package root
public
	with autopilot;
	with external_control_unit;
	with central_control_unit;
	with hardware_components;
	with Cheddar_Parameters_Properties;
	
	
------------
-- System --
------------


	  
system rover
end rover;

system implementation rover.impl
subcomponents
   pixhawk  : system  autopilot::autopilot.impl;
   external : system  external_control_unit::external.impl;
   central  : system  central_control_unit::central.impl;
   eth0     : bus     hardware_components::ethernet_switch.impl;
   
--   Exchanged data : 
--between pixhawk and ark1 => payload needs position/speed for payload functions
--Between pixhawk and ark2 => image processing may need position/speed/etc
     
connections
      C1: bus access eth0 -> central.eth_connected;
      C2: bus access eth0 -> pixhawk.eth_connected;
      
properties      
    Cheddar_Parameters_Properties::Scheduling_Feasibility_Interval => 100;
	Cheddar_Parameters_Properties::Response_Time_From_Scheduling_Simulation => true;
	Cheddar_Parameters_Properties::Cheddar_Working_Folder 
	   => "C:\\Users\\singhoff//Desktop//Cheddar_Bin//";
	Cheddar_Parameters_Properties::Cheddar_Install_Folder 
	   => "C:\\Users\\singhoff//Desktop//Cheddar_Bin//";
end rover.impl;
	
end root;