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linux working

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This commit is contained in:
Robin Müller 2020-09-16 16:22:36 +02:00 committed by Robin.Mueller
parent 2d9d01b5d0
commit bc525ab2eb
47 changed files with 1926 additions and 6 deletions
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9
.gitignore vendored Normal file
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@ -0,0 +1,9 @@
_obj
_bin
_dep
.settings
.metadata
.project
.cproject
__pycache__

5
Makefile
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@ -19,11 +19,6 @@ OS_FSFW = linux
CUSTOM_DEFINES += -D$(OS_FSFW)
CUSTOM_DEFINES += -DLINUX
SW_VERSION = 1
SW_SUBVERSION = 6
CUSTOM_DEFINES += -DSW_VERSION=$(SW_VERSION)
CUSTOM_DEFINES += -DSW_SUBVERSION=$(SW_SUBVERSION)
# General folder paths
FRAMEWORK_PATH = fsfw
MISSION_PATH = mission

168
bsp_linux/InitMission.cpp Normal file
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#include <PollingSequenceFactory.h>
#include <dataPoolInit.h>
#include <Factory.h>
#include <systemObjectList.h>
#include <fsfw/datapool/DataPool.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <ostream>
/* Declare global object manager */
ObjectManagerIF* objectManager;
/* Initialize Data Pool */
DataPool dataPool(datapool::dataPoolInit);
/* Set up output streams */
namespace sif {
ServiceInterfaceStream debug("DEBUG");
ServiceInterfaceStream info("INFO");
ServiceInterfaceStream warning("WARNING");
ServiceInterfaceStream error("ERROR", false, true, true);
}
void initTask();
void initMission() {
sif::info << "Initiating mission specific code." << std::endl;
// Allocate object manager here, as global constructors might not be
// executed, depending on buildchain
sif::info << "Creating objects" << std::endl;
objectManager = new ObjectManager(Factory::produce);
objectManager -> initialize();
initTask();
}
void initTask() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
/* Packet Distributor Taks */
PeriodicTaskIF* PacketDistributorTask =
TaskFactory::instance()-> createPeriodicTask(
"PACKET_DIST_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.4, nullptr);
result = PacketDistributorTask->
addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Add component CCSDS Packet Distributor failed"
<< std::endl;
}
result = PacketDistributorTask->
addComponent(objects::PUS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Add component PUS Packet Distributor failed"
<< std::endl;
}
result = PacketDistributorTask->addComponent(objects::PUS_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Add component PUS Funnel failed" << std::endl;
}
/* UDP bridge */
PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Unix Bridge failed" << std::endl;
}
PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
createPeriodicTask("UDP_POLLING", 80,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component UDP Polling failed" << std::endl;
}
/* PUS Services */
PeriodicTaskIF* PusService1 = TaskFactory::instance()->createPeriodicTask(
"PUS_SRV_1", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.4, nullptr);
result = PusService1->addComponent(objects::PUS_SERVICE_1);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component Verification Reporter failed" << std::endl;
}
PeriodicTaskIF* PusService2 = TaskFactory::instance()->createPeriodicTask(
"PUS_SRV_2", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.2, nullptr);
result = PusService2->addComponent(objects::PUS_SERVICE_2);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component Device Access failed" << std::endl;
}
PeriodicTaskIF* PusService5 = TaskFactory::instance()->createPeriodicTask(
"PUS_SRV_5", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.4, nullptr);
result = PusService5->addComponent(objects::PUS_SERVICE_5);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component Event Service failed" << std::endl;
}
PeriodicTaskIF* PusService8 = TaskFactory::instance()->createPeriodicTask(
"PUS_SRV_8", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.4, nullptr);
result = PusService2->addComponent(objects::PUS_SERVICE_8);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component Function MGMT failed" << std::endl;
}
PeriodicTaskIF* PusService17 = TaskFactory::instance()->createPeriodicTask(
"PUS_SRV_17", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.4, nullptr);
result = PusService17->addComponent(objects::PUS_SERVICE_17);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component Test Service failed" << std::endl;
}
PeriodicTaskIF* PusService200 = TaskFactory::instance()->createPeriodicTask(
"PUS_SRV_200", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
0.4, nullptr);
result = PusService200->addComponent(objects::PUS_SERVICE_200);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Add component Mode MGMT failed" << std::endl;
}
/* Test Task */
// PeriodicTaskIF* TestTask = TaskFactory::instance()->
// createPeriodicTask("TEST_TASK", 80,
// PeriodicTaskIF::MINIMUM_STACK_SIZE, 5.0, nullptr);
// result = TestTask->addComponent(objects::TEST_TASK);
// if (result != HasReturnvaluesIF::RETURN_OK) {
// sif::error << "Add component Test Task failed" << std::endl;
// }
/* Polling Sequence Table Default */
// FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
// TaskFactory::instance()-> createFixedTimeslotTask(
// "PST_DEFAULT", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0,
// nullptr);
// result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
// if (result != HasReturnvaluesIF::RETURN_OK) {
// sif::error << "creating PST failed" << std::endl;
// }
//TestTask->startTask();
PacketDistributorTask->startTask();
//PollingSequenceTableTaskDefault->startTask();
UdpBridgeTask->startTask();
UdpPollingTask->startTask();
PusService1->startTask();
PusService2->startTask();
PusService5->startTask();
PusService8->startTask();
PusService17->startTask();
PusService200->startTask();
}

38
bsp_linux/boardconfig/etl_profile.h Normal file
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@ -0,0 +1,38 @@
///\file
/******************************************************************************
The MIT License(MIT)
Embedded Template Library.
https://github.com/ETLCPP/etl
https://www.etlcpp.com
Copyright(c) 2019 jwellbelove
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files(the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions :
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
******************************************************************************/
#ifndef __ETL_PROFILE_H__
#define __ETL_PROFILE_H__
#define ETL_CHECK_PUSH_POP
#define ETL_CPP11_SUPPORTED 1
#define ETL_NO_NULLPTR_SUPPORT 0
#endif

