Merge pull request 'added integration test code' (#508) from mueller/example-code-as-test into development
Reviewed-on: fsfw/fsfw#508
This commit is contained in:
commit
e263f2fbdc
@ -1,3 +1,4 @@
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add_subdirectory(integration)
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if(FSFW_ADD_INTERNAL_TESTS)
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if(FSFW_ADD_INTERNAL_TESTS)
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add_subdirectory(internal)
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add_subdirectory(internal)
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4
tests/src/fsfw_tests/integration/CMakeLists.txt
Normal file
4
tests/src/fsfw_tests/integration/CMakeLists.txt
Normal file
@ -0,0 +1,4 @@
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add_subdirectory(assemblies)
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add_subdirectory(controller)
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add_subdirectory(devices)
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add_subdirectory(task)
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@ -0,0 +1,3 @@
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target_sources(${LIB_FSFW_NAME} PRIVATE
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TestAssembly.cpp
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)
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201
tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp
Normal file
201
tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp
Normal file
@ -0,0 +1,201 @@
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#include "TestAssembly.h"
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#include <fsfw/objectmanager/ObjectManager.h>
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TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
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object_id_t testDevice1):
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AssemblyBase(objectId, parentId), deviceHandler0Id(testDevice0),
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deviceHandler1Id(testDevice1) {
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ModeListEntry newModeListEntry;
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newModeListEntry.setObject(testDevice0);
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newModeListEntry.setMode(MODE_OFF);
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newModeListEntry.setSubmode(SUBMODE_NONE);
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commandTable.insert(newModeListEntry);
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newModeListEntry.setObject(testDevice1);
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newModeListEntry.setMode(MODE_OFF);
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newModeListEntry.setSubmode(SUBMODE_NONE);
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commandTable.insert(newModeListEntry);
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}
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TestAssembly::~TestAssembly() {
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}
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ReturnValue_t TestAssembly::commandChildren(Mode_t mode,
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Submode_t submode) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestAssembly: Received command to go to mode " << mode <<
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" submode " << (int) submode << std::endl;
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#else
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sif::printInfo("TestAssembly: Received command to go to mode %d submode %d\n", mode, submode);
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#endif
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ReturnValue_t result = RETURN_OK;
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if(mode == MODE_OFF){
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commandTable[0].setMode(MODE_OFF);
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commandTable[0].setSubmode(SUBMODE_NONE);
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commandTable[1].setMode(MODE_OFF);
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commandTable[1].setSubmode(SUBMODE_NONE);
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}
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else if(mode == DeviceHandlerIF::MODE_NORMAL) {
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if(submode == submodes::SINGLE){
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commandTable[0].setMode(MODE_OFF);
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commandTable[0].setSubmode(SUBMODE_NONE);
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commandTable[1].setMode(MODE_OFF);
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commandTable[1].setSubmode(SUBMODE_NONE);
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// We try to prefer 0 here but we try to switch to 1 even if it might fail
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if(isDeviceAvailable(deviceHandler0Id)) {
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if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
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commandTable[0].setMode(mode);
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commandTable[0].setSubmode(SUBMODE_NONE);
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}
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else {
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commandTable[0].setMode(MODE_ON);
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commandTable[0].setSubmode(SUBMODE_NONE);
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result = NEED_SECOND_STEP;
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}
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}
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else {
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if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
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commandTable[1].setMode(mode);
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commandTable[1].setSubmode(SUBMODE_NONE);
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}
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else{
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commandTable[1].setMode(MODE_ON);
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commandTable[1].setSubmode(SUBMODE_NONE);
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result = NEED_SECOND_STEP;
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}
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}
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}
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else{
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// Dual Mode Normal
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if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
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commandTable[0].setMode(mode);
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commandTable[0].setSubmode(SUBMODE_NONE);
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}
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else{
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commandTable[0].setMode(MODE_ON);
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commandTable[0].setSubmode(SUBMODE_NONE);
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result = NEED_SECOND_STEP;
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}
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if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
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commandTable[1].setMode(mode);
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commandTable[1].setSubmode(SUBMODE_NONE);
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}
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else{
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commandTable[1].setMode(MODE_ON);
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commandTable[1].setSubmode(SUBMODE_NONE);
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result = NEED_SECOND_STEP;
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}
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}
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}
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else{
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//Mode ON
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if(submode == submodes::SINGLE){
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commandTable[0].setMode(MODE_OFF);
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commandTable[0].setSubmode(SUBMODE_NONE);
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commandTable[1].setMode(MODE_OFF);
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commandTable[1].setSubmode(SUBMODE_NONE);
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// We try to prefer 0 here but we try to switch to 1 even if it might fail
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if(isDeviceAvailable(deviceHandler0Id)){
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commandTable[0].setMode(MODE_ON);
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commandTable[0].setSubmode(SUBMODE_NONE);
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}
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else{
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commandTable[1].setMode(MODE_ON);
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commandTable[1].setSubmode(SUBMODE_NONE);
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}
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}
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else{
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commandTable[0].setMode(MODE_ON);
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commandTable[0].setSubmode(SUBMODE_NONE);
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commandTable[1].setMode(MODE_ON);
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commandTable[1].setSubmode(SUBMODE_NONE);
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}
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}
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HybridIterator<ModeListEntry> iter(commandTable.begin(),
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commandTable.end());
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executeTable(iter);
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return result;
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}
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ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode,
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Submode_t submode) {
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switch (mode) {
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case MODE_OFF:
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if (submode == SUBMODE_NONE) {
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return RETURN_OK;
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} else {
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return INVALID_SUBMODE;
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}
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case DeviceHandlerIF::MODE_NORMAL:
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case MODE_ON:
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if (submode < 3) {
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return RETURN_OK;
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} else {
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return INVALID_SUBMODE;
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}
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}
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return INVALID_MODE;
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}
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ReturnValue_t TestAssembly::initialize() {
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ReturnValue_t result = AssemblyBase::initialize();
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if(result != RETURN_OK){
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return result;
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}
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handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id);
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handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id);
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if((handler0 == nullptr) or (handler1 == nullptr)){
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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handler0->setParentQueue(this->getCommandQueue());
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handler1->setParentQueue(this->getCommandQueue());
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result = registerChild(objects::TEST_DEVICE_HANDLER_0);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = registerChild(objects::TEST_DEVICE_HANDLER_1);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return result;
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}
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ReturnValue_t TestAssembly::checkChildrenStateOn(
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Mode_t wantedMode, Submode_t wantedSubmode) {
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if(submode == submodes::DUAL){
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for(const auto& info:childrenMap) {
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if(info.second.mode != wantedMode or info.second.mode != wantedSubmode){
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
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}
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}
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return RETURN_OK;
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}
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else if(submode == submodes::SINGLE) {
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for(const auto& info:childrenMap) {
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if(info.second.mode == wantedMode and info.second.mode != wantedSubmode){
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return RETURN_OK;
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}
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}
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}
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return INVALID_SUBMODE;
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}
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bool TestAssembly::isDeviceAvailable(object_id_t object) {
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if(healthHelper.healthTable->getHealth(object) == HasHealthIF::HEALTHY){
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return true;
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}
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else{
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return false;
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}
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}
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56
tests/src/fsfw_tests/integration/assemblies/TestAssembly.h
Normal file
56
tests/src/fsfw_tests/integration/assemblies/TestAssembly.h
Normal file
@ -0,0 +1,56 @@
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|
#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
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#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
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#include <fsfw/devicehandlers/AssemblyBase.h>
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#include "../devices/TestDeviceHandler.h"
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class TestAssembly: public AssemblyBase {
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|
public:
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|
TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
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object_id_t testDevice1);
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|
virtual ~TestAssembly();
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|
ReturnValue_t initialize() override;
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|
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enum submodes: Submode_t{
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|
SINGLE = 0,
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|
DUAL = 1
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|
};
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|
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|
protected:
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|
/**
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|
* Command children to reach [mode,submode] combination
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|
* Can be done by setting #commandsOutstanding correctly,
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|
* or using executeTable()
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||||||
|
* @param mode
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|
* @param submode
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|
* @return
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|
* - @c RETURN_OK if ok
|
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|
* - @c NEED_SECOND_STEP if children need to be commanded again
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|
*/
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|
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
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|
/**
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|
* Check whether desired assembly mode was achieved by checking the modes
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|
* or/and health states of child device handlers.
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|
* The assembly template class will also call this function if a health
|
||||||
|
* or mode change of a child device handler was detected.
