Merge pull request 'Thread Tracing and Scheduling Update' (#379) from thread_tracing into develop

Reviewed-on: #379
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -19,8 +19,17 @@ change warranting a new major release:
 
 ## Changed
 
-- Remove 2 TCS threads.
-- Move low level polling into ACS PST, move high level device handlers into TCS system task.
+- Remove 2 TCS threads. Move low level polling into ACS PST, move high level device handlers into
+  TCS system task.
+- Further reduce number of threads:
+  1. Remove PUS low priority task, move assigned threads to the generic system task
+  2. Group events and verification tasks into PUS high priority task
+  3. Group all other components into PUS medium priority task
+  4. Add SCEX device handler to PL task, remove dedicated thread
+
+## Added
+
+- Tracing supports which allows checking whether threads are running as usual.
 
 ## Removed
 

CMakeLists.txt

@@ -490,8 +490,8 @@ endif()
 # ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION}
-                      PUBLIC ${LIB_FSFW_NAME} ${LIB_OS_NAME})
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_FSFW_NAME}
+                                                 ${LIB_OS_NAME})
 
 target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
 

bsp_q7s/core/CoreController.cpp

@@ -63,6 +63,9 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "CORE CTRL");
+#endif
   EventMessage event;
   for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
        result = eventQueue->receiveMessage(&event)) {

bsp_q7s/core/CoreController.h

@@ -12,6 +12,7 @@
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/trace.h"
 
 class Timer;
 class SdCardManager;
@@ -222,6 +223,9 @@ class CoreController : public ExtendedControllerBase {
   std::string currMntPrefix;
   bool performOneShotSdCardOpsSwitch = false;
   uint8_t shortSdCardCdCounter = 0;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter;
+#endif
   Countdown sdCardCheckCd = Countdown(INIT_SD_CARD_CHECK_TIMEOUT);
 
   /**

bsp_q7s/core/scheduling.cpp

@@ -154,6 +154,14 @@ void scheduling::initTasks() {
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
   }
+  result = genericSysTask->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
+  }
+  result = genericSysTask->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+  }
 
 #if OBSW_ADD_CCSDS_IP_CORES == 1
   result = genericSysTask->addComponent(objects::CCSDS_HANDLER);
@@ -266,14 +274,16 @@ void scheduling::initTasks() {
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
 
   PeriodicTaskIF* plTask = factory->createPeriodicTask(
-      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  scheduling::addMpsocSupvHandlers(plTask);
+      "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   plTask->addComponent(objects::CAM_SWITCHER);
+  scheduling::addMpsocSupvHandlers(plTask);
+#if OBSW_ADD_SCEX_DEVICE == 1
+  scheduling::scheduleScexDev(plTask);
+#endif
 
 #if OBSW_ADD_SCEX_DEVICE == 1
-  PeriodicTaskIF* scexDevHandler;
   PeriodicTaskIF* scexReaderTask;
-  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
+  scheduling::scheduleScexReader(*factory, scexReaderTask);
 #endif
 
   std::vector<PeriodicTaskIF*> pusTasks;
@@ -330,7 +340,6 @@ void scheduling::initTasks() {
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
 #if OBSW_ADD_SCEX_DEVICE == 1
-  scexDevHandler->startTask();
   scexReaderTask->startTask();
 #endif
 
@@ -374,9 +383,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.8;
 #endif
-  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
-      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
-  result = pst::pstTcsAndAcs(acsPst, cfg);
+  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
+      "ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+  result = pst::pstTcsAndAcs(acsTcsPst, cfg);
   if (result != returnvalue::OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::warning << "scheduling::initTasks: ACS PST is empty" << std::endl;
@@ -384,7 +393,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
       sif::error << "scheduling::initTasks: Creating ACS PST failed!" << std::endl;
     }
   } else {
-    taskVec.push_back(acsPst);
+    taskVec.push_back(acsTcsPst);
   }
 
   /* Polling Sequence Table Default */
@@ -435,42 +444,28 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = returnvalue::OK;
   /* PUS Services */
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
   }
-  taskVec.push_back(pusVerification);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
   }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
-
   taskVec.push_back(pusHighPrio);
 