14
bsp_linux/boardconfig/gcov.h Normal file
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#ifndef LINUX_GCOV_H_
#define LINUX_GCOV_H_
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#ifdef GCOV
extern "C" void __gcov_flush();
#else
void __gcov_flush() {
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
"coverage information is desired.\n" << std::flush;
}
#endif
#endif /* LINUX_GCOV_H_ */

14
bsp_linux/boardconfig/print.c Normal file
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#include "print.h"
#include <stdio.h>
void printChar(const char* character, bool errStream) {
if(errStream) {
putc(*character, stderr);
return;
}
putc(*character, stdout);
}

8
bsp_linux/boardconfig/print.h Normal file
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@ -0,0 +1,8 @@
#ifndef HOSTED_BOARDCONFIG_PRINT_H_
#define HOSTED_BOARDCONFIG_PRINT_H_
#include <stdbool.h>
void printChar(const char* character, bool errStream);
#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */

4
bsp_linux/bsp_linux.mk
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CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/*.c)
CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)

39
bsp_linux/main.cpp Normal file
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#if defined(GCOV)
#include <boardconfig/gcov.h>
#endif
#include <iostream>
#include <version.h>
#include <unistd.h>
// This will be the entry to the mission specific code
void initMission();
#ifndef SW_VERSION
#define SW_VERSION 0
#endif
#ifndef SW_SUBVERSION
#define SW_SUBVERSION 0
#endif
/**
* @brief This is the main program for the hosted build. It can be run for
* Linux and Windows.
* @return
*/
int main(void)
{
std::cout << "-- EIVE OBSW --" << std::endl;
std::cout << "-- Compiled for Linux " << " --" << std::endl;
std::cout << "-- Software version v" << SW_VERSION << "." << SW_SUBVERSION
<< " -- " << std::endl;
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
initMission();
for(;;) {
// suspend main thread by sleeping it.
sleep(5);
}
}

48
config/cdatapool/dataPoolInit.cpp Normal file
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#include "dataPoolInit.h"
void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap) {
uint8_t UINT8T_INIT[1] = {0};
uint16_t UINT16T_INIT[1] = {0};
uint32_t UINT32T_INIT[1] = {0};
float FLOAT_INIT[2] = {0.0, 0.0};
/* FSFW */
poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
new PoolEntry<uint32_t>(UINT32T_INIT,1));
poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
new PoolEntry<uint32_t>(UINT32T_INIT,1));
poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
new PoolEntry<uint32_t>(UINT32T_INIT,1));
/* TEST */
poolMap->emplace(datapool::TEST_UINT8,
new PoolEntry<uint8_t>(UINT8T_INIT,1));
poolMap->emplace(datapool::TEST_UINT16,
new PoolEntry<uint16_t>(UINT16T_INIT,1));
poolMap->emplace(datapool::TEST_UINT32,
new PoolEntry<uint32_t>(UINT32T_INIT,1));
poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
new PoolEntry<float>(FLOAT_INIT,2));
// With new initializer list feature and boolean entries.
// /* FSFW */
// poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
// new PoolEntry<uint32_t>({0},1));
// poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
// new PoolEntry<uint32_t>({0},1));
// poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
// new PoolEntry<uint32_t>({0},1));
//
// /* TEST */
// poolMap->emplace(datapool::TEST_BOOLEAN,
// new PoolEntry<bool>({0},1));
// poolMap->emplace(datapool::TEST_UINT8,
// new PoolEntry<uint8_t>({0},1));
// poolMap->emplace(datapool::TEST_UINT16,
// new PoolEntry<uint16_t>({0},1));
// poolMap->emplace(datapool::TEST_UINT32,
// new PoolEntry<uint32_t>({0},1));
// poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
// new PoolEntry<float>({0, 0},2));
}

29
config/cdatapool/dataPoolInit.h Normal file
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#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
#include <fsfw/datapool/DataPool.h>
#include <fsfw/datapool/PoolEntryIF.h>
#include <map>
#include <cstdint>
namespace datapool {
void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap);
enum datapoolvariables {
NO_PARAMETER = 0,
/** [EXPORT] : [GROUP] FSFW */
INTERNAL_ERROR_STORE_FULL = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Store Entry [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
INTERNAL_ERROR_MISSED_LIVE_TM = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Missed Live Tm [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
INTERNAL_ERROR_FULL_MSG_QUEUES = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Full Msg Queue [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
/** [EXPORT] : [GROUP] TEST */
TEST_BOOLEAN = 0x01010102, //!< [EXPORT] : [NAME] Test Boolean [UNIT] (-) [SIZE] 1 [TYPE] bool
TEST_UINT8 = 0x02020204, //!< [EXPORT] : [NAME] Test Byte [UNIT] (-) [SIZE] 1 [TYPE] uint8_t
TEST_UINT16 = 0x03030306, //!< [EXPORT] : [NAME] Test UINT16 [UNIT] (-) [SIZE] 1 [TYPE] uint16_t
TEST_UINT32 = 0x04040408, //!< [EXPORT] : [NAME] Test UINT32 [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
TEST_FLOAT_VECTOR = 0x05050510, //!< [EXPORT] : [NAME] Test Float [UNIT] (-) [SIZE] 2 [TYPE] float
};
}
#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */

15
config/config.mk
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CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/ipc
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/cdatapool

11
config/devices/logicalAddresses.cpp Normal file
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/**
* \file logicalAddresses.cpp
*
* \date 06.11.2019
*/
#include "logicalAddresses.h"