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|
* @param wantedMode
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|
* @param wantedSubmode
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|
* @return
|
||||||
|
*/
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|
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode)
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|
override;
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|
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|
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
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|
Submode_t wantedSubmode) override;
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||||||
|
private:
|
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|
FixedArrayList<ModeListEntry, 2> commandTable;
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||||||
|
object_id_t deviceHandler0Id = 0;
|
||||||
|
object_id_t deviceHandler1Id = 0;
|
||||||
|
TestDevice* handler0 = nullptr;
|
||||||
|
TestDevice* handler1 = nullptr;
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||||||
|
|
||||||
|
|
||||||
|
bool isDeviceAvailable(object_id_t object);
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||||||
|
};
|
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|
|
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|
#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */
|
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@ -0,0 +1,3 @@
|
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|
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||||
|
TestController.cpp
|
||||||
|
)
|
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214
tests/src/fsfw_tests/integration/controller/TestController.cpp
Normal file
214
tests/src/fsfw_tests/integration/controller/TestController.cpp
Normal file
@ -0,0 +1,214 @@
|
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|
#include "TestController.h"
|
||||||
|
#include "OBSWConfig.h"
|
||||||
|
|
||||||
|
#include <fsfw/datapool/PoolReadGuard.h>
|
||||||
|
#include <fsfw/objectmanager/ObjectManager.h>
|
||||||
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||||
|
|
||||||
|
TestController::TestController(object_id_t objectId, size_t commandQueueDepth):
|
||||||
|
ExtendedControllerBase(objectId, objects::NO_OBJECT, commandQueueDepth),
|
||||||
|
deviceDataset0(objects::TEST_DEVICE_HANDLER_0),
|
||||||
|
deviceDataset1(objects::TEST_DEVICE_HANDLER_1) {
|
||||||
|
}
|
||||||
|
|
||||||
|
TestController::~TestController() {
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestController::handleCommandMessage(CommandMessage *message) {
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestController::performControlOperation() {
|
||||||
|
/* We will trace vaiables if we received an update notification or snapshots */
|
||||||
|
#if OBSW_CONTROLLER_PRINTOUT == 1
|
||||||
|
if(not traceVariable) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
switch(currentTraceType) {
|
||||||
|
case(NONE): {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(TRACE_DEV_0_UINT8): {
|
||||||
|
if(traceCounter == 0) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "Tracing finished" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("Tracing finished\n");
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
traceVariable = false;
|
||||||
|
traceCounter = traceCycles;
|
||||||
|
currentTraceType = TraceTypes::NONE;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "Tracing device 0 variable 0 (UINT8), current value: " <<
|
||||||
|
static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
|
||||||
|
deviceDataset0.testUint8Var.value);
|
||||||
|
#endif
|
||||||
|
traceCounter--;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(TRACE_DEV_0_VECTOR): {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestController::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
|
||||||
|
using namespace std;
|
||||||
|
|
||||||
|
#if OBSW_CONTROLLER_PRINTOUT == 1
|
||||||
|
char const* printout = nullptr;
|
||||||
|
if(storeId == storeId::INVALID_STORE_ADDRESS) {
|
||||||
|
printout = "Notification";
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
printout = "Snapshot";
|
||||||
|
}
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestController::handleChangedDataset: " << printout << " update from object "
|
||||||
|
"ID " << setw(8) << setfill('0') << hex << sid.objectId <<
|
||||||
|
" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
|
||||||
|
"set ID %lu\n", printout, sid.objectId, sid.ownerSetId);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
if (storeId == storeId::INVALID_STORE_ADDRESS) {
|
||||||
|
if(sid.objectId == objects::TEST_DEVICE_HANDLER_0) {
|
||||||
|
PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
|
||||||
|
float floatVec[3];
|
||||||
|
floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
|
||||||
|
floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
|
||||||
|
floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " <<
|
||||||
|
floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
|
||||||
|
floatVec[0], floatVec[1], floatVec[2]);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
|
||||||
|
|
||||||
|
/* We will trace the variables for snapshots and update notifications */
|
||||||
|
if(not traceVariable) {
|
||||||
|
traceVariable = true;
|
||||||
|
traceCounter = traceCycles;
|
||||||
|
currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
|
||||||
|
bool* clearMessage) {
|
||||||
|
using namespace std;
|
||||||
|
|
||||||
|
#if OBSW_CONTROLLER_PRINTOUT == 1
|
||||||
|
char const* printout = nullptr;
|
||||||
|
if (storeId == storeId::INVALID_STORE_ADDRESS) {
|
||||||
|
printout = "Notification";
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
printout = "Snapshot";
|
||||||
|
}
|
||||||
|
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
|
||||||
|
"ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
|
||||||
|
" and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
|
||||||
|
"local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
|
||||||
|
if (storeId == storeId::INVALID_STORE_ADDRESS) {
|
||||||
|
if(globPoolId.objectId == objects::TEST_DEVICE_HANDLER_0) {
|
||||||
|
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>(
|
||||||
|
deviceDataset0.testUint8Var.value) << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("Current test variable 0 (UINT8) value %d\n",
|
||||||
|
deviceDataset0.testUint8Var.value);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
|
||||||
|
|
||||||
|
/* We will trace the variables for snapshots and update notifications */
|
||||||
|
if(not traceVariable) {
|
||||||
|
traceVariable = true;
|
||||||
|
traceCounter = traceCycles;
|
||||||
|
currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
LocalPoolDataSetBase* TestController::getDataSetHandle(sid_t sid) {
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||||
|
LocalDataPoolManager &poolManager) {
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestController::initializeAfterTaskCreation() {
|
||||||
|
namespace td = testdevice;
|
||||||
|
HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
|
||||||
|
objects::TEST_DEVICE_HANDLER_0);
|
||||||
|
if(device0 == nullptr) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
|
||||||
|
"handle invalid!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
|
||||||
|
"handle invalid!");
|
||||||
|
#endif
|
||||||
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||||
|
}
|
||||||
|
ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
|
||||||
|
if(subscriptionIF != nullptr) {
|
||||||
|
/* For DEVICE_0, we only subscribe for notifications */
|
||||||
|
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
|
||||||
|
getCommandQueue(), false);
|
||||||
|
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
|
||||||
|
getObjectId(), getCommandQueue(), false);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
|
||||||
|
objects::TEST_DEVICE_HANDLER_1);
|
||||||
|
if(device1 == nullptr) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
|
||||||
|
"handle invalid!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 "
|
||||||
|
"handle invalid!");
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
subscriptionIF = device1->getSubscriptionInterface();
|
||||||
|
if(subscriptionIF != nullptr) {
|
||||||
|
/* For DEVICE_1, we will subscribe for snapshots */
|
||||||
|
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
|
||||||
|
getCommandQueue(), true);
|
||||||
|
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
|
||||||
|
getObjectId(), getCommandQueue(), true);
|
||||||
|
}
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||||
|
uint32_t *msToReachTheMode) {
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
50
tests/src/fsfw_tests/integration/controller/TestController.h
Normal file
50
tests/src/fsfw_tests/integration/controller/TestController.h
Normal file
@ -0,0 +1,50 @@
|
|||||||
|
#ifndef MISSION_CONTROLLER_TESTCONTROLLER_H_
|
||||||
|
#define MISSION_CONTROLLER_TESTCONTROLLER_H_
|
||||||
|
|
||||||
|
#include "../devices/devicedefinitions/testDeviceDefinitions.h"
|
||||||
|
#include <fsfw/controller/ExtendedControllerBase.h>
|
||||||
|
|
||||||
|
|
||||||
|
class TestController:
|
||||||
|
public ExtendedControllerBase {
|
||||||
|
public:
|
||||||
|
TestController(object_id_t objectId, size_t commandQueueDepth = 10);
|
||||||
|
virtual~ TestController();
|
||||||
|
protected:
|
||||||
|
testdevice::TestDataSet deviceDataset0;
|
||||||
|
testdevice::TestDataSet deviceDataset1;
|
||||||
|
|
||||||
|
/* Extended Controller Base overrides */
|
||||||
|
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
|
||||||
|
void performControlOperation() override;
|
||||||
|
|
||||||
|
/* HasLocalDatapoolIF callbacks */
|
||||||
|
void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
|
||||||
|
void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
|
||||||
|
bool* clearMessage) override;
|
||||||
|
|
||||||
|
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
|
||||||
|
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||||
|
LocalDataPoolManager& poolManager) override;
|
||||||
|
|
||||||
|
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||||
|
uint32_t *msToReachTheMode) override;
|
||||||
|
|
||||||
|
ReturnValue_t initializeAfterTaskCreation() override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
bool traceVariable = false;
|
||||||
|
uint8_t traceCycles = 5;
|
||||||
|
uint8_t traceCounter = traceCycles;
|
||||||
|
|
||||||
|
enum TraceTypes {
|
||||||
|
NONE,
|
||||||
|
TRACE_DEV_0_UINT8,
|
||||||
|
TRACE_DEV_0_VECTOR
|
||||||
|
};
|
||||||
|
TraceTypes currentTraceType = TraceTypes::NONE;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* MISSION_CONTROLLER_TESTCONTROLLER_H_ */
|
||||||
@ -0,0 +1,18 @@
|
|||||||
|
#ifndef MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
|
||||||
|
#define MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
|
||||||
|
|
||||||
|
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||||
|
#include <OBSWConfig.h>
|
||||||
|
|
||||||
|
namespace testcontroller {
|
||||||
|
|
||||||
|
enum sourceObjectIds: object_id_t {
|
||||||
|
DEVICE_0_ID = objects::TEST_DEVICE_HANDLER_0,
|
||||||
|
DEVICE_1_ID = objects::TEST_DEVICE_HANDLER_1,
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_ */
|
||||||
5
tests/src/fsfw_tests/integration/devices/CMakeLists.txt
Normal file
5
tests/src/fsfw_tests/integration/devices/CMakeLists.txt
Normal file
@ -0,0 +1,5 @@
|
|||||||
|
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||||
|
TestCookie.cpp
|
||||||
|
TestDeviceHandler.cpp
|
||||||
|
TestEchoComIF.cpp
|
||||||
|
)
|
||||||
14
tests/src/fsfw_tests/integration/devices/TestCookie.cpp
Normal file
14
tests/src/fsfw_tests/integration/devices/TestCookie.cpp
Normal file
@ -0,0 +1,14 @@
|
|||||||
|
#include "TestCookie.h"
|
||||||
|
|
||||||
|
TestCookie::TestCookie(address_t address, size_t replyMaxLen):
|
||||||
|
address(address), replyMaxLen(replyMaxLen) {}
|
||||||
|
|
||||||
|
TestCookie::~TestCookie() {}
|
||||||
|
|
||||||
|
address_t TestCookie::getAddress() const {
|
||||||
|
return address;
|
||||||
|
}
|
||||||
|
|
||||||
|
size_t TestCookie::getReplyMaxLen() const {
|
||||||
|
return replyMaxLen;
|
||||||
|
}
|
||||||
22
tests/src/fsfw_tests/integration/devices/TestCookie.h
Normal file
22
tests/src/fsfw_tests/integration/devices/TestCookie.h
Normal file
@ -0,0 +1,22 @@
|
|||||||
|
#ifndef MISSION_DEVICES_TESTCOOKIE_H_
|
||||||
|
#define MISSION_DEVICES_TESTCOOKIE_H_
|
||||||
|
|
||||||
|
#include <fsfw/devicehandlers/CookieIF.h>
|
||||||
|
#include <cstddef>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Really simple cookie which does not do a lot.