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
@@ -495,20 +490,11 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
-  // Used for connection tests, therefore use higher priority
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
   if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
+    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
   }
   taskVec.push_back(pusMedPrio);
-
-  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
-      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != returnvalue::OK) {
-    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
 }
 
 void scheduling::createTestTasks(TaskFactory& factory,

linux/boardtest/UartTestClass.h

@@ -59,7 +59,7 @@ class UartTestClass : public TestTask {
   DleEncoder dleEncoder = DleEncoder();
   SerialCookie* uartCookie = nullptr;
   size_t encodedLen = 0;
-  //lwgps_t gpsData = {};
+  // lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;
   bool startFound = false;

linux/devices/GpsHyperionLinuxController.cpp

@@ -102,6 +102,9 @@ ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
   handleQueue();
   poolManager.performHkOperation();
   while (true) {
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "GPS CTRL");
+#endif
     bool callAgainImmediately = readGpsDataFromGpsd();
     if (not callAgainImmediately) {
       handleQueue();

linux/devices/GpsHyperionLinuxController.h

@@ -6,6 +6,7 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
+#include "mission/trace.h"
 
 #ifdef FSFW_OSAL_LINUX
 #include <gps.h>
@@ -60,6 +61,9 @@ class GpsHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = false;
   bool timeInit = false;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
 
   struct OneShotSwitches {
     void reset() {

linux/devices/ploc/PlocMPSoCHelper.cpp

@@ -3,7 +3,6 @@
 #include <filesystem>
 #include <fstream>
 
-#include "OBSWConfig.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif
@@ -34,6 +33,9 @@ ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
   ReturnValue_t result = returnvalue::OK;
   semaphore.acquire();
   while (true) {
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
+#endif
     switch (internalState) {
       case InternalState::IDLE: {
         semaphore.acquire();

linux/devices/ploc/PlocMPSoCHelper.h

@@ -11,6 +11,7 @@
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "mission/trace.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
@@ -116,6 +117,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF {
 
   struct FlashWrite flashWrite;
 
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
 
   InternalState internalState = InternalState::IDLE;

linux/devices/ploc/PlocSupvUartMan.cpp

@@ -101,6 +101,9 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
     lock->unlockMutex();
     semaphore->acquire();
     putTaskToSleep = false;
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "PLOC SUPV Helper PST");
+#endif
     while (true) {
       if (putTaskToSleep) {
         performUartShutdown();

linux/devices/ploc/PlocSupvUartMan.h

@@ -15,6 +15,7 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#include "mission/trace.h"
 #include "tas/crc.h"
 
 #ifdef XIPHOS_Q7S
@@ -211,6 +212,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   supv::TmBase tmReader;
   int serialPort = 0;
   struct termios tty = {};
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
 
   struct EventBufferRequest {
     std::string path = "";

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -5,6 +5,7 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 

linux/scheduling.cpp

@@ -8,8 +8,7 @@
 #include "ObjectFactory.h"
 #include "eive/objects.h"
 
-void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
-                                PeriodicTaskIF*& scexReaderTask) {
+void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) {
   using namespace scheduling;
   ReturnValue_t result = returnvalue::OK;
 #if OBSW_PRINT_MISSED_DEADLINES == 1
@@ -17,37 +16,6 @@ void scheduling::schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHa
 #else
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
-  scexDevHandler = factory.createPeriodicTask(
-      "SCEX_DEV", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
-
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
-  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
-  if (result != returnvalue::OK) {
-    printAddObjectError("SCEX_DEV", objects::SCEX);
-  }
 
   result = returnvalue::OK;
   scexReaderTask = factory.createPeriodicTask(
@@ -79,3 +47,35 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
   plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
 #endif
 }
+
+void scheduling::scheduleScexDev(PeriodicTaskIF*& scexDevHandler) {
+  ReturnValue_t result =
+      scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+  result = scexDevHandler->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
+  if (result != returnvalue::OK) {
+    printAddObjectError("SCEX_DEV", objects::SCEX);
+  }
+}

linux/scheduling.h

@@ -3,7 +3,7 @@
 #include <fsfw/tasks/TaskFactory.h>
 
 namespace scheduling {
-void schedulingScex(TaskFactory& factory, PeriodicTaskIF*& scexDevHandler,
-                    PeriodicTaskIF*& scexReaderTask);
+void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
+void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
 void addMpsocSupvHandlers(PeriodicTaskIF* task);
 }  // namespace scheduling

mission/CMakeLists.txt

@@ -9,4 +9,4 @@ add_subdirectory(csp)
 add_subdirectory(cfdp)
 add_subdirectory(config)
 
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE acsDefs.cpp trace.cpp)

mission/controller/AcsController.cpp

@@ -50,6 +50,9 @@ ReturnValue_t AcsController::getParameter(uint8_t domainId, uint8_t parameterId,
 }
 
 void AcsController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "ACS & TCS PST");
+#endif
   switch (internalState) {
     case InternalState::STARTUP: {
       initialCountdown.resetTimer();

mission/controller/AcsController.h

@@ -19,6 +19,7 @@
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
+#include "mission/trace.h"
 