26
config/devices/logicalAddresses.h Normal file
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/**
* \file logicalAddresses.cpp
*
* \date 07.11.2019
*/
#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
#define CONFIG_DEVICES_LOGICALADDRESSES_H_
#include <stdint.h>
#include <config/objects/systemObjectList.h>
#include <fsfw/devicehandlers/CookieIF.h>
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
PCDU,
/* Dummy and Test Addresses */
DUMMY_ECHO = 129,
DUMMY_GPS0 = 130,
DUMMY_GPS1 = 131,
};
}
#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

10
config/devices/powerSwitcherList.cpp Normal file
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/**
* @file switcherList.cpp
*
* @date 28.11.2019
*/
#include "powerSwitcherList.h"

22
config/devices/powerSwitcherList.h Normal file
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/**
* @file switcherList.h
*
* @date 28.11.2019
*/
#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
namespace switches {
/* Switches are uint8_t datatype and go from 0 to 255 */
enum switcherList {
PCDU,
GPS0,
GPS1,
DUMMY = 129
};
}
#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */

254
config/events/translateEvents.cpp Normal file
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/**
* @brief Auto-generated event translation file. Contains 80 translations.
* Generated on: 2020-05-02 20:13:41
*/
#include "translateEvents.h"
const char *GPS_STARTUP_FAILED_STRING = "GPS_STARTUP_FAILED";
const char *GPS_FIX_STRING = "GPS_FIX";
const char *GPS_LOST_FIX_STRING = "GPS_LOST_FIX";
const char *STORE_SEND_WRITE_FAILED_STRING = "STORE_SEND_WRITE_FAILED";
const char *STORE_WRITE_FAILED_STRING = "STORE_WRITE_FAILED";
const char *STORE_SEND_READ_FAILED_STRING = "STORE_SEND_READ_FAILED";
const char *STORE_READ_FAILED_STRING = "STORE_READ_FAILED";
const char *UNEXPECTED_MSG_STRING = "UNEXPECTED_MSG";
const char *STORING_FAILED_STRING = "STORING_FAILED";
const char *TM_DUMP_FAILED_STRING = "TM_DUMP_FAILED";
const char *STORE_INIT_FAILED_STRING = "STORE_INIT_FAILED";
const char *STORE_INIT_EMPTY_STRING = "STORE_INIT_EMPTY";
const char *STORE_CONTENT_CORRUPTED_STRING = "STORE_CONTENT_CORRUPTED";
const char *STORE_INITIALIZE_STRING = "STORE_INITIALIZE";
const char *INIT_DONE_STRING = "INIT_DONE";
const char *DUMP_FINISHED_STRING = "DUMP_FINISHED";
const char *DELETION_FINISHED_STRING = "DELETION_FINISHED";
const char *DELETION_FAILED_STRING = "DELETION_FAILED";
const char *AUTO_CATALOGS_SENDING_FAILED_STRING = "AUTO_CATALOGS_SENDING_FAILED";
const char *GET_DATA_FAILED_STRING = "GET_DATA_FAILED";
const char *STORE_DATA_FAILED_STRING = "STORE_DATA_FAILED";
const char *DEVICE_BUILDING_COMMAND_FAILED_STRING = "DEVICE_BUILDING_COMMAND_FAILED";
const char *DEVICE_SENDING_COMMAND_FAILED_STRING = "DEVICE_SENDING_COMMAND_FAILED";
const char *DEVICE_REQUESTING_REPLY_FAILED_STRING = "DEVICE_REQUESTING_REPLY_FAILED";
const char *DEVICE_READING_REPLY_FAILED_STRING = "DEVICE_READING_REPLY_FAILED";
const char *DEVICE_INTERPRETING_REPLY_FAILED_STRING = "DEVICE_INTERPRETING_REPLY_FAILED";
const char *DEVICE_MISSED_REPLY_STRING = "DEVICE_MISSED_REPLY";
const char *DEVICE_UNKNOWN_REPLY_STRING = "DEVICE_UNKNOWN_REPLY";
const char *DEVICE_UNREQUESTED_REPLY_STRING = "DEVICE_UNREQUESTED_REPLY";
const char *INVALID_DEVICE_COMMAND_STRING = "INVALID_DEVICE_COMMAND";
const char *MONITORING_LIMIT_EXCEEDED_STRING = "MONITORING_LIMIT_EXCEEDED";
const char *MONITORING_AMBIGUOUS_STRING = "MONITORING_AMBIGUOUS";
const char *FUSE_CURRENT_HIGH_STRING = "FUSE_CURRENT_HIGH";
const char *FUSE_WENT_OFF_STRING = "FUSE_WENT_OFF";
const char *POWER_ABOVE_HIGH_LIMIT_STRING = "POWER_ABOVE_HIGH_LIMIT";
const char *POWER_BELOW_LOW_LIMIT_STRING = "POWER_BELOW_LOW_LIMIT";
const char *SWITCH_WENT_OFF_STRING = "SWITCH_WENT_OFF";
const char *HEATER_ON_STRING = "HEATER_ON";
const char *HEATER_OFF_STRING = "HEATER_OFF";
const char *HEATER_TIMEOUT_STRING = "HEATER_TIMEOUT";
const char *HEATER_STAYED_ON_STRING = "HEATER_STAYED_ON";
const char *HEATER_STAYED_OFF_STRING = "HEATER_STAYED_OFF";
const char *TEMP_SENSOR_HIGH_STRING = "TEMP_SENSOR_HIGH";
const char *TEMP_SENSOR_LOW_STRING = "TEMP_SENSOR_LOW";
const char *TEMP_SENSOR_GRADIENT_STRING = "TEMP_SENSOR_GRADIENT";
const char *COMPONENT_TEMP_LOW_STRING = "COMPONENT_TEMP_LOW";
const char *COMPONENT_TEMP_HIGH_STRING = "COMPONENT_TEMP_HIGH";
const char *COMPONENT_TEMP_OOL_LOW_STRING = "COMPONENT_TEMP_OOL_LOW";
const char *COMPONENT_TEMP_OOL_HIGH_STRING = "COMPONENT_TEMP_OOL_HIGH";
const char *TEMP_NOT_IN_OP_RANGE_STRING = "TEMP_NOT_IN_OP_RANGE";
const char *FDIR_CHANGED_STATE_STRING = "FDIR_CHANGED_STATE";
const char *FDIR_STARTS_RECOVERY_STRING = "FDIR_STARTS_RECOVERY";
const char *FDIR_TURNS_OFF_DEVICE_STRING = "FDIR_TURNS_OFF_DEVICE";
const char *MONITOR_CHANGED_STATE_STRING = "MONITOR_CHANGED_STATE";
const char *VALUE_BELOW_LOW_LIMIT_STRING = "VALUE_BELOW_LOW_LIMIT";
const char *VALUE_ABOVE_HIGH_LIMIT_STRING = "VALUE_ABOVE_HIGH_LIMIT";
