From 84a4d093bc550613f49ffd532cd40c41facc5eab Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 10 Feb 2023 18:07:44 +0100
Subject: [PATCH] schedule new EIVE system

---
 bsp_q7s/core/scheduling.cpp | 40 ++++++++++++++++++++-----------------
 1 file changed, 22 insertions(+), 18 deletions(-)

diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index 43bde435..713550c4 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -80,16 +80,12 @@ void scheduling::initTasks() {
   }
 #endif
 
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+  PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = sysTask->addComponent(objects::CORE_CONTROLLER);
+  result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
-  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
-  }
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -144,15 +140,23 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  PeriodicTaskIF* comTask = factory->createPeriodicTask(
-      "COM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  PeriodicTaskIF* genericSysTask = factory->createPeriodicTask(
+      "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
+  result = genericSysTask->addComponent(objects::EIVE_SYSTEM);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+    scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM_SUBSYSTEM", objects::COM_SUBSYSTEM);
+  }
+  result = genericSysTask->addComponent(objects::PL_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
   }
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  result = comTask->addComponent(objects::CCSDS_HANDLER);
+  result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
@@ -185,8 +189,12 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_GPS_CTRL */
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
-      "SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   static_cast<void>(acsSysTask);
+  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
+  }
 #if OBSW_ADD_ACS_BOARD == 1
   result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
@@ -205,10 +213,6 @@ void scheduling::initTasks() {
     scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
-  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
-  }
 
 #if OBSW_ADD_RTD_DEVICES == 1
   PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
@@ -327,12 +331,12 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-  comTask->startTask();
+  genericSysTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
 
-  sysTask->startTask();
+  coreCtrlTask->startTask();
 #if OBSW_ADD_SA_DEPL == 1
   solarArrayDeplTask->startTask();
 #endif