|
||||||
|
*/
|
||||||
|
class TestCookie: public CookieIF {
|
||||||
|
public:
|
||||||
|
TestCookie(address_t address, size_t maxReplyLen);
|
||||||
|
virtual ~TestCookie();
|
||||||
|
|
||||||
|
address_t getAddress() const;
|
||||||
|
size_t getReplyMaxLen() const;
|
||||||
|
private:
|
||||||
|
address_t address = 0;
|
||||||
|
size_t replyMaxLen = 0;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_TESTCOOKIE_H_ */
|
||||||
804
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
Normal file
804
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
Normal file
@ -0,0 +1,804 @@
|
|||||||
|
#include "TestDeviceHandler.h"
|
||||||
|
#include "FSFWConfig.h"
|
||||||
|
|
||||||
|
#include "fsfw/datapool/PoolReadGuard.h"
|
||||||
|
|
||||||
|
#include <cstdlib>
|
||||||
|
|
||||||
|
TestDevice::TestDevice(object_id_t objectId, object_id_t comIF,
|
||||||
|
CookieIF * cookie, testdevice::DeviceIndex deviceIdx, bool fullInfoPrintout,
|
||||||
|
bool changingDataset):
|
||||||
|
DeviceHandlerBase(objectId, comIF, cookie), deviceIdx(deviceIdx),
|
||||||
|
dataset(this), fullInfoPrintout(fullInfoPrintout) {
|
||||||
|
}
|
||||||
|
|
||||||
|
TestDevice::~TestDevice() {}
|
||||||
|
|
||||||
|
void TestDevice::performOperationHook() {
|
||||||
|
if(periodicPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
if(oneShot) {
|
||||||
|
oneShot = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void TestDevice::doStartUp() {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::doStartUp: Switching On" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::doStartUp: Switching On\n", static_cast<int>(deviceIdx));
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
setMode(_MODE_TO_ON);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void TestDevice::doShutDown() {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::doShutDown: Switching Off" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::doShutDown: Switching Off\n", static_cast<int>(deviceIdx));
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
setMode(_MODE_SHUT_DOWN);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
|
||||||
|
using namespace testdevice;
|
||||||
|
*id = TEST_NORMAL_MODE_CMD;
|
||||||
|
if(DeviceHandlerBase::isAwaitingReply()) {
|
||||||
|
return NOTHING_TO_SEND;
|
||||||
|
}
|
||||||
|
return buildCommandFromCommand(*id, nullptr, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
|
||||||
|
if(mode == _MODE_TO_ON) {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called"
|
||||||
|
" from _MODE_TO_ON mode" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: "
|
||||||
|
"Was called from _MODE_TO_ON mode\n", deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
if(mode == _MODE_TO_NORMAL) {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
|
||||||
|
"from _MODE_TO_NORMAL mode" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
|
||||||
|
" _MODE_TO_NORMAL mode\n", deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
setMode(MODE_NORMAL);
|
||||||
|
}
|
||||||
|
if(mode == _MODE_SHUT_DOWN) {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
|
||||||
|
"from _MODE_SHUT_DOWN mode" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
|
||||||
|
"_MODE_SHUT_DOWN mode\n", deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
setMode(MODE_OFF);
|
||||||
|
}
|
||||||
|
return NOTHING_TO_SEND;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
|
||||||
|
if(mode == _MODE_TO_NORMAL) {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::doTransition: Custom transition to "
|
||||||
|
"normal mode" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::doTransition: Custom transition to normal mode\n",
|
||||||
|
deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
DeviceHandlerBase::doTransition(modeFrom, submodeFrom);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::buildCommandFromCommand(
|
||||||
|
DeviceCommandId_t deviceCommand, const uint8_t* commandData,
|
||||||
|
size_t commandDataLen) {
|
||||||
|
using namespace testdevice;
|
||||||
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||||
|
switch(deviceCommand) {
|
||||||
|
case(TEST_NORMAL_MODE_CMD): {
|
||||||
|
commandSent = true;
|
||||||
|
result = buildNormalModeCommand(deviceCommand, commandData, commandDataLen);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case(TEST_COMMAND_0): {
|
||||||
|
commandSent = true;
|
||||||
|
result = buildTestCommand0(deviceCommand, commandData, commandDataLen);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case(TEST_COMMAND_1): {
|
||||||
|
commandSent = true;
|
||||||
|
result = buildTestCommand1(deviceCommand, commandData, commandDataLen);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(TEST_NOTIF_SNAPSHOT_VAR): {
|
||||||
|
if(changingDatasets) {
|
||||||
|
changingDatasets = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
PoolReadGuard readHelper(&dataset.testUint8Var);
|
||||||
|
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
|
||||||
|
/* This will trigger a variable notification to the demo controller */
|
||||||
|
dataset.testUint8Var = 220;
|
||||||
|
dataset.testUint8Var.setValid(true);
|
||||||
|
}
|
||||||
|
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
|
||||||
|
/* This will trigger a variable snapshot to the demo controller */
|
||||||
|
dataset.testUint8Var = 30;
|
||||||
|
dataset.testUint8Var.setValid(true);
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(TEST_NOTIF_SNAPSHOT_SET): {
|
||||||
|
if(changingDatasets) {
|
||||||
|
changingDatasets = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
PoolReadGuard readHelper(&dataset.testFloat3Vec);
|
||||||
|
|
||||||
|
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
|
||||||
|
/* This will trigger a variable notification to the demo controller */
|
||||||
|
dataset.testFloat3Vec.value[0] = 60;
|
||||||
|
dataset.testFloat3Vec.value[1] = 70;
|
||||||
|
dataset.testFloat3Vec.value[2] = 55;
|
||||||
|
dataset.testFloat3Vec.setValid(true);
|
||||||
|
}
|
||||||
|
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
|
||||||
|
/* This will trigger a variable notification to the demo controller */
|
||||||
|
dataset.testFloat3Vec.value[0] = -60;
|
||||||
|
dataset.testFloat3Vec.value[1] = -70;
|
||||||
|
dataset.testFloat3Vec.value[2] = -55;
|
||||||
|
dataset.testFloat3Vec.setValid(true);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
result = DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t* commandData, size_t commandDataLen) {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if OBSW_VERBOSE_LEVEL >= 3
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice::buildTestCommand1: Building command from TEST_COMMAND_1\n");
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
#endif /* OBSW_VERBOSE_LEVEL >= 3 */
|
||||||
|
}
|
||||||
|
|
||||||
|
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
|
||||||
|
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||||
|
}
|
||||||
|
/* The command is passed on in the command buffer as it is */
|
||||||
|
passOnCommand(deviceCommand, commandData, commandDataLen);
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::buildTestCommand0(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t* commandData, size_t commandDataLen) {
|
||||||
|
using namespace testdevice;
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand0: Executing simple command "
|
||||||
|
" with completion reply" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::buildTestCommand0: Executing simple command with "
|
||||||
|