const char *VALUE_OUT_OF_RANGE_STRING = "VALUE_OUT_OF_RANGE";
const char *SWITCHING_TM_FAILED_STRING = "SWITCHING_TM_FAILED";
const char *CHANGING_MODE_STRING = "CHANGING_MODE";
const char *MODE_INFO_STRING = "MODE_INFO";
const char *FALLBACK_FAILED_STRING = "FALLBACK_FAILED";
const char *MODE_TRANSITION_FAILED_STRING = "MODE_TRANSITION_FAILED";
const char *CANT_KEEP_MODE_STRING = "CANT_KEEP_MODE";
const char *OBJECT_IN_INVALID_MODE_STRING = "OBJECT_IN_INVALID_MODE";
const char *FORCING_MODE_STRING = "FORCING_MODE";
const char *MODE_CMD_REJECTED_STRING = "MODE_CMD_REJECTED";
const char *HEALTH_INFO_STRING = "HEALTH_INFO";
const char *CHILD_CHANGED_HEALTH_STRING = "CHILD_CHANGED_HEALTH";
const char *CHILD_PROBLEMS_STRING = "CHILD_PROBLEMS";
const char *OVERWRITING_HEALTH_STRING = "OVERWRITING_HEALTH";
const char *TRYING_RECOVERY_STRING = "TRYING_RECOVERY";
const char *RECOVERY_STEP_STRING = "RECOVERY_STEP";
const char *RECOVERY_DONE_STRING = "RECOVERY_DONE";
const char *RF_AVAILABLE_STRING = "RF_AVAILABLE";
const char *RF_LOST_STRING = "RF_LOST";
const char *BIT_LOCK_STRING = "BIT_LOCK";
const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
const char *TEST_EVENT_SERVICE_1_STRING = "TEST_EVENT_SERVICE_1";
const char *TEST2_STRING = "TEST2";
const char * translateEvents(Event event){
switch((event&0xFFFF)){
case 1000:
return GPS_STARTUP_FAILED_STRING;
case 1001:
return GPS_FIX_STRING;
case 1002:
return GPS_LOST_FIX_STRING;
case 2200:
return STORE_SEND_WRITE_FAILED_STRING;
case 2201:
return STORE_WRITE_FAILED_STRING;
case 2202:
return STORE_SEND_READ_FAILED_STRING;
case 2203:
return STORE_READ_FAILED_STRING;
case 2204:
return UNEXPECTED_MSG_STRING;
case 2205:
return STORING_FAILED_STRING;
case 2206:
return TM_DUMP_FAILED_STRING;
case 2207:
return STORE_INIT_FAILED_STRING;
case 2208:
return STORE_INIT_EMPTY_STRING;
case 2209:
return STORE_CONTENT_CORRUPTED_STRING;
case 2210:
return STORE_INITIALIZE_STRING;
case 2211:
return INIT_DONE_STRING;
case 2212:
return DUMP_FINISHED_STRING;
case 2213:
return DELETION_FINISHED_STRING;
case 2214:
return DELETION_FAILED_STRING;
case 2215:
return AUTO_CATALOGS_SENDING_FAILED_STRING;
case 2600:
return GET_DATA_FAILED_STRING;
case 2601:
return STORE_DATA_FAILED_STRING;
case 2800:
return DEVICE_BUILDING_COMMAND_FAILED_STRING;
case 2801:
return DEVICE_SENDING_COMMAND_FAILED_STRING;
case 2802:
return DEVICE_REQUESTING_REPLY_FAILED_STRING;
case 2803:
return DEVICE_READING_REPLY_FAILED_STRING;
case 2804:
return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
case 2805:
return DEVICE_MISSED_REPLY_STRING;
case 2806:
return DEVICE_UNKNOWN_REPLY_STRING;
case 2807:
return DEVICE_UNREQUESTED_REPLY_STRING;
case 2808:
return INVALID_DEVICE_COMMAND_STRING;
case 2809:
return MONITORING_LIMIT_EXCEEDED_STRING;
case 2810:
return MONITORING_AMBIGUOUS_STRING;
case 4201:
return FUSE_CURRENT_HIGH_STRING;
case 4202:
return FUSE_WENT_OFF_STRING;
case 4204:
return POWER_ABOVE_HIGH_LIMIT_STRING;
case 4205:
return POWER_BELOW_LOW_LIMIT_STRING;
case 4300:
return SWITCH_WENT_OFF_STRING;
case 5000:
return HEATER_ON_STRING;
case 5001:
return HEATER_OFF_STRING;
case 5002:
return HEATER_TIMEOUT_STRING;
case 5003:
return HEATER_STAYED_ON_STRING;
case 5004:
return HEATER_STAYED_OFF_STRING;
case 5200:
return TEMP_SENSOR_HIGH_STRING;
case 5201:
return TEMP_SENSOR_LOW_STRING;
case 5202:
return TEMP_SENSOR_GRADIENT_STRING;
case 5901:
return COMPONENT_TEMP_LOW_STRING;
case 5902:
return COMPONENT_TEMP_HIGH_STRING;
case 5903:
return COMPONENT_TEMP_OOL_LOW_STRING;
case 5904:
return COMPONENT_TEMP_OOL_HIGH_STRING;
case 5905:
return TEMP_NOT_IN_OP_RANGE_STRING;
case 7101:
return FDIR_CHANGED_STATE_STRING;
case 7102:
return FDIR_STARTS_RECOVERY_STRING;
case 7103:
return FDIR_TURNS_OFF_DEVICE_STRING;
case 7201:
return MONITOR_CHANGED_STATE_STRING;
case 7202:
return VALUE_BELOW_LOW_LIMIT_STRING;
case 7203:
return VALUE_ABOVE_HIGH_LIMIT_STRING;
case 7204:
return VALUE_OUT_OF_RANGE_STRING;
case 7301:
return SWITCHING_TM_FAILED_STRING;
case 7400:
return CHANGING_MODE_STRING;
case 7401:
return MODE_INFO_STRING;
case 7402:
return FALLBACK_FAILED_STRING;
case 7403:
return MODE_TRANSITION_FAILED_STRING;
case 7404:
return CANT_KEEP_MODE_STRING;
case 7405:
return OBJECT_IN_INVALID_MODE_STRING;
case 7406:
return FORCING_MODE_STRING;
case 7407:
return MODE_CMD_REJECTED_STRING;
case 7506:
return HEALTH_INFO_STRING;
case 7507:
return CHILD_CHANGED_HEALTH_STRING;
case 7508:
return CHILD_PROBLEMS_STRING;
case 7509:
return OVERWRITING_HEALTH_STRING;
case 7510:
return TRYING_RECOVERY_STRING;
case 7511:
return RECOVERY_STEP_STRING;
case 7512:
return RECOVERY_DONE_STRING;
case 7900:
return RF_AVAILABLE_STRING;
case 7901:
return RF_LOST_STRING;
case 7902:
return BIT_LOCK_STRING;
case 7903:
return BIT_LOCK_LOST_STRING;
case 7905:
return FRAME_PROCESSING_FAILED_STRING;
case 8000:
return TEST_EVENT_SERVICE_1_STRING;
case 9100:
return TEST2_STRING;
default:
return "UNKNOWN_EVENT";
}
return 0;
}

