From a56bfe5be1df170113fc5a7b6dc2931bba2db6c7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 8 Jul 2021 12:11:24 +0200
Subject: [PATCH] added core controller

---
 bsp_q7s/core/InitMission.cpp | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 3e655255..2bc334b9 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -44,6 +44,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
     TaskFactory* factory = TaskFactory::instance();
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     if(factory == nullptr) {
         /* Should never happen ! */
         return;
@@ -54,11 +55,18 @@ void initmission::initTasks() {
     void (*missedDeadlineFunc) (void) = nullptr;
 #endif
 
+    PeriodicTaskIF* coreController = factory->createPeriodicTask(
+            "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+    result = coreController->addComponent(objects::CORE_CONTROLLER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
+
+    }
+
     /* TMTC Distribution */
     PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
             "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    ReturnValue_t result = tmTcDistributor->addComponent(
-            objects::CCSDS_PACKET_DISTRIBUTOR);
+    result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
     }
@@ -229,6 +237,7 @@ void initmission::initTasks() {
     tmTcDistributor->startTask();
     udpBridgeTask->startTask();
     udpPollingTask->startTask();
+    coreController->startTask();
 
 #if TE0720 == 0
     uartPst->startTask();