"completion reply\n", deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
|
||||||
|
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* The command is passed on in the command buffer as it is */
|
||||||
|
passOnCommand(deviceCommand, commandData, commandDataLen);
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::buildTestCommand1(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t* commandData,
|
||||||
|
size_t commandDataLen) {
|
||||||
|
using namespace testdevice;
|
||||||
|
if(commandDataLen < 7) {
|
||||||
|
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||||
|
}
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand1: Executing command with "
|
||||||
|
"data reply" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d:buildTestCommand1: Executing command with data reply\n",
|
||||||
|
deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
deviceCommand = EndianConverter::convertBigEndian(deviceCommand);
|
||||||
|
memcpy(commandBuffer, &deviceCommand, sizeof(deviceCommand));
|
||||||
|
|
||||||
|
/* Assign and check parameters */
|
||||||
|
uint16_t parameter1 = 0;
|
||||||
|
size_t size = commandDataLen;
|
||||||
|
ReturnValue_t result = SerializeAdapter::deSerialize(¶meter1,
|
||||||
|
&commandData, &size, SerializeIF::Endianness::BIG);
|
||||||
|
if(result == HasReturnvaluesIF::RETURN_FAILED) {
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Parameter 1 needs to be correct */
|
||||||
|
if(parameter1 != testdevice::COMMAND_1_PARAM1) {
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
uint64_t parameter2 = 0;
|
||||||
|
result = SerializeAdapter::deSerialize(¶meter2,
|
||||||
|
&commandData, &size, SerializeIF::Endianness::BIG);
|
||||||
|
if(parameter2!= testdevice::COMMAND_1_PARAM2){
|
||||||
|
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Pass on the parameters to the Echo IF */
|
||||||
|
commandBuffer[4] = (parameter1 & 0xFF00) >> 8;
|
||||||
|
commandBuffer[5] = (parameter1 & 0xFF);
|
||||||
|
parameter2 = EndianConverter::convertBigEndian(parameter2);
|
||||||
|
memcpy(commandBuffer + 6, ¶meter2, sizeof(parameter2));
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = sizeof(deviceCommand) + sizeof(parameter1) +
|
||||||
|
sizeof(parameter2);
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestDevice::passOnCommand(DeviceCommandId_t command, const uint8_t *commandData,
|
||||||
|
size_t commandDataLen) {
|
||||||
|
DeviceCommandId_t deviceCommandBe = EndianConverter::convertBigEndian(command);
|
||||||
|
memcpy(commandBuffer, &deviceCommandBe, sizeof(deviceCommandBe));
|
||||||
|
memcpy(commandBuffer + 4, commandData, commandDataLen);
|
||||||
|
rawPacket = commandBuffer;
|
||||||
|
rawPacketLen = sizeof(deviceCommandBe) + commandDataLen;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestDevice::fillCommandAndReplyMap() {
|
||||||
|
namespace td = testdevice;
|
||||||
|
insertInCommandAndReplyMap(testdevice::TEST_NORMAL_MODE_CMD, 5, &dataset);
|
||||||
|
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_0, 5);
|
||||||
|
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_1, 5);
|
||||||
|
|
||||||
|
/* No reply expected for these commands */
|
||||||
|
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_SET);
|
||||||
|
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_VAR);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::scanForReply(const uint8_t *start, size_t len,
|
||||||
|
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||||
|
using namespace testdevice;
|
||||||
|
|
||||||
|
/* Unless a command was sent explicitely, we don't expect any replies and ignore this
|
||||||
|
the packet. On a real device, there might be replies which are sent without a previous
|
||||||
|
command. */
|
||||||
|
if(not commandSent) {
|
||||||
|
return DeviceHandlerBase::IGNORE_FULL_PACKET;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
commandSent = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(len < sizeof(object_id_t)) {
|
||||||
|
return DeviceHandlerIF::LENGTH_MISSMATCH;
|
||||||
|
}
|
||||||
|
|
||||||
|
size_t size = len;
|
||||||
|
ReturnValue_t result = SerializeAdapter::deSerialize(foundId, &start, &size,
|
||||||
|
SerializeIF::Endianness::BIG);
|
||||||
|
if (result != RETURN_OK) {
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
DeviceCommandId_t pendingCmd = this->getPendingCommand();
|
||||||
|
|
||||||
|
switch(pendingCmd) {
|
||||||
|
|
||||||
|
case(TEST_NORMAL_MODE_CMD): {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if OBSW_VERBOSE_LEVEL >= 3
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " <<
|
||||||
|
TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::scanForReply: Reply for normal command (ID %d) "
|
||||||
|
"received!\n", deviceIdx, TEST_NORMAL_MODE_CMD);
|
||||||
|
#endif
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
*foundLen = len;
|
||||||
|
*foundId = pendingCmd;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
case(TEST_COMMAND_0): {
|
||||||
|
if(len < TEST_COMMAND_0_SIZE) {
|
||||||
|
return DeviceHandlerIF::LENGTH_MISSMATCH;
|
||||||
|
}
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for simple command "
|
||||||
|
"(ID " << TEST_COMMAND_0 << ") received!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::scanForReply: Reply for simple command (ID %d) "
|
||||||
|
"received!\n", deviceIdx, TEST_COMMAND_0);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
*foundLen = TEST_COMMAND_0_SIZE;
|
||||||
|
*foundId = pendingCmd;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
case(TEST_COMMAND_1): {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for data command "
|
||||||
|
"(ID " << TEST_COMMAND_1 << ") received!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::scanForReply: Reply for data command (ID %d) "
|
||||||
|
"received\n", deviceIdx, TEST_COMMAND_1);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
*foundLen = len;
|
||||||
|
*foundId = pendingCmd;
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
default:
|
||||||
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::interpretDeviceReply(DeviceCommandId_t id,
|
||||||
|
const uint8_t* packet) {
|
||||||
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||||
|
switch(id) {
|
||||||
|
/* Periodic replies */
|
||||||
|
case testdevice::TEST_NORMAL_MODE_CMD: {
|
||||||
|
result = interpretingNormalModeReply();
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
/* Simple reply */
|
||||||
|
case testdevice::TEST_COMMAND_0: {
|
||||||
|
result = interpretingTestReply0(id, packet);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
/* Data reply */
|
||||||
|
case testdevice::TEST_COMMAND_1: {
|
||||||
|
result = interpretingTestReply1(id, packet);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::interpretingNormalModeReply() {
|
||||||
|
CommandMessage directReplyMessage;
|
||||||
|
if(changingDatasets) {
|
||||||
|
PoolReadGuard readHelper(&dataset);
|
||||||
|
if(dataset.testUint8Var.value == 0) {
|
||||||
|
dataset.testUint8Var.value = 10;
|
||||||
|
dataset.testUint32Var.value = 777;
|
||||||
|
dataset.testFloat3Vec.value[0] = 2.5;
|
||||||
|
dataset.testFloat3Vec.value[1] = -2.5;
|
||||||
|
dataset.testFloat3Vec.value[2] = 2.5;
|
||||||
|
dataset.setValidity(true, true);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
dataset.testUint8Var.value = 0;
|
||||||
|
dataset.testUint32Var.value = 0;
|
||||||
|
dataset.testFloat3Vec.value[0] = 0.0;
|
||||||
|
dataset.testFloat3Vec.value[1] = 0.0;
|
||||||
|
dataset.testFloat3Vec.value[2] = 0.0;
|
||||||
|
dataset.setValidity(false, true);
|