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/*
* translateEvent.h
*
* Created on: 28 May 2019
* Author: Robin
*/
#ifndef CONFIG_EVENTS_TRANSLATEEVENTS_H_
#define CONFIG_EVENTS_TRANSLATEEVENTS_H_
#include <fsfw/events/Event.h>
const char * translateEvents(Event event);
#endif /* CONFIG_EVENTS_TRANSLATEEVENTS_H_ */

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#include "MissionMessageTypes.h"
#include <fsfw/ipc/CommandMessage.h>
void messagetypes::clearMissionMessage(CommandMessage* message) {
// switch(message->getMessageType()) {
// default:
// break;
// }
}

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#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
#include <fsfw/ipc/FwMessageTypes.h>
class CommandMessage;
/**
* Custom command messages are specified here.
* Most messages needed to use FSFW are already located in
* <fsfw/ipc/FwMessageTypes.h>
* @param message Generic Command Message
*/
namespace messagetypes{
enum MESSAGE_TYPE {
MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
};
void clearMissionMessage(CommandMessage* message);
}
#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

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#include <Factory.h>
#include <systemObjectList.h>
#include <dataPoolInit.h>
#include <apid.h>
#include <pusIds.h>
#include <mission/utility/TimeStamper.h>
#include <mission/utility/TmFunnel.h>
#include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/internalError/InternalErrorReporter.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tcdistribution/CCSDSDistributor.h>
#include <fsfw/tcdistribution/PUSDistributor.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/pus/Service1TelecommandVerification.h>
#include <fsfw/pus/Service2DeviceAccess.h>
#include <fsfw/pus/Service5EventReporting.h>
#include <fsfw/pus/Service8FunctionManagement.h>
#include <fsfw/pus/CService200ModeCommanding.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/pus/Service17Test.h>
#include <test/testtasks/TestTask.h>
#include <cstdint>
/**
* @brief Produces system objects.
* @details
* Build tasks by using SystemObject Interface (Interface).
* Header files of all tasks must be included
* Please note that an object has to implement the system object interface
* if the interface validity is checked or retrieved later by using the
* get<TargetInterface>(object_id) function from the ObjectManagerIF.
*
* Framework objects are created first.
*
* @ingroup init
*/
void Factory::produce(void) {
setStaticFrameworkObjectIds();
new EventManager(objects::EVENT_MANAGER);
new HealthTable(objects::HEALTH_TABLE);
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER,
datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
datapool::INTERNAL_ERROR_STORE_FULL);
/* Pool manager handles storage und mutexes */
/* Data Stores. Currently reserving 9600 bytes of memory */
uint16_t numberOfElements[4] = {100, 30, 20, 10};
uint16_t sizeOfElements[4] = {32, 64, 128, 256};
new PoolManager<4>(objects::IPC_STORE, sizeOfElements, numberOfElements);
new PoolManager<4>(objects::TM_STORE, sizeOfElements, numberOfElements);
new PoolManager<4>(objects::TC_STORE, sizeOfElements, numberOfElements);
new TimeStamper(objects::PUS_TIME);
/* Distributor Tasks */
new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR);
new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR,
objects::CCSDS_PACKET_DISTRIBUTOR);
/* TM Destination */
new TmFunnel(objects::PUS_FUNNEL);
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK,
objects::UDP_BRIDGE);
/* PUS Service Base Services */
new Service1TelecommandVerification(objects::PUS_SERVICE_1,
apid::EIVE_OBSW, pus::PUS_SERVICE_1, objects::PUS_FUNNEL);
new Service5EventReporting(objects::PUS_SERVICE_5, apid::EIVE_OBSW,
pus::PUS_SERVICE_5);
new Service17Test(objects::PUS_SERVICE_17, apid::EIVE_OBSW,
pus::PUS_SERVICE_17);
/* Commanding Service Base Services */
new Service2DeviceAccess(objects::PUS_SERVICE_2, apid::EIVE_OBSW,
pus::PUS_SERVICE_2);
new Service8FunctionManagement(objects::PUS_SERVICE_8, apid::EIVE_OBSW,
pus::PUS_SERVICE_8);
new CService200ModeCommanding(objects::PUS_SERVICE_200, apid::EIVE_OBSW,
pus::PUS_SERVICE_200);
/* Test Tasks */
// CookieIF* dummyCookie = new DummyCookie(0);
// new DummyEchoComIF(objects::DUMMY_INTERFACE);
// new TestDevice(objects::DUMMY_HANDLER, objects::DUMMY_INTERFACE,
// dummyCookie, true);
new TestTask(objects::TEST_TASK);
}
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::PUS_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::PUS_FUNNEL;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1;
//DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2;
//DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
TmPacketStored::timeStamperId = objects::PUS_TIME;
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
}

