FW Rover Apps Structure

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)
• Create CAN app module (target specific)
  
  • Arm
  • Science
  • Gimbal
• Create controller modules (target specific)
  • 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)
• Create watchdog module (common)

We should document this in confluence!