||||||
|
}
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
PoolReadGuard readHelper(&dataset);
|
||||||
|
if(dataset.testUint8Var.value == 0) {
|
||||||
|
/* Reset state */
|
||||||
|
dataset.testUint8Var.value = 128;
|
||||||
|
}
|
||||||
|
else if(dataset.testUint8Var.value > 200) {
|
||||||
|
if(not resetAfterChange) {
|
||||||
|
/* This will trigger an update notification to the controller */
|
||||||
|
dataset.testUint8Var.setChanged(true);
|
||||||
|
resetAfterChange = true;
|
||||||
|
/* Decrement by 30 automatically. This will prevent any additional notifications. */
|
||||||
|
dataset.testUint8Var.value -= 30;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/* If the value is greater than 0, it will be decremented in a linear way */
|
||||||
|
else if(dataset.testUint8Var.value > 128) {
|
||||||
|
size_t sizeToDecrement = 0;
|
||||||
|
if(dataset.testUint8Var.value > 128 + 30) {
|
||||||
|
sizeToDecrement = 30;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
sizeToDecrement = dataset.testUint8Var.value - 128;
|
||||||
|
resetAfterChange = false;
|
||||||
|
}
|
||||||
|
dataset.testUint8Var.value -= sizeToDecrement;
|
||||||
|
}
|
||||||
|
else if(dataset.testUint8Var.value < 50) {
|
||||||
|
if(not resetAfterChange) {
|
||||||
|
/* This will trigger an update snapshot to the controller */
|
||||||
|
dataset.testUint8Var.setChanged(true);
|
||||||
|
resetAfterChange = true;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
/* Increment by 30 automatically. */
|
||||||
|
dataset.testUint8Var.value += 30;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/* Increment in linear way */
|
||||||
|
else if(dataset.testUint8Var.value < 128) {
|
||||||
|
size_t sizeToIncrement = 0;
|
||||||
|
if(dataset.testUint8Var.value < 128 - 20) {
|
||||||
|
sizeToIncrement = 20;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
sizeToIncrement = 128 - dataset.testUint8Var.value;
|
||||||
|
resetAfterChange = false;
|
||||||
|
}
|
||||||
|
dataset.testUint8Var.value += sizeToIncrement;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* TODO: Same for vector */
|
||||||
|
float vectorMean = (dataset.testFloat3Vec.value[0] + dataset.testFloat3Vec.value[1] +
|
||||||
|
dataset.testFloat3Vec.value[2]) / 3.0;
|
||||||
|
|
||||||
|
/* Lambda (private local function) */
|
||||||
|
auto sizeToAdd = [](bool tooHigh, float currentVal) {
|
||||||
|
if(tooHigh) {
|
||||||
|
if(currentVal - 20.0 > 10.0) {
|
||||||
|
return -10.0;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return 20.0 - currentVal;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if(std::abs(currentVal + 20.0) > 10.0) {
|
||||||
|
return 10.0;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return -20.0 - currentVal;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
if(vectorMean > 20.0 and std::abs(vectorMean - 20.0) > 1.0) {
|
||||||
|
if(not resetAfterChange) {
|
||||||
|
dataset.testFloat3Vec.setChanged(true);
|
||||||
|
resetAfterChange = true;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
float sizeToDecrementVal0 = 0;
|
||||||
|
float sizeToDecrementVal1 = 0;
|
||||||
|
float sizeToDecrementVal2 = 0;
|
||||||
|
|
||||||
|
sizeToDecrementVal0 = sizeToAdd(true, dataset.testFloat3Vec.value[0]);
|
||||||
|
sizeToDecrementVal1 = sizeToAdd(true, dataset.testFloat3Vec.value[1]);
|
||||||
|
sizeToDecrementVal2 = sizeToAdd(true, dataset.testFloat3Vec.value[2]);
|
||||||
|
|
||||||
|
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
|
||||||
|
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
|
||||||
|
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (vectorMean < -20.0 and std::abs(vectorMean + 20.0) < 1.0) {
|
||||||
|
if(not resetAfterChange) {
|
||||||
|
dataset.testFloat3Vec.setChanged(true);
|
||||||
|
resetAfterChange = true;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
float sizeToDecrementVal0 = 0;
|
||||||
|
float sizeToDecrementVal1 = 0;
|
||||||
|
float sizeToDecrementVal2 = 0;
|
||||||
|
|
||||||
|
sizeToDecrementVal0 = sizeToAdd(false, dataset.testFloat3Vec.value[0]);
|
||||||
|
sizeToDecrementVal1 = sizeToAdd(false, dataset.testFloat3Vec.value[1]);
|
||||||
|
sizeToDecrementVal2 = sizeToAdd(false, dataset.testFloat3Vec.value[2]);
|
||||||
|
|
||||||
|
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
|
||||||
|
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
|
||||||
|
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if(resetAfterChange) {
|
||||||
|
resetAfterChange = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::interpretingTestReply0(DeviceCommandId_t id, const uint8_t* packet) {
|
||||||
|
CommandMessage commandMessage;
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice::interpretingTestReply0: Generating step and finish reply" <<
|
||||||
|
std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice::interpretingTestReply0: Generating step and finish reply\n");
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
MessageQueueId_t commander = getCommanderQueueId(id);
|
||||||
|
/* Generate one step reply and the finish reply */
|
||||||
|
actionHelper.step(1, commander, id);
|
||||||
|
actionHelper.finish(true, commander, id);
|
||||||
|
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::interpretingTestReply1(DeviceCommandId_t id,
|
||||||
|
const uint8_t* packet) {
|
||||||
|
CommandMessage directReplyMessage;
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::interpretingReply1: Setting data reply" <<
|
||||||
|
std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::interpretingReply1: Setting data reply\n", deviceIdx);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
MessageQueueId_t commander = getCommanderQueueId(id);
|
||||||
|
/* Send reply with data */
|
||||||
|
ReturnValue_t result = actionHelper.reportData(commander, id, packet,
|
||||||
|
testdevice::TEST_COMMAND_1_SIZE, false);
|
||||||
|
|
||||||
|
if (result != RETURN_OK) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::error << "TestDevice" << deviceIdx << "::interpretingReply1: Sending data "
|
||||||
|
"reply failed!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printError("TestDevice%d::interpretingReply1: Sending data reply failed!\n",
|
||||||
|
deviceIdx);
|
||||||
|
#endif
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
/* Finish reply */
|
||||||
|
actionHelper.finish(true, commander, id);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
/* Finish reply */
|
||||||
|
actionHelper.finish(false, commander, id, result);
|
||||||
|
}
|
||||||
|
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t TestDevice::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
|
||||||
|
return 5000;
|
||||||
|
}
|
||||||
|
|
||||||
|
void TestDevice::enableFullDebugOutput(bool enable) {
|
||||||
|
this->fullInfoPrintout = enable;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||||
|
LocalDataPoolManager &poolManager) {
|
||||||
|
namespace td = testdevice;
|
||||||
|
localDataPoolMap.emplace(td::PoolIds::TEST_UINT8_ID, new PoolEntry<uint8_t>({0}));
|
||||||
|
localDataPoolMap.emplace(td::PoolIds::TEST_UINT32_ID, new PoolEntry<uint32_t>({0}));
|
||||||
|
localDataPoolMap.emplace(td::PoolIds::TEST_FLOAT_VEC_3_ID,
|
||||||
|
new PoolEntry<float>({0.0, 0.0, 0.0}));
|
||||||
|
|
||||||
|
sid_t sid;
|
||||||
|
if(deviceIdx == td::DeviceIndex::DEVICE_0) {
|
||||||
|
sid = td::TEST_SET_DEV_0_SID;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
sid = td::TEST_SET_DEV_1_SID;
|
||||||
|
}
|
||||||
|
/* Subscribe for periodic HK packets but do not enable reporting for now.
