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FW Rover Apps Structure

FW Rover Apps Structure

Jul 18, 2021

FW App Structure Redesign

  • Currently, all our rover apps have this general structure:

    • Start CAN RX/TX threads 

    • while(true) loop

      • Update actuator controls

      • Update CAN TX signals

  • This gets really messy and repetitive

  • We want to create a more modularized app structure

    • Drivers (everything in our libs folder)

    • Modules (logic for a particular part of an app)

      • Init function (constructor)

      • Periodic functions

    • Rover apps

      • Consists of multiple modules

      • Responsible for calling module constructor and periodic functions

  • We also want to fix timing requirements, right now there is no guarantee to the period at which the while(true) loop in main() runs

  • Example: science app

    • Modules

      • CAN driver

        • constructor

          • start postman thread

          • attach ISRs

        • periodic

          • 1ms

            • RX processor 

          • 10ms

            • TX processor

      • CAN app - science

        • constructor

          • set hw filters

      • Controllers

        • constructor

          • init actuator managers and controllers

        • periodic

          • 1ms

            • Update actuator controls

    • main.cpp

      • main()

        • instantiate all modules

        • start periodic_1ms thread

        • start periodic_10ms thread

      • periodic_1ms

        • call 1ms functions from each modules

        • delay until next 10ms mark

      • periodic_10ms

        • call 10ms functions from each module

        • delay under next 10ms mark

  • Should put modules under the rover app folder

 

Notes

  • Do we want to decouple encoder / current sensor reads from actuator update loops?

    • Yes, make separate modules for these

  • Which module should CAN one shots go under?

    • Should go under module related to the logic (NOT CAN app module)

 

Tasks

Create modules and main.cpp skeleton + refactor cmake suite
Create CAN driver module (common) @Former user (Deleted) 
Create CAN app module (target specific)

Arm
Science
Gimbal
Create controller modules (target specific) @Allan
Arm
Science
Gimbal
Create encoder update modules (target specific)
Arm
Science
Gimbal
Create current sensor update modules (target specific)
Arm
Create moisture sensor update module (science app) @Former user (Deleted) 
Create watchdog module (common) @Former user (Deleted) 
Create LED matrix module (PDB) @Osose
Create PDB monitoring module (includes load, rail, and temperature monitoring) @Former user (Deleted) 

We should document this in confluence!