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fixed merge conflict and copied max13865 code

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This commit is contained in:
Jakob Meier
2021-03-05 12:57:42 +01:00
parent 93636426b6
commit b75eef7c51
163 changed files with 1207 additions and 16912 deletions
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255
bsp_q7s/InitMission.cpp
View File

@ -2,6 +2,8 @@
#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
@ -13,7 +15,7 @@
#include <iostream>
// This is configured for linux without \cr
/* This is configured for linux without CR */
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
@ -28,9 +30,9 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF *objectManager = nullptr;
void InitMission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
void initmission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */
objectManager = new ObjectManager(ObjectFactory::produce);
sif::info << "Initializing all objects.." << std::endl;
objectManager->initialize();
@ -39,148 +41,151 @@ void InitMission::initMission() {
initTasks();
}
void InitMission::initTasks(){
/* TMTC Distribution */
PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
ReturnValue_t result = TmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
if(factory == nullptr) {
/* Should never happen ! */
return;
}
#if OBSW_PRINT_MISSED_DEADLINES == 1
void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
#else
void (*missedDeadlineFunc) (void) = nullptr;
#endif
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent(
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Object add component failed" << std::endl;
initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
}
result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
}
/* UDP bridge */
PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
}
PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
}
/* PUS Services */
PeriodicTaskIF* PusVerification = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
}
PeriodicTaskIF* PusEvents = TaskFactory::instance()->
createPeriodicTask("PUS_VERIF_1", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
createPeriodicTask("PUS_HIGH_PRIO", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.200, nullptr);
result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
createPeriodicTask("PUS_MED_PRIO", 40,
PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.8, nullptr);
result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
}
PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
1.6, nullptr);
result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result!=HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 4.0,
nullptr);
result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!"
<< std::endl;
}
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
#if TE0720 == 0
FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr);
result = pst::gomspacePstInit(GomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization "
<< "failed!" << std::endl;
}
#endif
#if TE0720 == 1 && TEST_LIBGPIOD == 1
PeriodicTaskIF* TestTask = TaskFactory::instance()->
createPeriodicTask("Libgpiod Test Task", 60,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
result = TestTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component libgpiod test task object" << std::endl;
FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
result = pst::gomspacePstInit(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
#endif
//Main thread sleep
sif::info << "Starting tasks.." << std::endl;
TmTcDistributor->startTask();
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
}
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
#if TE0720 == 0
GomSpacePstTask->startTask();
gomSpacePstTask->startTask();
#endif
PollingSequenceTableTaskDefault->startTask();
pollingSequenceTableTaskDefault->startTask();
PusVerification->startTask();
PusEvents->startTask();
PusHighPrio->startTask();
PusMedPrio->startTask();
PusLowPrio->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if TE0720 == 1 && TEST_LIBGPIOD == 1
TestTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
testTask->startTask();
sif::info << "Tasks started.." << std::endl;
}

68
bsp_q7s/ObjectFactory.cpp
View File

@ -4,15 +4,10 @@
#include <devices/addresses.h>
#include <devices/gpioIds.h>
#include <tmtc/pusIds.h>
#include <devices/powerSwitcherList.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfwconfig/devices/powerSwitcherList.h>
#include <bsp_q7s/devices/HeaterHandler.h>
#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
@ -21,8 +16,7 @@
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
#include <mission/devices/HeaterHandler.h>
#include <mission/devices/SolarArrayDeploymentHandler.h>
#include <mission/devices/SyrlinksHkHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
@ -38,8 +32,15 @@
#include <linux/uart/UartComIF.h>
#include <linux/uart/UartCookie.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#if TEST_LIBGPIOD == 1
#include "LibgpiodTest.h"
#include <linux/boardtest/LibgpiodTest.h>
#endif
void Factory::setStaticFrameworkObjectIds() {
@ -125,48 +126,49 @@ void ObjectFactory::produce(){
new LinuxLibgpioIF(objects::GPIO_IF);
#if TE0720 == 0
/* Pin H2-11 on stack connector */
GpioConfig_t gpioConfigHeater0(std::string("gpiochip7"), 16,
std::string("Heater0"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 16, std::string("Heater0"), gpio::OUT,
0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
/* Pin H2-12 on stack connector */
GpioConfig_t gpioConfigHeater1(std::string("gpiochip7"), 12,
std::string("Heater1"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater1(std::string("gpiochip7"), 12,
std::string("Heater1"), gpio::OUT, 0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
/* Pin H2-13 on stack connector */
GpioConfig_t gpioConfigHeater2(std::string("gpiochip7"), 7,
GpiodRegular gpioConfigHeater2(std::string("gpiochip7"), 7,
std::string("Heater2"), gpio::OUT, 0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
GpioConfig_t gpioConfigHeater3(std::string("gpiochip7"), 5,
std::string("Heater3"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater3(std::string("gpiochip7"), 5, std::string("Heater3"), gpio::OUT,
0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
GpioConfig_t gpioConfigHeater4(std::string("gpiochip7"), 3,
std::string("Heater4"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater4(std::string("gpiochip7"), 3, std::string("Heater4"), gpio::OUT,
0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
GpioConfig_t gpioConfigHeater5(std::string("gpiochip7"), 0,
std::string("Heater5"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater5(std::string("gpiochip7"), 0, std::string("Heater5"), gpio::OUT,
0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
GpioConfig_t gpioConfigHeater6(std::string("gpiochip7"), 1,
std::string("Heater6"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater6(std::string("gpiochip7"), 1, std::string("Heater6"), gpio::OUT,
0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
GpioConfig_t gpioConfigHeater7(std::string("gpiochip7"), 11,
std::string("Heater7"), gpio::OUT, 0);
GpiodRegular gpioConfigHeater7(std::string("gpiochip7"), 11, std::string("Heater7"), gpio::OUT,
0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpioConfig_t gpioConfigDeplSA0(std::string("gpiochip7"), 4,
GpiodRegular gpioConfigDeplSA0(std::string("gpiochip7"), 4,
std::string("DeplSA1"), gpio::OUT, 0);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
GpioConfig_t gpioConfigDeplSA1(std::string("gpiochip7"), 2,
GpiodRegular gpioConfigDeplSA1(std::string("gpiochip7"), 2,
std::string("DeplSA2"), gpio::OUT, 0);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
@ -192,17 +194,17 @@ void ObjectFactory::produce(){
#if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::Test_ID, gpioConfigMio0);
gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#elif TE0720 == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
GpiodRegular gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
std::string("Heater0"), gpio::OUT, 0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
}

37
bsp_q7s/boardtest/LibgpiodTest.cpp
View File

@ -1,37 +0,0 @@
#include "LibgpiodTest.h"
#include <fsfwconfig/devices/gpioIds.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
GpioCookie* gpioCookie):
TestTask(objectId) {
gpioInterface = objectManager->get<GpioIF>(gpioIfobjectId);
if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->initialize(gpioCookie);
}
LibgpiodTest::~LibgpiodTest() {
}
ReturnValue_t LibgpiodTest::performPeriodicAction() {
int gpioState;
ReturnValue_t result;
result = gpioInterface->readGpio(gpioIds::Test_ID, &gpioState);
if (result != RETURN_OK) {
sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
<< std::endl;
return RETURN_FAILED;
}
else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
<< std::endl;
}
return RETURN_OK;
}