|
||||||
|
Non-diangostic with a period of one second */
|
||||||
|
poolManager.subscribeForPeriodicPacket(sid, false, 1.0, false);
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
|
||||||
|
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
|
||||||
|
uint16_t startAtIndex) {
|
||||||
|
using namespace testdevice;
|
||||||
|
switch (uniqueId) {
|
||||||
|
case ParameterUniqueIds::TEST_UINT32_0: {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
uint32_t newValue = 0;
|
||||||
|
ReturnValue_t result = newValues->getElement<uint32_t>(&newValue, 0, 0);
|
||||||
|
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 0 to "
|
||||||
|
"new value " << newValue << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::getParameter: Setting parameter 0 to new value %lu\n",
|
||||||
|
deviceIdx, static_cast<unsigned long>(newValue));
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
}
|
||||||
|
}
|
||||||
|
parameterWrapper->set(testParameter0);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case ParameterUniqueIds::TEST_INT32_1: {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
int32_t newValue = 0;
|
||||||
|
ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
|
||||||
|
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 1 to "
|
||||||
|
"new value " << newValue << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
|
||||||
|
deviceIdx, static_cast<unsigned long>(newValue));
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
|
||||||
|
}
|
||||||
|
}
|
||||||
|
parameterWrapper->set(testParameter1);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case ParameterUniqueIds::TEST_FLOAT_VEC3_2: {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
float newVector[3];
|
||||||
|
if(newValues->getElement<float>(newVector, 0, 0) != RETURN_OK or
|
||||||
|
newValues->getElement<float>(newVector + 1, 0, 1) != RETURN_OK or
|
||||||
|
newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 3 to "
|
||||||
|
"(float vector with 3 entries) to new values [" << newVector[0] << ", " <<
|
||||||
|
newVector[1] << ", " << newVector[2] << "]" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::getParameter: Setting parameter 3 to new values "
|
||||||
|
"[%f, %f, %f]\n", deviceIdx, newVector[0], newVector[1], newVector[2]);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
|
||||||
|
}
|
||||||
|
parameterWrapper->setVector(vectorFloatParams2);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(ParameterUniqueIds::PERIODIC_PRINT_ENABLED): {
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
uint8_t enabled = 0;
|
||||||
|
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
|
||||||
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
char const* printout = nullptr;
|
||||||
|
if (enabled) {
|
||||||
|
printout = "enabled";
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
printout = "disabled";
|
||||||
|
}
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::getParameter: Periodic printout " <<
|
||||||
|
printout << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::getParameter: Periodic printout %s", printout);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
}
|
||||||
|
|
||||||
|
parameterWrapper->set(periodicPrintout);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case(ParameterUniqueIds::CHANGING_DATASETS): {
|
||||||
|
|
||||||
|
uint8_t enabled = 0;
|
||||||
|
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
|
||||||
|
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
if(not enabled) {
|
||||||
|
PoolReadGuard readHelper(&dataset);
|
||||||
|
dataset.testUint8Var.value = 0;
|
||||||
|
dataset.testUint32Var.value = 0;
|
||||||
|
dataset.testFloat3Vec.value[0] = 0.0;
|
||||||
|
dataset.testFloat3Vec.value[0] = 0.0;
|
||||||
|
dataset.testFloat3Vec.value[1] = 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(fullInfoPrintout) {
|
||||||
|
char const* printout = nullptr;
|
||||||
|
if (enabled) {
|
||||||
|
printout = "enabled";
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
printout = "disabled";
|
||||||
|
}
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestDevice" << deviceIdx << "::getParameter: Changing datasets " <<
|
||||||
|
printout << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestDevice%d::getParameter: Changing datasets %s", printout);
|
||||||
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
|
}
|
||||||
|
|
||||||
|
parameterWrapper->set(changingDatasets);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
default:
|
||||||
|
return INVALID_IDENTIFIER_ID;
|
||||||
|
}
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
LocalPoolObjectBase* TestDevice::getPoolObjectHandle(lp_id_t localPoolId) {
|
||||||
|
namespace td = testdevice;
|
||||||
|
if (localPoolId == td::PoolIds::TEST_UINT8_ID) {
|
||||||
|
return &dataset.testUint8Var;
|
||||||
|
}
|
||||||
|
else if (localPoolId == td::PoolIds::TEST_UINT32_ID) {
|
||||||
|
return &dataset.testUint32Var;
|
||||||
|
}
|
||||||
|
else if(localPoolId == td::PoolIds::TEST_FLOAT_VEC_3_ID) {
|
||||||
|
return &dataset.testFloat3Vec;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
}
|
||||||
142
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.h
Normal file
142
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.h
Normal file
@ -0,0 +1,142 @@
|
|||||||
|
#ifndef TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
|
||||||
|
#define TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
|
||||||
|
|
||||||
|
#include "devicedefinitions/testDeviceDefinitions.h"
|
||||||
|
|
||||||
|
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||||
|
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
|
||||||
|
#include "fsfw/timemanager/Countdown.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Basic dummy device handler to test device commanding without a physical device.
|
||||||
|
* @details
|
||||||
|
* This test device handler provided a basic demo for the device handler object.
|
||||||
|
* It can also be commanded with the following PUS services, using
|
||||||
|
* the specified object ID of the test device handler.
|
||||||
|
*
|
||||||
|
* 1. PUS Service 8 - Functional commanding
|
||||||
|
* 2. PUS Service 2 - Device access, raw commanding
|
||||||
|
* 3. PUS Service 20 - Parameter Management
|
||||||
|
* 4. PUS Service 3 - Housekeeping
|
||||||
|
|
||||||
|
* @author R. Mueller
|
||||||
|
* @ingroup devices
|
||||||
|
*/
|
||||||
|
class TestDevice: public DeviceHandlerBase {
|
||||||
|
public:
|
||||||
|
/**
|
||||||
|
* Build the test device in the factory.
|
||||||
|
* @param objectId This ID will be assigned to the test device handler.
|
||||||
|
* @param comIF The ID of the Communication IF used by test device handler.
|
||||||
|
* @param cookie Cookie object used by the test device handler. This is
|
||||||
|
* also used and passed to the comIF object.
|
||||||
|
* @param onImmediately This will start a transition to MODE_ON immediately
|
||||||
|
* so the device handler jumps into #doStartUp. Should only be used
|
||||||
|
* in development to reduce need of commanding while debugging.
|
||||||
|
* @param changingDataset
|
||||||
|
* Will be used later to change the local datasets containeds in the device.
|
||||||
|
*/
|
||||||
|
TestDevice(object_id_t objectId, object_id_t comIF, CookieIF * cookie,
|
||||||
|
testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0,
|
||||||
|
bool fullInfoPrintout = false, bool changingDataset = true);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This can be used to enable and disable a lot of demo print output.
|
||||||
|
* @param enable
|
||||||
|
*/
|
||||||
|
void enableFullDebugOutput(bool enable);
|
||||||
|
|
||||||
|
virtual ~ TestDevice();
|
||||||
|
|
||||||
|
//! Size of internal buffer used for communication.
|
||||||
|
static constexpr uint8_t MAX_BUFFER_SIZE = 255;
|
||||||
|
|
||||||
|
//! Unique index if the device handler is created multiple times.
|
||||||
|
testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0;
|
||||||
|
|
||||||
|
protected:
|
||||||
|
testdevice::TestDataSet dataset;
|
||||||
|
//! This is used to reset the dataset after a commanded change has been made.
|
||||||
|
bool resetAfterChange = false;
|
||||||
|
bool commandSent = false;
|
||||||
|
|
||||||
|
/** DeviceHandlerBase overrides (see DHB documentation) */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Hook into the DHB #performOperation call which is executed
|
||||||
|
* periodically.
|
||||||
|
*/
|
||||||
|
void performOperationHook() override;
|
||||||
|
|
||||||
|
virtual void doStartUp() override;
|
||||||
|
virtual void doShutDown() override;
|
||||||
|
|
||||||
|
virtual ReturnValue_t buildNormalDeviceCommand(
|
||||||
|
DeviceCommandId_t * id) override;
|
||||||
|
virtual ReturnValue_t buildTransitionDeviceCommand(
|
||||||
|
DeviceCommandId_t * id) override;
|
||||||
|
virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t
|
||||||
|
deviceCommand, const uint8_t * commandData,
|
||||||
|
size_t commandDataLen) override;
|
||||||
|
|
||||||
|
virtual void fillCommandAndReplyMap() override;
|
||||||
|
|
||||||
|
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||||
|
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||||
|
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||||
|
const uint8_t *packet) override;
|
||||||
|
virtual uint32_t getTransitionDelayMs(Mode_t modeFrom,
|
||||||
|
Mode_t modeTo) override;
|
||||||
|
|
||||||
|
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||||
|
|
||||||
|
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||||
|
LocalDataPoolManager& poolManager) override;
|
||||||
|
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;
|
||||||
|
|
||||||
|
/* HasParametersIF overrides */
|
||||||
|
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
|
||||||
|
ParameterWrapper *parameterWrapper,
