bsp_q7s/OBSWConfig.h.in

@@ -77,6 +77,7 @@
 // If this is enabled, all other I2C code should be disabled
 #define OBSW_ADD_I2C_TEST_CODE                      0
 #define OBSW_ADD_UART_TEST_CODE                     0
+#define OBSW_THREAD_TRACING                         1
 
 #define OBSW_TEST_ACS                               0
 #define OBSW_DEBUG_ACS                              0

bsp_q7s/core/CoreController.cpp

@@ -9,6 +9,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
+#include "mission/trace.h"
 #include "watchdog/definitions.h"
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
 #include "fsfw/osal/common/UdpTmTcBridge.h"
@@ -63,6 +64,9 @@ 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

@@ -222,6 +222,9 @@ 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

@@ -374,9 +374,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction
 #else
   static constexpr float acsPstPeriod = 0.8;
 #endif
-  FixedTimeslotTaskIF* acsPst = factory.createFixedTimeslotTask(
+  FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask(
-      "ACS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
+      "ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc);
-  result = pst::pstTcsAndAcs(acsPst, cfg);
+  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 +384,7 @@ 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 */

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

@@ -4,6 +4,7 @@
 
 #include "mission/acsDefs.h"
 #include "mission/config/torquer.h"
+#include "mission/trace.h"
 
 AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId),
@@ -50,6 +51,9 @@ 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

@@ -6,6 +6,7 @@
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 
+#include "OBSWConfig.h"
 #include "acs/ActuatorCmd.h"
 #include "acs/Guidance.h"
 #include "acs/Navigation.h"
@@ -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/devices/BpxBatteryHandler.cpp

@@ -2,7 +2,7 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "OBSWConfig.h"
+#include "mission/trace.h"
 
 BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
     : DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
@@ -280,3 +280,9 @@ 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

@@ -3,6 +3,7 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "OBSWConfig.h"
 #include "devicedefinitions/BpxBatteryDefinitions.h"
 
 class BpxBatteryHandler : public DeviceHandlerBase {
@@ -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

@@ -37,6 +37,12 @@ SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() = default;
 
 ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
   using namespace std::filesystem;
+#if OBSW_THREAD_TRACING == 1
+  opCounter++;
+  if (opCounter % 5 == 0) {
+    sif::debug << "SA DEPL task running" << std::endl;
+  }
+#endif
   if (opDivider.checkAndIncrement()) {
     auto activeSdc = sdcMan.getActiveSdCard();
     if (activeSdc and activeSdc.value() == sd::SdCard::SLOT_0 and

mission/devices/SolarArrayDeploymentHandler.h

@@ -172,6 +172,9 @@ 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;
+#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) {
+  counter++;
+  if (counter % 5 == 0) {
+    sif::debug << name << " running" << std::endl;
+  }
+}

mission/trace.h

@@ -0,0 +1,12 @@
+#ifndef MISSION_TRACE_H_
+#define MISSION_TRACE_H_
+
+#include <cstdint>
+
+namespace trace {
+
+void threadTrace(uint32_t& counter, const char* name);
+
+}
+
+#endif /* MISSION_TRACE_H_ */