Create modules skeleton for new app structure

rover-apps/arm/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(arm)
-target_sources(arm PRIVATE src/main.cpp)
-target_include_directories(arm PUBLIC include)
+target_sources(arm PRIVATE ../common/src/main.cpp)
+target_include_directories(arm PUBLIC include ../common/include)
 target_link_libraries(arm
         PRIVATE
         #Control

rover-apps/arm/include/AppConfig.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+
+std::vector<Module*> gModules = {
+    // put modules here
+};

rover-apps/common/include/Module.h

@@ -0,0 +1,10 @@
+#pragma once
+
+class Module {
+ public:
+  virtual void periodic_10s(void)   = 0;
+  virtual void periodic_1s(void)    = 0;
+  virtual void periodic_100ms(void) = 0;
+  virtual void periodic_10ms(void)  = 0;
+  virtual void periodic_1ms(void)   = 0;
+};

rover-apps/common/src/main.cpp

@@ -0,0 +1,59 @@
+#include "AppConfig.h"
+#include "mbed.h"
+
+Thread periodic_10s_thread(osPriorityNormal1);
+Thread periodic_1s_thread(osPriorityNormal2);
+Thread periodic_100ms_thread(osPriorityNormal3);
+Thread periodic_10ms_thread(osPriorityNormal4);
+Thread periodic_1ms_thread(osPriorityNormal5);
+
+void periodic_10s(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_10s();
+  }
+  ThisThread::sleep_until(startTime + 10s);
+}
+
+void periodic_1s(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_1s();
+  }
+  ThisThread::sleep_until(startTime + 1s);
+}
+
+void periodic_100ms(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_100ms();
+  }
+  ThisThread::sleep_until(startTime + 100ms);
+}
+
+void periodic_10ms(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_10ms();
+  }
+  ThisThread::sleep_until(startTime + 10ms);
+}
+
+void periodic_1ms(void) {
+  auto startTime = Kernel::Clock::now();
+  for (Module* module : gModules) {
+    module->periodic_1ms();
+  }
+  ThisThread::sleep_until(startTime + 1ms);
+}
+
+int main() {
+  periodic_1ms_thread.start(periodic_1ms);
+  periodic_10ms_thread.start(periodic_10ms);
+  periodic_100ms_thread.start(periodic_100ms);
+  periodic_1s_thread.start(periodic_1s);
+  periodic_10s_thread.start(periodic_10s);
+
+  while (true) {
+  }
+}

rover-apps/gimbal/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(gimbal)
-target_sources(gimbal PRIVATE src/main.cpp)
-target_include_directories(gimbal PUBLIC include)
+target_sources(gimbal PRIVATE ../common/src/main.cpp)
+target_include_directories(gimbal PUBLIC include ../common/include)
 target_link_libraries(gimbal
         PRIVATE
         #Control

rover-apps/gimbal/include/AppConfig.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+
+std::vector<Module*> gModules = {
+    // put modules here
+};

rover-apps/science/CMakeLists.txt

@@ -1,6 +1,6 @@
 add_executable(science)
-target_sources(science PRIVATE src/main.cpp)
-target_include_directories(science PUBLIC include)
+target_sources(science PRIVATE ../common/src/main.cpp)
+target_include_directories(science PUBLIC include ../common/include)
 target_link_libraries(science
         PRIVATE
         #Control

rover-apps/science/include/AppConfig.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <vector>
+
+#include "Module.h"
+
+std::vector<Module*> gModules = {
+    // put modules here
+};