|
||||||
|
const ParameterWrapper *newValues, uint16_t startAtIndex) override;
|
||||||
|
|
||||||
|
uint8_t commandBuffer[MAX_BUFFER_SIZE];
|
||||||
|
|
||||||
|
bool fullInfoPrintout = false;
|
||||||
|
bool oneShot = true;
|
||||||
|
|
||||||
|
/* Variables for parameter service */
|
||||||
|
uint32_t testParameter0 = 0;
|
||||||
|
int32_t testParameter1 = -2;
|
||||||
|
float vectorFloatParams2[3] = {};
|
||||||
|
|
||||||
|
/* Change device handler functionality, changeable via parameter service */
|
||||||
|
uint8_t periodicPrintout = false;
|
||||||
|
uint8_t changingDatasets = false;
|
||||||
|
|
||||||
|
ReturnValue_t buildNormalModeCommand(DeviceCommandId_t deviceCommand,
|
||||||
|
const uint8_t* commandData, size_t commandDataLen);
|
||||||
|
ReturnValue_t buildTestCommand0(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
|
||||||
|
size_t commandDataLen);
|
||||||
|
ReturnValue_t buildTestCommand1(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
|
||||||
|
size_t commandDataLen);
|
||||||
|
void passOnCommand(DeviceCommandId_t command, const uint8_t* commandData,
|
||||||
|
size_t commandDataLen);
|
||||||
|
|
||||||
|
ReturnValue_t interpretingNormalModeReply();
|
||||||
|
ReturnValue_t interpretingTestReply0(DeviceCommandId_t id,
|
||||||
|
const uint8_t* packet);
|
||||||
|
ReturnValue_t interpretingTestReply1(DeviceCommandId_t id,
|
||||||
|
const uint8_t* packet);
|
||||||
|
ReturnValue_t interpretingTestReply2(DeviceCommandId_t id, const uint8_t* packet);
|
||||||
|
|
||||||
|
/* Some timer utilities */
|
||||||
|
uint8_t divider1 = 2;
|
||||||
|
PeriodicOperationDivider opDivider1 = PeriodicOperationDivider(divider1);
|
||||||
|
uint8_t divider2 = 10;
|
||||||
|
PeriodicOperationDivider opDivider2 = PeriodicOperationDivider(divider2);
|
||||||
|
static constexpr uint32_t initTimeout = 2000;
|
||||||
|
Countdown countdown1 = Countdown(initTimeout);
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* TEST_TESTDEVICES_TESTDEVICEHANDLER_H_ */
|
||||||
86
tests/src/fsfw_tests/integration/devices/TestEchoComIF.cpp
Normal file
86
tests/src/fsfw_tests/integration/devices/TestEchoComIF.cpp
Normal file
@ -0,0 +1,86 @@
|
|||||||
|
#include "TestEchoComIF.h"
|
||||||
|
#include "TestCookie.h"
|
||||||
|
|
||||||
|
#include <fsfw/serialize/SerializeAdapter.h>
|
||||||
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||||
|
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||||
|
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||||
|
|
||||||
|
|
||||||
|
TestEchoComIF::TestEchoComIF(object_id_t objectId):
|
||||||
|
SystemObject(objectId) {
|
||||||
|
}
|
||||||
|
|
||||||
|
TestEchoComIF::~TestEchoComIF() {}
|
||||||
|
|
||||||
|
ReturnValue_t TestEchoComIF::initializeInterface(CookieIF * cookie) {
|
||||||
|
TestCookie* dummyCookie = dynamic_cast<TestCookie*>(cookie);
|
||||||
|
if(dummyCookie == nullptr) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "TestEchoComIF::initializeInterface: Invalid cookie!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("TestEchoComIF::initializeInterface: Invalid cookie!\n");
|
||||||
|
#endif
|
||||||
|
return NULLPOINTER;
|
||||||
|
}
|
||||||
|
|
||||||
|
auto resultPair = replyMap.emplace(
|
||||||
|
dummyCookie->getAddress(), ReplyBuffer(dummyCookie->getReplyMaxLen()));
|
||||||
|
if(not resultPair.second) {
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestEchoComIF::sendMessage(CookieIF *cookie,
|
||||||
|
const uint8_t * sendData, size_t sendLen) {
|
||||||
|
TestCookie* dummyCookie = dynamic_cast<TestCookie*>(cookie);
|
||||||
|
if(dummyCookie == nullptr) {
|
||||||
|
return NULLPOINTER;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
|
||||||
|
if(sendLen > replyBuffer.capacity()) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::warning << "TestEchoComIF::sendMessage: Send length " << sendLen << " larger than "
|
||||||
|
"current reply buffer length!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printWarning("TestEchoComIF::sendMessage: Send length %d larger than current "
|
||||||
|
"reply buffer length!\n", sendLen);
|
||||||
|
#endif
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
replyBuffer.resize(sendLen);
|
||||||
|
memcpy(replyBuffer.data(), sendData, sendLen);
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestEchoComIF::getSendSuccess(CookieIF *cookie) {
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestEchoComIF::requestReceiveMessage(CookieIF *cookie,
|
||||||
|
size_t requestLen) {
|
||||||
|
return RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestEchoComIF::readReceivedMessage(CookieIF *cookie,
|
||||||
|
uint8_t **buffer, size_t *size) {
|
||||||
|
TestCookie* dummyCookie = dynamic_cast<TestCookie*>(cookie);
|
||||||
|
if(dummyCookie == nullptr) {
|
||||||
|
return NULLPOINTER;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
|
||||||
|
*buffer = replyBuffer.data();
|
||||||
|
*size = replyBuffer.size();
|
||||||
|
|
||||||
|
dummyReplyCounter ++;
|
||||||
|
if(dummyReplyCounter == 10) {
|
||||||
|
// add anything that needs to be read periodically by dummy handler
|
||||||
|
dummyReplyCounter = 0;
|
||||||
|
}
|
||||||
|
return RETURN_OK;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
56
tests/src/fsfw_tests/integration/devices/TestEchoComIF.h
Normal file
56
tests/src/fsfw_tests/integration/devices/TestEchoComIF.h
Normal file
@ -0,0 +1,56 @@
|
|||||||
|
#ifndef TEST_TESTDEVICES_TESTECHOCOMIF_H_
|
||||||
|
#define TEST_TESTDEVICES_TESTECHOCOMIF_H_
|
||||||
|
|
||||||
|
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||||
|
#include <fsfw/objectmanager/SystemObject.h>
|
||||||
|
#include <fsfw/ipc/MessageQueueIF.h>
|
||||||
|
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
|
||||||
|
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Used to simply returned sent data from device handler
|
||||||
|
* @details Assign this com IF in the factory when creating the device handler
|
||||||
|
* @ingroup test
|
||||||
|
*/
|
||||||
|
class TestEchoComIF: public DeviceCommunicationIF, public SystemObject {
|
||||||
|
public:
|
||||||
|
TestEchoComIF(object_id_t objectId);
|
||||||
|
virtual ~TestEchoComIF();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* DeviceCommunicationIF overrides
|
||||||
|
* (see DeviceCommunicationIF documentation
|
||||||
|
*/
|
||||||
|
ReturnValue_t initializeInterface(CookieIF * cookie) override;
|
||||||
|
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
|
||||||
|
size_t sendLen) override;
|
||||||
|
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||||
|
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
|
||||||
|
size_t requestLen) override;
|
||||||
|
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
||||||
|
size_t *size) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Send TM packet which contains received data as TM[17,130].
|
||||||
|
* Wiretapping will do the same.
|
||||||
|
* @param data
|
||||||
|
* @param len
|
||||||
|
*/
|
||||||
|
void sendTmPacket(const uint8_t *data,uint32_t len);
|
||||||
|
|
||||||
|
AcceptsTelemetryIF* funnel = nullptr;
|
||||||
|
MessageQueueIF* tmQueue = nullptr;
|
||||||
|
size_t replyMaxLen = 0;
|
||||||
|
|
||||||
|
using ReplyBuffer = std::vector<uint8_t>;
|
||||||
|
std::map<address_t, ReplyBuffer> replyMap;
|
||||||
|
|
||||||
|
uint8_t dummyReplyCounter = 0;
|
||||||
|
|
||||||
|
uint16_t packetSubCounter = 0;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* TEST_TESTDEVICES_TESTECHOCOMIF_H_ */
|
||||||
@ -0,0 +1,100 @@
|
|||||||
|
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
|
||||||
|
#define MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
|
||||||
|
|
||||||
|
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||||
|
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||||
|
#include <commonSystemObjects.h>
|
||||||
|
|
||||||
|
namespace testdevice {
|
||||||
|
|
||||||
|
enum ParameterUniqueIds: uint8_t {
|
||||||
|
TEST_UINT32_0,
|
||||||
|
TEST_INT32_1,
|
||||||
|
TEST_FLOAT_VEC3_2,
|
||||||
|
PERIODIC_PRINT_ENABLED,
|
||||||
|
CHANGING_DATASETS
|
||||||
|
};
|
||||||
|
|
||||||
|
enum DeviceIndex: uint32_t {
|
||||||
|
DEVICE_0,
|
||||||
|
DEVICE_1
|
||||||
|
};
|
||||||
|
|
||||||
|
/** Normal mode command. This ID is also used to access the set variable via the housekeeping
|
||||||
|
service */
|
||||||
|
static constexpr DeviceCommandId_t TEST_NORMAL_MODE_CMD = 0;
|
||||||
|
|
||||||
|
//! Test completion reply
|
||||||
|
static constexpr DeviceCommandId_t TEST_COMMAND_0 = 1;
|
||||||
|
//! Test data reply
|
||||||
|
static constexpr DeviceCommandId_t TEST_COMMAND_1 = 2;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Can be used to trigger a notification to the demo controller. For DEVICE_0, only notifications
|
||||||
|
* messages will be generated while for DEVICE_1, snapshot messages will be generated.
|
||||||
|
*
|
||||||
|
* DEVICE_0 VAR: Sets the set variable 0 above a treshold (200) to trigger a variable
|
||||||
|
* notification.
|
||||||
|
* DEVICE_0 SET: Sets the vector mean values above a treshold (mean larger than 20) to trigger a
|
||||||
|
* set notification.
|
||||||
|
*
|
||||||
|
* DEVICE_1 VAR: Sets the set variable 0 below a treshold (less than 50 but not 0) to trigger a
|
||||||
|
* variable snapshot.
|
||||||
|
* DEVICE_1 SET: Sets the set vector mean values below a treshold (mean smaller than -20) to
|
||||||
|
* trigger a set snapshot message.
|
||||||
|
*/
|
||||||
|
static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_VAR = 3;
|
||||||
|
static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_SET = 4;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Can be used to trigger a snapshot message to the demo controller.
|
||||||
|
* Depending on the device index, a notification will be triggered for different set variables.