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#ifndef FACTORY_H_
#define FACTORY_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
namespace Factory {
/**
* @brief Creates all SystemObject elements which are persistent
* during execution.
*/
void produce();
void setStaticFrameworkObjectIds();
}
#endif /* FACTORY_H_ */

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#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
#include <cstdint>
// The objects will be instantiated in the ID order
namespace objects {
enum sourceObjects: uint32_t {
/* First Byte 0x50-0x52 reserved for PUS Services **/
CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
PUS_PACKET_DISTRIBUTOR = 0x50000200,
UDP_BRIDGE = 0x50000300,
UDP_POLLING_TASK = 0x50000400,
PUS_SERVICE_1 = 0x51000100,
PUS_SERVICE_2 = 0x51000200,
PUS_SERVICE_3 = 0x51000300,
PUS_SERVICE_5 = 0x51000400,
PUS_SERVICE_6 = 0x51000500,
PUS_SERVICE_8 = 0x51000800,
PUS_SERVICE_9 = 0x51000900,
PUS_SERVICE_17 = 0x51001700,
PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_200 = 0x51020000,
PUS_SERVICE_201 = 0x51020100,
PUS_TIME = 0x52000001,
PUS_FUNNEL = 0x52000002,
/* Test Task */
TEST_TASK = 0x42694269,
DUMMY_INTERFACE = 0xCAFECAFE,
DUMMY_HANDLER = 0x4400AFFE,
};
}
#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

