From 809c41a4d7fe47c2bf6cd109c0fb65ebd382fa8f Mon Sep 17 00:00:00 2001
From: Paul Nehlich <paul.nehlich@irs.uni-stuttgart.de>
Date: Fri, 22 Sep 2023 13:18:15 +0200
Subject: [PATCH] blinking task

---
 mission/CMakeLists.txt                 |  2 +-
 mission/controller/BlinkController.cpp | 33 ++++++++++++++++++++++++++
 mission/controller/BlinkController.h   | 20 ++++++++++++++++
 mission/controller/PrintController.cpp | 14 -----------
 mission/controller/PrintController.h   |  4 ----
 mission/main.cpp                       | 12 +++++++++-
 6 files changed, 65 insertions(+), 20 deletions(-)
 create mode 100644 mission/controller/BlinkController.cpp
 create mode 100644 mission/controller/BlinkController.h

diff --git a/mission/CMakeLists.txt b/mission/CMakeLists.txt
index fe377c2..36c1cd7 100644
--- a/mission/CMakeLists.txt
+++ b/mission/CMakeLists.txt
@@ -1 +1 @@
-target_sources(${TARGET_NAME} PRIVATE main.cpp controller/PrintController.cpp)
\ No newline at end of file
+target_sources(${TARGET_NAME} PRIVATE main.cpp controller/PrintController.cpp controller/BlinkController.cpp)
\ No newline at end of file
diff --git a/mission/controller/BlinkController.cpp b/mission/controller/BlinkController.cpp
new file mode 100644
index 0000000..9cb8edc
--- /dev/null
+++ b/mission/controller/BlinkController.cpp
@@ -0,0 +1,33 @@
+#include "BlinkController.h"
+
+#include <cstdio>
+
+BlinkController::BlinkController(object_id_t setObjectId)
+    : SystemObject(setObjectId) {}
+
+ReturnValue_t BlinkController::initialize() {
+  ReturnValue_t result = SystemObject::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  XGpioPs_Config config;
+  config.DeviceId = 4; // chosen by fair dice throw
+  config.BaseAddr = XPS_GPIO_BASEADDR;
+  s32 returncode = XGpioPs_CfgInitialize(&gpio, &config, XPS_GPIO_BASEADDR);
+  if (returncode != 0) {
+    return returnvalue::FAILED;
+  }
+  XGpioPs_SetDirection(&gpio, 0, (1 << 7));
+  XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
+  XGpioPs_WritePin(&gpio, 7, 1);
+  return returnvalue::OK;
+}
+
+ReturnValue_t BlinkController::performOperation(uint8_t operationCode) {
+  printf("blinking\n");
+  static int pinvalue = 1;
+  pinvalue = pinvalue ^ 1;
+  XGpioPs_WritePin(&gpio, 7, pinvalue);
+  return returnvalue::OK;
+}
diff --git a/mission/controller/BlinkController.h b/mission/controller/BlinkController.h
new file mode 100644
index 0000000..b7c23b7
--- /dev/null
+++ b/mission/controller/BlinkController.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <xgpiops.h>
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+
+class BlinkController: public SystemObject, public ExecutableObjectIF {
+    public:
+    BlinkController(object_id_t setObjectId);
+    virtual ~BlinkController() = default;
+
+    ReturnValue_t initialize() override;
+
+    ReturnValue_t performOperation(uint8_t operationCode) override;
+
+    private:
+    XGpioPs gpio;
+};
\ No newline at end of file
diff --git a/mission/controller/PrintController.cpp b/mission/controller/PrintController.cpp
index 5613e03..e2818d6 100644
--- a/mission/controller/PrintController.cpp
+++ b/mission/controller/PrintController.cpp
@@ -10,24 +10,10 @@ ReturnValue_t PrintController::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
-
-  XGpioPs_Config config;
-  config.DeviceId = 4; // chosen by fair dice throw
-  config.BaseAddr = XPS_GPIO_BASEADDR;
-  s32 returncode = XGpioPs_CfgInitialize(&gpio, &config, XPS_GPIO_BASEADDR);
-  if (returncode != 0) {
-    return returnvalue::FAILED;
-  }
-  XGpioPs_SetDirection(&gpio, 0, (1 << 7));
-  XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
-  XGpioPs_WritePin(&gpio, 7, 1);
   return returnvalue::OK;
 }
 
 ReturnValue_t PrintController::performOperation(uint8_t operationCode) {
   printf("running\n");
-  static int pinvalue = 1;
-  pinvalue = pinvalue ^ 1;
-  XGpioPs_WritePin(&gpio, 7, pinvalue);
   return returnvalue::OK;
 }
diff --git a/mission/controller/PrintController.h b/mission/controller/PrintController.h
index 04e48e8..04d4477 100644
--- a/mission/controller/PrintController.h
+++ b/mission/controller/PrintController.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <xgpiops.h>
-
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
@@ -15,6 +13,4 @@ class PrintController: public SystemObject, public ExecutableObjectIF {
 
     ReturnValue_t performOperation(uint8_t operationCode) override;
 
-    private:
-    XGpioPs gpio;
 };
\ No newline at end of file
diff --git a/mission/main.cpp b/mission/main.cpp
index 21a45e6..909c40e 100644
--- a/mission/main.cpp
+++ b/mission/main.cpp
@@ -212,11 +212,21 @@ void mission(void *){
   controllerTask->addComponent(123);
 
   printf("Created Tasks\n");
-  
+
   controllerTask->startTask();
+
+
+  PeriodicTaskIF* blinkTask = taskFactory->createPeriodicTask(
+      "controllerBlink", currPrio, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
+  blinkTask->addComponent(124);
+
+  printf("Created Tasks\n");
+  
+  blinkTask->startTask();
   
   printf("Started Tasks, deleting init task\n");
 
+
   vTaskDelete(nullptr);
 }
 /*-----------------------------------------------------------*/