package autopilot
public
	with deployment;
	with software_components;
	with hardware_components;
	with rover_data;

-------------------------
-- Hardware components --
-------------------------

	
device temperature_device
features
  temperature_input: in data port rover_data::temperature_data;
  temperature_output: out data port rover_data::temperature_data;
end temperature_device;


device magnetometer_device
features
  magnetometer_input: in data port rover_data::magnetometer_data;
  magnetometer_output: out data port rover_data::magnetometer_data;
end magnetometer_device;

	
device tube_sensor_device
features
  tube_input: in data port rover_data::tube_sensor_data;
  tube_output: out data port rover_data::tube_sensor_data;
end tube_sensor_device;



device pressure_device
features
  pressure_input: in data port rover_data::pressure_data;
  pressure_output: out data port rover_data::pressure_data;
end pressure_device;


device lights_device
features
  lights_input: in data port rover_data::lights_data;
  lights_output: out data port rover_data::lights_data;
end lights_device;

	
device power_sensing_module_device
features
  power_input: in data port rover_data::power_sensing_module_data;
  power_output: out data port rover_data::power_sensing_module_data;
end power_sensing_module_device;



device esc_device
features
  esc_input: in data port rover_data::esc_data;
  esc_output: out data port rover_data::esc_data;
end esc_device;


device thrusters_device
features
  thrusters_input: in data port rover_data::thrusters_data;
  thrusters_output: out data port rover_data::thrusters_data;
end thrusters_device;


-----------------
-- Subprograms --
-----------------

subprogram temperature_spg
properties
  source_language => (C);
  source_name     => "temperature_spg";
  source_text     => ("c-code/temperature.c");
end temperature_spg;

subprogram magnetometer_spg
properties
  source_language => (C);
  source_name     => "magnetometer_spg";
  source_text     => ("c-code/magnetometer.c");
end magnetometer_spg;

subprogram tube_sensor_spg
properties
  source_language => (C);
  source_name     => "tube_sensor_spg";
  source_text     => ("c-code/tube_sensor.c");
end tube_sensor_spg;

subprogram pressure_spg
properties
  source_language => (C);
  source_name     => "pressure_spg";
  source_text     => ("c-code/pressure.c");
end pressure_spg;

subprogram lights_spg
properties
  source_language => (C);
  source_name     => "lights_spg";
  source_text     => ("c-code/lights.c");
end lights_spg;

subprogram power_sensing_module_spg
properties
  source_language => (C);
  source_name     => "power_sensing_module_spg";
  source_text     => ("c-code/power_sensing_module.c");
end power_sensing_module_spg;

subprogram esc_spg
properties
  source_language => (C);
  source_name     => "esc_spg";
  source_text     => ("c-code/propulsion.c");
end esc_spg;

subprogram thrusters_spg
properties
  source_language => (C);
  source_name     => "thrusters_spg";
  source_text     => ("c-code/propulsion.c");
end thrusters_spg;

-------------
-- Threads --
-------------


thread temperature_thread extends software_components::periodic_thread
end temperature_thread;

thread magnetometer_thread extends software_components::periodic_thread
end magnetometer_thread;

thread tube_sensor_thread extends software_components::periodic_thread
end tube_sensor_thread;

thread pressure_thread extends software_components::periodic_thread
end pressure_thread;

thread lights_thread extends software_components::periodic_thread 
-- should be "aperiodic_thread" (!?), but Ocarina returns an error
end lights_thread;

thread power_sensing_module_thread extends software_components::periodic_thread 
-- should be "aperiodic_thread" (!?), but Ocarina returns an error
end power_sensing_module_thread;

thread esc_thread extends software_components::periodic_thread
end esc_thread;

thread thrusters_thread extends software_components::periodic_thread
end thrusters_thread;


thread implementation temperature_thread.impl
calls
  c : {
    s : subprogram temperature_spg;
  };
properties
  Period => 1000 ms;
  Priority => 100;
  Compute_Execution_Time => 1 ms .. 1 ms;
end temperature_thread.impl;

thread implementation magnetometer_thread.impl
calls
  c : {
    s : subprogram magnetometer_spg;
  };
properties
  Compute_Execution_Time => 1 ms .. 1 ms;
  Period => 1000 ms;
  Priority => 50;
end magnetometer_thread.impl;

thread implementation tube_sensor_thread.impl
calls
  c : {
    s : subprogram tube_sensor_spg;
  };
properties
  Period => 1000 ms;
  Compute_Execution_Time => 1 ms .. 1 ms;
  Priority => 50;
end tube_sensor_thread.impl;

thread implementation pressure_thread.impl
calls
  c : {
    s : subprogram pressure_spg;
  };
properties
  Period => 1000 ms;
  Compute_Execution_Time => 1 ms .. 1 ms;
  Priority => 40;
end pressure_thread.impl;

thread implementation lights_thread.impl
calls
  c : {
   s : subprogram lights_spg;
  };
properties          -- Should be removed!?
  Period => 1000 ms;  -- Here because it is
  Priority => 10;   -- periodic temporarily!
  Compute_Execution_Time => 1 ms .. 1 ms;
end lights_thread.impl;

thread implementation power_sensing_module_thread.impl
calls
 c : {
  s : subprogram power_sensing_module_spg;
};
properties          -- Should be removed!?
  Period => 1000 ms;  -- Here because it is
  Priority => 85;   -- periodic temporarily!
  Compute_Execution_Time => 1 ms .. 1 ms;
end power_sensing_module_thread.impl;

thread implementation esc_thread.impl
calls
 c : {
  s : subprogram esc_spg;
};
properties
  Period => 1000 ms;
  Compute_Execution_Time => 1 ms .. 1 ms;
  Priority => 150;
end esc_thread.impl;

thread implementation thrusters_thread.impl
calls
 c : {
  s : subprogram thrusters_spg;
};
properties
  Period => 1000 ms;
  Compute_Execution_Time => 1 ms .. 1 ms;
  Priority => 155;
end thrusters_thread.impl;

---------------
-- Processor --
---------------

processor cpu extends hardware_components::rov_processor
--properties
--  Deployment::Execution_Platform => native;
end cpu;

processor implementation cpu.impl
properties
   Scheduling_Protocol => (Posix_1003_Highest_Priority_First_Protocol);
end cpu.impl;

---------------
-- Processes --
---------------

process autopilot_software
end autopilot_software;

process implementation autopilot_software.impl
subcomponents
  temperature          : thread temperature_thread.impl;
  magnetometer         : thread magnetometer_thread.impl;
  tube_sensor          : thread tube_sensor_thread.impl;
  pressure             : thread pressure_thread.impl;
  lights               : thread lights_thread.impl;
  power_sensing_module : thread power_sensing_module_thread.impl;
  esc                  : thread esc_thread.impl;
  thrusters            : thread thrusters_thread.impl;
end autopilot_software.impl;

------------
-- System --
------------

system autopilot
features
	  eth_connected : requires bus access hardware_components::ethernet_switch;
end autopilot;

system implementation autopilot.impl
subcomponents
   software       : process   autopilot_software.impl;
   autopilot_cpu  : processor cpu.impl;
connections
  C1 : bus access eth_connected -> autopilot_cpu.eth_connected;	
properties
   Actual_Processor_Binding => (reference (autopilot_cpu)) applies to software;
end autopilot.impl;

end autopilot;