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/* Auto-generated event translation file. Contains 77 translations. */
#include <config/objects/translateObjects.h>
const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
const char *ARDUINO_0_STRING = "ARDUINO_0";
const char *ARDUINO_1_STRING = "ARDUINO_1";
const char *ARDUINO_2_STRING = "ARDUINO_2";
const char *ARDUINO_3_STRING = "ARDUINO_3";
const char *ARDUINO_4_STRING = "ARDUINO_4";
const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
const char *TEST_TASK_STRING = "TEST_TASK";
const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
const char *S_ADC1_DEC2_STRING = "S_ADC1_DEC2";
const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
const char *DLR_PVCH_STRING = "DLR_PVCH";
const char *GYRO1_STRING = "GYRO1";
const char *DLR_IRAS_STRING = "DLR_IRAS";
const char *_DEC1_O1_STRING = "_DEC1_O1";
const char *_DEC1_O2_STRING = "_DEC1_O2";
const char *S1_DEC1_O3_STRING = "S1_DEC1_O3";
const char *S2_DEC1_O4_STRING = "S2_DEC1_O4";
const char *S3_DEC1_O5_STRING = "S3_DEC1_O5";
const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
const char *S4_DEC2_STRING = "S4_DEC2";
const char *S5_DEC2_STRING = "S5_DEC2";
const char *S6_DEC2_STRING = "S6_DEC2";
const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
const char *_DEC3_STRING = "_DEC3";
const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
const char *S7_DEC3_STRING = "S7_DEC3";
const char *S8_DEC3_STRING = "S8_DEC3";
const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
const char *GYRO2_STRING = "GYRO2";
const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
const char *S9_DEC4_STRING = "S9_DEC4";
const char *S10_DEC4_STRING = "S10_DEC4";
const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
const char *S_ADC_DEC4_STRING = "S_ADC_DEC4";
const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
const char *UART_TMTC_BRIDGE_STRING = "UART_TMTC_BRIDGE";
const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
const char *PUS_TIME_STRING = "PUS_TIME";
const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
const char *MODE_STORE_STRING = "MODE_STORE";
const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
const char *TC_STORE_STRING = "TC_STORE";
const char *TM_STORE_STRING = "TM_STORE";
const char *IPC_STORE_STRING = "IPC_STORE";
const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
const char *NO_OBJECT_STRING = "NO_OBJECT";
const char* translateObject(object_id_t object){
switch((object&0xFFFFFFFF)){
case 0x000123336:
return AT91_UART2_TEST_TASK_STRING;
case 0x01010100:
return ARDUINO_0_STRING;
case 0x01010101:
return ARDUINO_1_STRING;
case 0x01010102:
return ARDUINO_2_STRING;
case 0x01010103:
return ARDUINO_3_STRING;
case 0x01010104:
return ARDUINO_4_STRING;
case 0x12345678:
return AT91_I2C_TEST_TASK_STRING;
case 0x42694269:
return TEST_TASK_STRING;
case 0x44003200:
return PCDU_HANDLER_STRING;
case 0x4400AFFE:
return DUMMY_HANDLER_STRING;
case 0x44020108:
return S_ADC1_DEC2_STRING;
case 0x44101F00:
return GPS0_HANDLER_STRING;
case 0x44104000:
return DLR_PVCH_STRING;
case 0x44105000:
return GYRO1_STRING;
case 0x44106000:
return DLR_IRAS_STRING;
case 0x44115401:
return _DEC1_O1_STRING;
case 0x44115402:
return _DEC1_O2_STRING;
case 0x44115404:
return S1_DEC1_O3_STRING;
case 0x44115405:
return S2_DEC1_O4_STRING;
case 0x44115406:
return S3_DEC1_O5_STRING;
case 0x44115407:
return PT1000_PVHC_DEC1_O6_STRING;
case 0x44125401:
return PT1000_CCSDS1_DEC2_STRING;
case 0x44125403:
return PT1000_MGT1_DEC2_STRING;
case 0x44125404:
return S4_DEC2_STRING;
case 0x44125405:
return S5_DEC2_STRING;
case 0x44125406:
return S6_DEC2_STRING;
case 0x44125407:
return PT1000_PVCH_DEC2_STRING;
case 0x44130301:
return _DEC3_STRING;
case 0x44130302:
return PT1000_CCSDS2_DEC3_STRING;
case 0x44130305:
return S7_DEC3_STRING;
case 0x44130306:
return S8_DEC3_STRING;
case 0x44130307:
return PT1000_PVCH_DEC3_STRING;
case 0x44130308:
return GYRO2_STRING;
case 0x44145401:
return PT1000_PLOC_DEC4_STRING;
case 0x44145404:
return S9_DEC4_STRING;
case 0x44145405:
return S10_DEC4_STRING;
case 0x44145406:
return PT1000_PVHC_DEC4_STRING;
case 0x44145407:
return S_ADC_DEC4_STRING;
case 0x44202000:
return GPS1_HANDLER_STRING;
case 0x49001F00:
return DUMMY_GPS_COM_IF_STRING;
case 0x49005200:
return RS232_DEVICE_COM_IF_STRING;
case 0x49005300:
return I2C_DEVICE_COM_IF_STRING;
case 0x49005400:
return GPIO_DEVICE_COM_IF_STRING;
case 0x49005410:
return SPI_POLLING_TASK_STRING;
case 0x49005600:
return SPI_DEVICE_COM_IF_STRING;
case 0x4900AFFE:
return DUMMY_ECHO_COM_IF_STRING;
case 0x4D0073AD:
return SD_CARD_HANDLER_STRING;
case 0x50000100:
return CCSDS_PACKET_DISTRIBUTOR_STRING;
case 0x50000200:
return PUS_PACKET_DISTRIBUTOR_STRING;
case 0x50000300:
return UDP_TMTC_BRIDGE_STRING;
case 0x50000400:
return EMAC_POLLING_TASK_STRING;
case 0x50000600:
return SERIAL_POLLING_TASK_STRING;
case 0x5000500:
return UART_TMTC_BRIDGE_STRING;
case 0x51000100:
return PUS_SERVICE_1_STRING;
case 0x51000200:
return PUS_SERVICE_2_STRING;
case 0x51000300:
return PUS_SERVICE_3_STRING;
case 0x51000400:
return PUS_SERVICE_5_STRING;
case 0x51000500:
return PUS_SERVICE_6_STRING;
case 0x51000800:
return PUS_SERVICE_8_STRING;
case 0x51000900:
return PUS_SERVICE_9_STRING;
case 0x51001700:
return PUS_SERVICE_17_STRING;
case 0x51002300:
return PUS_SERVICE_23_STRING;
case 0x51020000:
return PUS_SERVICE_200_STRING;
case 0x51020100:
return PUS_SERVICE_201_STRING;
case 0x52000001:
return PUS_TIME_STRING;
case 0x52000002:
return PUS_FUNNEL_STRING;
case 0x53010000:
return HEALTH_TABLE_STRING;
case 0x53010100:
return MODE_STORE_STRING;
case 0x53030000:
return EVENT_MANAGER_STRING;
case 0x53040000:
return INTERNAL_ERROR_REPORTER_STRING;
case 0x534f0100:
return TC_STORE_STRING;
case 0x534f0200:
return TM_STORE_STRING;
case 0x534f0300:
return IPC_STORE_STRING;
case 0x66666666:
return AT91_SPI_TEST_TASK_STRING;
case 0x77777777:
return STM32_TEST_TASK_STRING;
case 0x87654321:
return AT91_UART0_TEST_TASK_STRING;
case 0xFFFFFFFF:
return NO_OBJECT_STRING;
default:
return "UNKNOWN_OBJECT";
}
return 0;
}

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/*
* translateObjects.h
*
* Created on: 28 May 2019
* Author: Robin
*/
#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
#include <fsfw/objectmanager/ObjectManagerIF.h>
const char* translateObject(object_id_t object);
#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

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#include <PollingSequenceFactory.h>
#include <systemObjectList.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::DUMMY_HANDLER,
length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::DUMMY_HANDLER,
length * 0.25, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::DUMMY_HANDLER,
length * 0.5, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::DUMMY_HANDLER,
length * 0.75, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}

