Full-Speed Simulator Meeting

			      28 Jan 2015

Overall Objectives:

     1. Qnx Vm (Rob)
     2. Synchronize (Rich)
     3. Non blocking operation (Rich, Rob, Kent, Hans)
     4. TRN Integration (Rich, Rob)
     5. Testing and Validation (Rob)

Specific Tasks and Discussion:

   * Improve the hand-drawn timing/data-flow diagram (Rob).
   * Change Navigation so that, when in simulation mode, rather than pending
     on the next 200 ms tick (Periodic Task), it pends on
     DynamicControl/Simulator finishing. Hopefully it will start ripping
     through.  We won't yet have replaced clock_gettime with simulator time,
     but this will prove the concept. We should start to get an inkling of
     how fast it will go. (Rich, Rob).
   * Discuss system time calls, and how many.  (Rich).
   * Branch the code, or start using GIT (Rich, Rob)
   * Virtual Box QNX VM on Windows 7 host. (Rob)
   * Kent to look at the code. (that would be Kent).

Questions:

   *Check in event-callback version of Layered Control? 
      -Answer: Start a branch.
   *Retain real-time switch?  
      -Answer: Yes, if feasible.
   *Should the clock be a server?

Meeting Notes:

H: Rather than Navigation triggering on DynamicControl/Simulator finishing,
   have Navigation triggered from Supervisor.  Then Supervisor can trigger
   Navigation at 5 Hz for real time operation, or when the simulator finishes
   for full-speed simulation.  This has the advantage that the GNC code operates
   identically between simulation and real-time operation, but has the drawback
   of now changing the Supervisor code.

H: Implement taskIF constructors inside the sim task object.  This would
   eliminate the individual processes for each simulated sensor.

H: Link the simulator into the GNC executable.  This would result in the
   entire flight code and simulator running as a single process.

Improvements not required for full-speed operation:

H: Capture latencies (multirate) of various sensors.

H: Separate the simulated sensor servers into the real server and a
   simulated driver.

Next time:

Rich, Rob: Start CVS branch.

Rich, Rob: Investigate triggering Nav through Supervisor event call-back.
      	   Look at moving all into single GNC task.

Rob:  to get Virtual Box QNX VM running on desktop.

Hans: (If time permits) example code of single GNC task with linking
      tricks.