From ea82748496984aabb43b89239665ee94e2fe90fc Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 12 Oct 2022 13:29:38 +0200
Subject: [PATCH] new solar array deployment task

---
 bsp_q7s/core/InitMission.cpp | 50 ++++++++++++++++++++----------------
 1 file changed, 28 insertions(+), 22 deletions(-)

diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index d74581c7..8872fc1f 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -67,16 +67,30 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-  PeriodicTaskIF* coreController = factory->createPeriodicTask(
+  PeriodicTaskIF* sysCtrlTask = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
-  result = coreController->addComponent(objects::CORE_CONTROLLER);
+  result = sysCtrlTask->addComponent(objects::CORE_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
   }
+  // Could add this to the core controller but the core controller does so many thing that I would
+  // prefer to have the solar array deployment in a seprate task.
+  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
+      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
+  }
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+  result = tmTcDistributor->addComponent(objects::TMTC_BRIDGE);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
+  }
+#endif
   result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
@@ -95,13 +109,6 @@ void initmission::initTasks() {
   }
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-  // TMTC bridge
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != returnvalue::OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
-  }
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
@@ -138,39 +145,39 @@ void initmission::initTasks() {
   }
 #endif
 
-  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
+  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
       "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
 #if OBSW_ADD_GPS_CTRL == 1
-  result = acsTask->addComponent(objects::GPS_CONTROLLER);
+  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
 #endif /* OBSW_ADD_GPS_CTRL */
 
 #if OBSW_ADD_ACS_CTRL == 1
-  acsTask->addComponent(objects::ACS_CONTROLLER);
+  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
   }
 #endif
 
-  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
+  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(sysTask);
+  static_cast<void>(acsSysTask);
 #if OBSW_ADD_ACS_BOARD == 1
-  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
+  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 #if OBSW_ADD_RW == 1
-  result = sysTask->addComponent(objects::RW_ASS);
+  result = acsSysTask->addComponent(objects::RW_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
   }
 #endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1
-  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
+  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != returnvalue::OK) {
     initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
@@ -297,7 +304,6 @@ void initmission::initTasks() {
   tmTcDistributor->startTask();
 
 #if OBSW_ADD_TCPIP_BRIDGE == 1
-  tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
 #endif
 
@@ -306,7 +312,7 @@ void initmission::initTasks() {
   pdecHandlerTask->startTask();
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
-  coreController->startTask();
+  sysCtrlTask->startTask();
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -327,8 +333,8 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-  acsTask->startTask();
-  sysTask->startTask();
+  acsCtrlTask->startTask();
+  acsSysTask->startTask();
 #if OBSW_ADD_RTD_DEVICES == 1
   tcsPollingTask->startTask();
   tcsTask->startTask();