|
||||||
|
*
|
||||||
|
* DEVICE_0: Sets the set variable 0 below a treshold (below 50 but not 0) to trigger
|
||||||
|
* a variable snapshot
|
||||||
|
* DEVICE_1: Sets the vector mean values below a treshold (mean less than -20) to trigger a
|
||||||
|
* set snapshot
|
||||||
|
*/
|
||||||
|
static constexpr DeviceCommandId_t TEST_SNAPSHOT = 5;
|
||||||
|
|
||||||
|
//! Generates a random value for variable 1 of the dataset.
|
||||||
|
static constexpr DeviceCommandId_t GENERATE_SET_VAR_1_RNG_VALUE = 6;
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* These parameters are sent back with the command ID as a data reply
|
||||||
|
*/
|
||||||
|
static constexpr uint16_t COMMAND_1_PARAM1 = 0xBAB0; //!< param1, 2 bytes
|
||||||
|
//! param2, 8 bytes
|
||||||
|
static constexpr uint64_t COMMAND_1_PARAM2 = 0x000000524F42494E;
|
||||||
|
|
||||||
|
static constexpr size_t TEST_COMMAND_0_SIZE = sizeof(TEST_COMMAND_0);
|
||||||
|
static constexpr size_t TEST_COMMAND_1_SIZE = sizeof(TEST_COMMAND_1) + sizeof(COMMAND_1_PARAM1) +
|
||||||
|
sizeof(COMMAND_1_PARAM2);
|
||||||
|
|
||||||
|
enum PoolIds: lp_id_t {
|
||||||
|
TEST_UINT8_ID = 0,
|
||||||
|
TEST_UINT32_ID = 1,
|
||||||
|
TEST_FLOAT_VEC_3_ID = 2
|
||||||
|
};
|
||||||
|
|
||||||
|
static constexpr uint8_t TEST_SET_ID = TEST_NORMAL_MODE_CMD;
|
||||||
|
static const sid_t TEST_SET_DEV_0_SID = sid_t(objects::TEST_DEVICE_HANDLER_0, TEST_SET_ID);
|
||||||
|
static const sid_t TEST_SET_DEV_1_SID = sid_t(objects::TEST_DEVICE_HANDLER_1, TEST_SET_ID);
|
||||||
|
|
||||||
|
class TestDataSet: public StaticLocalDataSet<3> {
|
||||||
|
public:
|
||||||
|
TestDataSet(HasLocalDataPoolIF* owner): StaticLocalDataSet(owner, TEST_SET_ID) {}
|
||||||
|
TestDataSet(object_id_t owner): StaticLocalDataSet(sid_t(owner, TEST_SET_ID)) {}
|
||||||
|
|
||||||
|
lp_var_t<uint8_t> testUint8Var = lp_var_t<uint8_t>(
|
||||||
|
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT8_ID), this);
|
||||||
|
lp_var_t<uint32_t> testUint32Var = lp_var_t<uint32_t>(
|
||||||
|
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT32_ID), this);
|
||||||
|
lp_vec_t<float ,3> testFloat3Vec = lp_vec_t<float, 3>(
|
||||||
|
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_FLOAT_VEC_3_ID), this);
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_ */
|
||||||
3
tests/src/fsfw_tests/integration/task/CMakeLists.txt
Normal file
3
tests/src/fsfw_tests/integration/task/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
|||||||
|
target_sources(${TARGET_NAME} PRIVATE
|
||||||
|
TestTask.cpp
|
||||||
|
)
|
||||||
80
tests/src/fsfw_tests/integration/task/TestTask.cpp
Normal file
80
tests/src/fsfw_tests/integration/task/TestTask.cpp
Normal file
@ -0,0 +1,80 @@
|
|||||||
|
#include "TestTask.h"
|
||||||
|
|
||||||
|
#include <fsfw/objectmanager/ObjectManager.h>
|
||||||
|
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||||
|
|
||||||
|
bool TestTask::oneShotAction = true;
|
||||||
|
MutexIF* TestTask::testLock = nullptr;
|
||||||
|
|
||||||
|
TestTask::TestTask(object_id_t objectId, bool periodicPrintout, bool periodicEvent):
|
||||||
|
SystemObject(objectId), testMode(testModes::A),
|
||||||
|
periodicPrinout(periodicPrintout), periodicEvent(periodicEvent) {
|
||||||
|
if(testLock == nullptr) {
|
||||||
|
testLock = MutexFactory::instance()->createMutex();
|
||||||
|
}
|
||||||
|
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
||||||
|
}
|
||||||
|
|
||||||
|
TestTask::~TestTask() {
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
|
||||||
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
testLock->lockMutex(MutexIF::TimeoutType::WAITING, 20);
|
||||||
|
if(oneShotAction) {
|
||||||
|
// Add code here which should only be run once
|
||||||
|
performOneShotAction();
|
||||||
|
oneShotAction = false;
|
||||||
|
}
|
||||||
|
testLock->unlockMutex();
|
||||||
|
|
||||||
|
// Add code here which should only be run once per performOperation
|
||||||
|
performPeriodicAction();
|
||||||
|
|
||||||
|
// Add code here which should only be run on alternating cycles.
|
||||||
|
if(testMode == testModes::A) {
|
||||||
|
performActionA();
|
||||||
|
testMode = testModes::B;
|
||||||
|
}
|
||||||
|
else if(testMode == testModes::B) {
|
||||||
|
performActionB();
|
||||||
|
testMode = testModes::A;
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestTask::performOneShotAction() {
|
||||||
|
/* Everything here will only be performed once. */
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
ReturnValue_t TestTask::performPeriodicAction() {
|
||||||
|
/* This is performed each task cycle */
|
||||||
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
|
||||||
|
if(periodicPrinout) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::info << "TestTask::performPeriodicAction: Hello World!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printInfo("TestTask::performPeriodicAction: Hello World!\n");
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
if(periodicEvent) {
|
||||||
|
triggerEvent(TEST_EVENT, 0x1234, 0x4321);
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestTask::performActionA() {
|
||||||
|
/* This is performed each alternating task cycle */
|
||||||
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t TestTask::performActionB() {
|
||||||
|
/* This is performed each alternating task cycle */
|
||||||
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
56
tests/src/fsfw_tests/integration/task/TestTask.h
Normal file
56
tests/src/fsfw_tests/integration/task/TestTask.h
Normal file
@ -0,0 +1,56 @@
|
|||||||
|
#ifndef MISSION_DEMO_TESTTASK_H_
|
||||||
|
#define MISSION_DEMO_TESTTASK_H_
|
||||||
|
|
||||||
|
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||||
|
#include <fsfw/objectmanager/SystemObject.h>
|
||||||
|
#include <fsfw/storagemanager/StorageManagerIF.h>
|
||||||
|
|
||||||
|
#include "fsfw/events/Event.h"
|
||||||
|
#include "events/subsystemIdRanges.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Test class for general C++ testing and any other code which will not be part of the
|
||||||
|
* primary mission software.
|
||||||
|
* @details
|
||||||
|
* Should not be used for board specific tests. Instead, a derived board test class should be used.
|
||||||
|
*/
|
||||||
|
class TestTask :
|
||||||
|
public SystemObject,
|
||||||
|
public ExecutableObjectIF,
|
||||||
|
public HasReturnvaluesIF {
|
||||||
|
public:
|
||||||
|
TestTask(object_id_t objectId, bool periodicPrintout = false, bool periodicEvent = false);
|
||||||
|
virtual ~TestTask();
|
||||||
|
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
|
||||||
|
|
||||||
|
static constexpr uint8_t subsystemId = SUBSYSTEM_ID::TEST_TASK_ID;
|
||||||
|
static constexpr Event TEST_EVENT = event::makeEvent(subsystemId, 0, severity::INFO);
|
||||||
|
|
||||||
|
protected:
|
||||||
|
virtual ReturnValue_t performOneShotAction();
|
||||||
|
virtual ReturnValue_t performPeriodicAction();
|
||||||
|
virtual ReturnValue_t performActionA();
|
||||||
|
virtual ReturnValue_t performActionB();
|
||||||
|
|
||||||
|
enum testModes: uint8_t {
|
||||||
|
A,
|
||||||
|
B
|
||||||
|
};
|
||||||
|
|
||||||
|
testModes testMode;
|
||||||
|
bool periodicPrinout = false;
|
||||||
|
bool periodicEvent = false;
|
||||||
|
|
||||||
|
bool testFlag = false;
|
||||||
|
uint8_t counter { 1 };
|
||||||
|
uint8_t counterTrigger { 3 };
|
||||||
|
|
||||||
|
void performPusInjectorTest();
|
||||||
|
void examplePacketTest();
|
||||||
|
private:
|
||||||
|
static bool oneShotAction;
|
||||||
|
static MutexIF* testLock;
|
||||||
|
StorageManagerIF* IPCStore;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* TESTTASK_H_ */
|
||||||
Loading…
Reference in New Issue
Block a user