Change the current, multithreaded system architecture to a singled threaded Main Control Loop system implementing a Read-Control-Actuate structure. In addition to changing the system architecture, also ensure that all new system states are implemented properly and completely according to the following ConOps.
Related Issues
State Flow: #79
Removing continuous Radio read threads: #80
RCA
Instead of starting each submodule and letting them go off into their own tasks, the system should run completely linearly. This is a simplified loop process:
1 (R). Read data from all sensors, store into variables
2 (C). Given all data decide what should be done
(switch states, send messages, execute commands, etc.)
3 (A). Actually execute previously queued tasks
Reading
Examples of data that should be collected in this phase:
leave functionality for more data
EPS
Power!
Telemetry data
Time
Antenna Deployer state
APRS
Heartbeat/Telemetry data?
Received Messages
Iridium
Received Messages
Controlling
Everything that used to be threaded(core processes) should transition over to this stage
i.e
Process Data
Decide states
do not explicitly change states in Control
execute state flow commands before finally saying mode = [new mode]
check power
Decide what to beacon via APRS
Decide what to dump via APRS
Decide what toTX through Iridium
Actuating
This is the stage where everything decided in Controlling is actually executed
Description
Change the current, multithreaded system architecture to a singled threaded Main Control Loop system implementing a Read-Control-Actuate structure. In addition to changing the system architecture, also ensure that all new system states are implemented properly and completely according to the following ConOps.
Related Issues State Flow: #79 Removing continuous Radio
readthreads: #80RCA
Instead of starting each submodule and letting them go off into their own tasks, the system should run completely linearly. This is a simplified loop process:
Reading
Examples of data that should be collected in this phase: leave functionality for more data
Controlling
Everything that used to be threaded(core processes) should transition over to this stage i.e
mode = [new mode]Actuating
This is the stage where everything decided in Controlling is actually executed
Diagrams
State Flow: https://files.slack.com/files-pri/T2CHTKKKR-FS5208D2P/image_from_ios.jpg
RCA Overview: https://files.slack.com/files-pri/T2CHTKKKR-FSG2B88JG/image_from_ios.jpg
Preliminary Planning: https://files.slack.com/files-pri/T2CHTKKKR-FSJPBPY94/image_from_ios.jpg https://files.slack.com/files-pri/T2CHTKKKR-FSGH91DU0/image_from_ios.jpg