_SCHEDULE_ENTRIES];
+    osal_id_t            TimerId;
+    osal_id_t            TimingSem;
     CFE_TBL_Handle_t     TblHandle;
     CFE_SB_PipeId_t      CmdPipe;
 } SCH_LAB_GlobalData_t;
@@ -80,8 +82,9 @@ void SCH_Lab_AppMain(void)
 {
     int                   i;
     uint32                SCH_OneHzPktsRcvd = 0;
-    uint32                Status            = CFE_SUCCESS;
-    uint32                RunStatus         = CFE_ES_RunStatus_APP_RUN;
+    int32                 OsStatus;
+    CFE_Status_t          Status;
+    uint32                RunStatus = CFE_ES_RunStatus_APP_RUN;
     SCH_LAB_StateEntry_t *LocalStateEntry;
     CFE_SB_Buffer_t *     SBBufPtr;
 
@@ -99,16 +102,29 @@ void SCH_Lab_AppMain(void)
     {
         CFE_ES_PerfLogExit(SCH_MAIN_TASK_PERF_ID);
 
-        /* Pend on receipt of 1Hz packet */
-        Status = CFE_SB_ReceiveBuffer(&SBBufPtr, SCH_LAB_Global.CmdPipe, CFE_SB_PEND_FOREVER);
+        /* Pend on timing sem */
+        OsStatus = OS_CountSemTake(SCH_LAB_Global.TimingSem);
+        if (OsStatus == OS_SUCCESS)
+        {
+            /* check for arrival of the 1Hz - this should sync counts (TBD) */
+            Status = CFE_SB_ReceiveBuffer(&SBBufPtr, SCH_LAB_Global.CmdPipe, CFE_SB_POLL);
+        }
+        else
+        {
+            Status = CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+        }
 
         CFE_ES_PerfLogEntry(SCH_MAIN_TASK_PERF_ID);
 
         if (Status == CFE_SUCCESS)
         {
             SCH_OneHzPktsRcvd++;
+        }
+
+        if (OsStatus == OS_SUCCESS && SCH_OneHzPktsRcvd > 0)
+        {
             /*
-            ** Process table every second, sending packets that are ready
+            ** Process table every tick, sending packets that are ready
             */
             LocalStateEntry = SCH_LAB_Global.State;
             for (i = 0; i < SCH_LAB_MAX_SCHEDULE_ENTRIES; i++)
@@ -132,6 +148,11 @@ void SCH_Lab_AppMain(void)
 
 } /* end SCH_Lab_AppMain */
 
+void SCH_LAB_LocalTimerCallback(osal_id_t object_id, void *arg)
+{
+    OS_CountSemGive(SCH_LAB_Global.TimingSem);
+}
+
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 /*                                                                 */
 /* SCH_LAB_AppInit() -- initialization                             */
@@ -141,12 +162,38 @@ int32 SCH_LAB_AppInit(void)
 {
     int                           i;
     int32                         Status;
+    int32                         OsStatus;
+    uint32                        TimerPeriod;
+    osal_id_t                     TimeBaseId;
     SCH_LAB_ScheduleTable_t *     ConfigTable;
     SCH_LAB_ScheduleTableEntry_t *ConfigEntry;
     SCH_LAB_StateEntry_t *        LocalStateEntry;
 
     memset(&SCH_LAB_Global, 0, sizeof(SCH_LAB_Global));
 
+    OsStatus = OS_CountSemCreate(&SCH_LAB_Global.TimingSem, "SCH_LAB", 0, 0);
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_CountSemCreate failed:RC=%ld\n", __func__, (long)OsStatus);
+        return CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+    }
+
+    /* The underlying timebase object should have been created by the PSP */
+    OsStatus = OS_TimeBaseGetIdByName(&TimeBaseId, "cFS-Master");
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_TimeBaseGetIdByName failed:RC=%ld\n", __func__, (long)OsStatus);
+        return CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+    }
+
+    /* Create the timer callback (but not set yet, as that requires the config table) */
+    OsStatus = OS_TimerAdd(&SCH_LAB_Global.TimerId, "SCH_LAB", TimeBaseId, SCH_LAB_LocalTimerCallback, NULL);
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_TimerAdd failed:RC=%ld\n", __func__, (long)OsStatus);
+        return CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+    }
+
     /*
     ** Register tables with cFE and load default data
     */
@@ -203,6 +250,22 @@ int32 SCH_LAB_AppInit(void)
         ++LocalStateEntry;
     }
 
+    if (ConfigTable->TickRate == 0)
+    {
+        /* use default of 1 second */
+        CFE_ES_WriteToSysLog("%s: Using default tick rate of 1 second\n", __func__);
+        TimerPeriod = 1000000;
+    }
+    else
+    {
+        TimerPeriod = 1000000 / ConfigTable->TickRate;
+        if ((TimerPeriod * ConfigTable->TickRate) != 1000000)
+        {
+            CFE_ES_WriteToSysLog("%s: WARNING: tick rate of %lu is not an integer number of microseconds\n", __func__,
+                                 (unsigned long)ConfigTable->TickRate);
+        }
+    }
+
     /*
     ** Release the table
     */
@@ -225,6 +288,13 @@ int32 SCH_LAB_AppInit(void)
         OS_printf("SCH Error subscribing to 1hz!\n");
     }
 
+    /* Set timer period */
+    OsStatus = OS_TimerSet(SCH_LAB_Global.TimerId, 1000000, TimerPeriod);
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_TimerSet failed:RC=%ld\n", __func__, (long)OsStatus);
+    }
+
     OS_printf("SCH Lab Initialized.%s\n", SCH_LAB_VERSION_STRING);
 
     return (CFE_SUCCESS);

fsw/tables/sch_lab_table.c

@@ -49,7 +49,8 @@
 **  3. If the table grows too big, increase SCH_LAB_MAX_SCHEDULE_ENTRIES
 */
 
-SCH_LAB_ScheduleTable_t SCH_TBL_Structure = {.Config = {
+SCH_LAB_ScheduleTable_t SCH_TBL_Structure = {.TickRate = 1,
+                                             .Config   = {
                                                  {CFE_SB_MSGID_WRAP_VALUE(CFE_ES_SEND_HK_MID), 4, 0},
                                                  {CFE_SB_MSGID_WRAP_VALUE(CFE_EVS_SEND_HK_MID), 4, 0},
                                                  {CFE_SB_MSGID_WRAP_VALUE(CFE_TIME_SEND_HK_MID), 4, 0},