rebase master

Author: cindyli-13

rover-apps/arm_2021/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(arm_2021)
-target_sources(arm_2021 PRIVATE ../common/src/main.cpp)
-target_include_directories(arm_2021 PUBLIC include ../common/include)
+target_sources(arm_2021 PRIVATE ${ROVER_APPS_DIR}/common/src/main.cpp)
+target_include_directories(arm_2021 PUBLIC include ${ROVER_APPS_DIR}/common/include)
 target_link_libraries(arm_2021
         PRIVATE
         #Control

rover-apps/arm_2021/include/AppConfig.h

@@ -8,6 +8,5 @@
 WatchdogModule arm_watchdog;
 
 std::vector<Module*> gModules = {
-    // put modules here
     &arm_watchdog,
 };

rover-apps/common/include/WatchdogModule.h

@@ -11,7 +11,7 @@ class WatchdogModule final : public Module {
   WatchdogModule();
 
   /* Periodic function to kick the watchdog and restart its timer every 1s
-   * */
+   */
   void periodic_1s(void) override;
 
   void periodic_10s(void) override {}

rover-apps/common/src/main.cpp

@@ -1,4 +1,5 @@
 #include "AppConfig.h"
+#include "Logger.h"
 #include "mbed.h"
 
 Thread periodic_10s_thread(osPriorityNormal1);
@@ -12,39 +13,69 @@ void periodic_10s(void) {
   for (Module* module : gModules) {
     module->periodic_10s();
   }
-  ThisThread::sleep_until(startTime + 10s);
+
+  auto nextStartTime = startTime + 10s;
+  if (Kernel::Clock::now() > nextStartTime) {
+    Utility::logger << "Reseting periodic 10s task timing as it failed to hit the deadline!\n";
+    nextStartTime = Kernel::Clock::now() + 10s;
+  }
+  ThisThread::sleep_until(nextStartTime);
 }
 
 void periodic_1s(void) {
   auto startTime = Kernel::Clock::now();
   for (Module* module : gModules) {
     module->periodic_1s();
   }
-  ThisThread::sleep_until(startTime + 1s);
+
+  auto nextStartTime = startTime + 1s;
+  if (Kernel::Clock::now() > nextStartTime) {
+    Utility::logger << "Reseting periodic 1s task timing as it failed to hit the deadline!\n";
+    nextStartTime = Kernel::Clock::now() + 1s;
+  }
+  ThisThread::sleep_until(nextStartTime);
 }
 
 void periodic_100ms(void) {
   auto startTime = Kernel::Clock::now();
   for (Module* module : gModules) {
     module->periodic_100ms();
   }
-  ThisThread::sleep_until(startTime + 100ms);
+
+  auto nextStartTime = startTime + 100ms;
+  if (Kernel::Clock::now() > nextStartTime) {
+    Utility::logger << "Reseting periodic 100ms task timing as it failed to hit the deadline!\n";
+    nextStartTime = Kernel::Clock::now() + 100ms;
+  }
+  ThisThread::sleep_until(nextStartTime);
 }
 
 void periodic_10ms(void) {
   auto startTime = Kernel::Clock::now();
   for (Module* module : gModules) {
     module->periodic_10ms();
   }
-  ThisThread::sleep_until(startTime + 10ms);
+
+  auto nextStartTime = startTime + 10ms;
+  if (Kernel::Clock::now() > nextStartTime) {
+    Utility::logger << "Reseting periodic 10ms task timing as it failed to hit the deadline!\n";
+    nextStartTime = Kernel::Clock::now() + 10ms;
+  }
+  ThisThread::sleep_until(nextStartTime);
 }
 
 void periodic_1ms(void) {
   auto startTime = Kernel::Clock::now();
   for (Module* module : gModules) {
     module->periodic_1ms();
   }
-  ThisThread::sleep_until(startTime + 1ms);
+
+  auto nextStartTime = startTime + 1ms;
+  if (Kernel::Clock::now() > nextStartTime) {
+    Utility::logger << "Reseting periodic 1ms task timing as it failed to hit the deadline!\n";
+    nextStartTime = Kernel::Clock::now() + 1ms;
+  }
+  ThisThread::sleep_until(nextStartTime);
 }
 
 int main() {
@@ -54,6 +85,6 @@ int main() {
   periodic_1s_thread.start(periodic_1s);
   periodic_10s_thread.start(periodic_10s);
 
-  while (true) {
-  }
+  while (true)
+    ;
 }

rover-apps/gimbal_2021/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(gimbal_2021)
-target_sources(gimbal_2021 PRIVATE ../common/src/main.cpp)
-target_include_directories(gimbal_2021 PUBLIC include ../common/include)
+target_sources(gimbal_2021 PRIVATE ${ROVER_APPS_DIR}/common/src/main.cpp)
+target_include_directories(gimbal_2021 PUBLIC include ${ROVER_APPS_DIR}/common/include)
 target_link_libraries(gimbal_2021
         PRIVATE
         #Control

rover-apps/gimbal_2021/include/AppConfig.h

@@ -8,6 +8,5 @@
 WatchdogModule gimbal_watchdog;
 
 std::vector<Module*> gModules = {
-    // put modules here
     &gimbal_watchdog,
 };

rover-apps/pdb_2021/CMakeLists.txt

@@ -2,7 +2,7 @@ add_library(PDB_Monitoring STATIC)
 target_sources(PDB_Monitoring PRIVATE src/PDBMonitoring.cpp)
 target_include_directories(PDB_Monitoring PUBLIC
         include
-        ../common/include
+        ${ROVER_APPS_DIR}/common/include
         )
 target_link_libraries(PDB_Monitoring
         PRIVATE
@@ -11,8 +11,8 @@ target_link_libraries(PDB_Monitoring
         )
 
 add_executable(pdb_2021)
-target_sources(pdb_2021 PRIVATE ../common/src/main.cpp)
-target_include_directories(pdb_2021 PUBLIC include ../common/include)
+target_sources(pdb_2021 PRIVATE ${ROVER_APPS_DIR}/common/src/main.cpp)
+target_include_directories(pdb_2021 PUBLIC include ${ROVER_APPS_DIR}/common/include)
 target_link_libraries(pdb_2021
         PRIVATE
         CANBus

rover-apps/pdb_2021/include/AppConfig.h

@@ -8,6 +8,5 @@
 PDBMonitoring PDB_monitoring;
 
 std::vector<Module*> gModules = {
-    // put modules here
     &PDB_monitoring,
 };

rover-apps/science_2021/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(science_2021)
-target_sources(science_2021 PRIVATE ../common/src/main.cpp)
-target_include_directories(science_2021 PUBLIC include ../common/include)
+target_sources(science_2021 PRIVATE ${ROVER_APPS_DIR}/common/src/main.cpp)
+target_include_directories(science_2021 PUBLIC include ${ROVER_APPS_DIR}/common/include)
 target_link_libraries(science_2021
         PRIVATE
         #Control

rover-apps/science_2021/include/AppConfig.h

@@ -8,6 +8,5 @@
 WatchdogModule science_watchdog;
 
 std::vector<Module*> gModules = {
-    // put modules here
     &science_watchdog,
 };