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
@@ -51,6 +52,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   ParameterHelper parameterHelper;
 
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
 
   InternalState internalState = InternalState::STARTUP;

mission/controller/ThermalController.cpp

@@ -72,6 +72,9 @@ ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
 }
 
 void ThermalController::performControlOperation() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "TCS Task");
+#endif
   switch (internalState) {
     case InternalState::STARTUP: {
       initialCountdown.resetTimer();

mission/controller/ThermalController.h

@@ -11,7 +11,8 @@
 
 #include <list>
 
-#include "../devices/HeaterHandler.h"
+#include "mission/devices/HeaterHandler.h"
+#include "mission/trace.h"
 
 /**
  * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
@@ -152,6 +153,10 @@ class ThermalController : public ExtendedControllerBase {
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(DELAY);
 
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   std::array<std::pair<bool, double>, 5> sensors;
   uint8_t numSensors = 0;
 

mission/devices/BpxBatteryHandler.cpp

@@ -2,8 +2,6 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "OBSWConfig.h"
-
 BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
 
@@ -280,3 +278,9 @@ void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
 }
 
 void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+void BpxBatteryHandler::performOperationHook() {
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "BPX BATT");
+#endif
+}

mission/devices/BpxBatteryHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
 #include "devicedefinitions/BpxBatteryDefinitions.h"
+#include "mission/trace.h"
 
 class BpxBatteryHandler : public DeviceHandlerBase {
  public:
@@ -24,6 +25,10 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   bool debugMode = false;
   bool goToNormalModeImmediately = false;
   uint8_t sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
   BpxBatteryHk hkSet;
   DeviceCommandId_t lastCmd = DeviceHandlerIF::NO_COMMAND_ID;
   BpxBatteryCfg cfgSet;
@@ -47,6 +52,7 @@ class BpxBatteryHandler : public DeviceHandlerBase {
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
   void fillCommandAndReplyMap() override;
+  void performOperationHook() override;
   ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                         size_t commandDataLen) override;
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -11,6 +11,7 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "mission/trace.h"
 
 static constexpr bool DEBUG_MODE = true;
 
@@ -37,6 +38,9 @@ SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() = default;
 
 ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
   using namespace std::filesystem;
+#if OBSW_THREAD_TRACING == 1
+  trace::threadTrace(opCounter, "SA DEPL");
+#endif
   if (opDivider.checkAndIncrement()) {
     auto activeSdc = sdcMan.getActiveSdCard();
     if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and

mission/devices/SolarArrayDeploymentHandler.h

@@ -19,6 +19,7 @@
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/memory/SdCardMountedIF.h"
+#include "mission/trace.h"
 #include "returnvalues/classIds.h"
 
 enum DeploymentChannels : uint8_t { SA_1 = 1, SA_2 = 2 };
@@ -172,6 +173,9 @@ class SolarArrayDeploymentHandler : public ExecutableObjectIF,
   bool firstAutonomousCycle = true;
   ActionId_t activeCmd = HasActionsIF::INVALID_ACTION_ID;
   std::optional<uint64_t> initUptime;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
   PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
   uint8_t retryCounter = 3;
 

mission/trace.cpp

@@ -0,0 +1,10 @@
+#include "trace.h"
+
+#include "fsfw/serviceinterface.h"
+
+void trace::threadTrace(uint32_t& counter, const char* name, unsigned div) {
+  counter++;
+  if (counter % div == 0) {
+    sif::debug << name << " running" << std::endl;
+  }
+}

mission/trace.h

@@ -0,0 +1,14 @@
+#ifndef MISSION_TRACE_H_
+#define MISSION_TRACE_H_
+
+#include <cstdint>
+
+#define OBSW_THREAD_TRACING 0
+
+namespace trace {
+
+void threadTrace(uint32_t& counter, const char* name, unsigned div = 5);
+
+}
+
+#endif /* MISSION_TRACE_H_ */

test/TestTask.cpp

@@ -42,10 +42,8 @@ ReturnValue_t EiveTestTask::performOperation(uint8_t operationCode) {
 
 #include <etl/vector.h>
 
-
 // #include <lwgps/lwgps.h>
 
-
 /**
  * @brief           Dummy data from GPS receiver. Will be replaced witgh hyperion data later.
  */
@@ -76,7 +74,6 @@ const char hyperion_gps_data[] =
     "$GNVTG,040.7,T,,M,000.0,N,000.0,K,A*10\r\n"
     "$GNZDA,173225.998892,27,02,2021,00,00*75\r\n";
 
-
 ReturnValue_t EiveTestTask::performOneShotAction() {
 #if OBSW_ADD_TEST_CODE == 1
   // performLwgpsTest();