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#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
class FixedTimeslotTaskIF;
/**
* All device handlers are scheduled by adding them into
* Polling Sequence Tables (PST) to satisfy stricter timing requirements of
* device communication, a device handler has four different communication steps:
* 1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
* 2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
* 3. DeviceHandlerIF::SEND_READ -> Send read request
* 4. DeviceHandlerIF::GET_READ -> Read from interface
* The PST specifies precisely when the respective ComIF functions are called
* during the communication cycle time.
* The task is created using the FixedTimeslotTaskIF,
* which utilises the underlying Operating System Abstraction Layer (OSAL)
*
* @param thisSequence FixedTimeslotTaskIF * object is passed inside the
* Factory class when creating the PST
* @return
*/
namespace pst {
/* 0.4 second period init*/
ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
}
#endif /* POLLINGSEQUENCEINIT_H_ */

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/*
* classIds.h
*
* Created on: 16.07.2018
* Author: mohr
*/
#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
#define CONFIG_RETURNVALUES_CLASSIDS_H_
/**
* Source IDs starts at 73 for now
* Framework IDs for ReturnValues run from 0 to 56
* and are located inside <fsfw/returnvalues/FwClassIds.h>
*/
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
RS232_CHANNEL, //!< RS232
I2C_CHANNEL, //!< I2C
SPI_CHANNEL, //!< SPI
GPS_HANDLER, //!< GPS
PUS_SERVICE_3 //!< HKS
};
}
#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

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#ifndef CONFIG_TMTC_APID_H_
#define CONFIG_TMTC_APID_H_
#include <stdint.h>
/**
* Application Process Definition: entity, uniquely identified by an
* application process ID (APID), capable of generating telemetry source
* packets and receiving telecommand packets
*
* SOURCE APID: 0x73 / 115 / s
* APID is a 11 bit number
*/
namespace apid {
static const uint16_t EIVE_OBSW = 0x65;
}
#endif /* CONFIG_TMTC_APID_H_ */

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#ifndef CONFIG_TMTC_PUSIDS_HPP_
#define CONFIG_TMTC_PUSIDS_HPP_
namespace pus {
enum Ids{
PUS_SERVICE_1 = 1,
PUS_SERVICE_2 = 2,
PUS_SERVICE_3 = 3,
PUS_SERVICE_3_PSB = 3,
PUS_SERVICE_5 = 5,
PUS_SERVICE_6 = 6,
PUS_SERVICE_8 = 8,
PUS_SERVICE_9 = 9,
PUS_SERVICE_17 = 17,
PUS_SERVICE_19 = 19,
PUS_SERVICE_20 = 20,
PUS_SERVICE_23 = 23,
PUS_SERVICE_200 = 200,
PUS_SERVICE_201 = 201,
};
};
#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

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#ifndef CONFIG_TMTC_SUBSYSTEMIDRANGES_H_
#define CONFIG_TMTC_SUBSYSTEMIDRANGES_H_
#include <fsfw/events/fwSubsystemIdRanges.h>
#include <cstdint>
/**
* These IDs are part of the ID for an event thrown by a subsystem.
* Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
*/
namespace SUBSYSTEM_ID {
enum: uint8_t {
SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE,
/**
* 80-105: PUS Services
*/
PUS_SERVICE_2 = 82,
PUS_SERVICE_3 = 83,
PUS_SERVICE_5 = 85,
PUS_SERVICE_6 = 86,
PUS_SERVICE_8 = 88,
PUS_SERVICE_9 = 89,
PUS_SERVICE_17 = 82,
PUS_SERVICE_23 = 91,
DUMMY_DEVICE = 90,
/**
* 105-115: AOCS
*/
GPS_DEVICE = 105,
SPI_COM_IF = 128,
I2C_COM_IF = 138
};
}
#endif /* CONFIG_TMTC_SUBSYSTEMIDRANGES_H_ */

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#ifndef CONFIG_TMTC_TMTCSIZE_H_
#define CONFIG_TMTC_TMTCSIZE_H_
#include <cstdint>
namespace tmtcsize {
static const uint32_t MAX_TM_PACKET = 50;
}
#endif /* CONFIG_TMTC_TMTCSIZE_H_ */

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#ifndef CONFIG_VERSION_H_
#define CONFIG_VERSION_H_
#define SW_VERSION 0
#define SW_SUBVERSION 1
#endif /* CONFIG_VERSION_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 42bfedd36c517d00d0be6321d1d828f429813ef1
Subproject commit 62508132c0c248d6851fd88207828c7f12c38e50

2
mission/mission.mk
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CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)

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#include <fsfw/timemanager/Clock.h>
#include <mission/utility/TimeStamper.h>
#include <cstring>
TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
const uint8_t maxSize) {
if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
std::memcpy(buffer,&cds,sizeof(cds));
return result;
}

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#ifndef MISSION_UTILITY_TIMESTAMPER_H_
#define MISSION_UTILITY_TIMESTAMPER_H_
#include <fsfw/timemanager/TimeStamperIF.h>
#include <fsfw/timemanager/CCSDSTime.h>
#include <fsfw/objectmanager/SystemObject.h>
/**
* @brief
* @ingroup utility
*/
class TimeStamper: public TimeStamperIF, public SystemObject {
public:
TimeStamper(object_id_t objectId);
virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
};
#endif /* MISSION_UTILITY_TIMESTAMPER_H_ */

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#include <mission/utility/TmFunnel.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/tmtcpacket/pus/TmPacketBase.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
TmFunnel::TmFunnel(object_id_t objectId_): SystemObject(objectId_),
sourceSequenceCount(0), storageTargetSet(false) {
tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE);
storageQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE);
}
TmFunnel::~TmFunnel() {
}
MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
return tmQueue->getId();
}
ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
TmTcMessage currentMessage;
ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
while(status == HasReturnvaluesIF::RETURN_OK)
{
status = handlePacket(&currentMessage);
if(status != HasReturnvaluesIF::RETURN_OK){
break;
}
status = tmQueue->receiveMessage(&currentMessage);
}
if (status == MessageQueueIF::EMPTY) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return status;
}
}
ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
uint8_t* packetData = nullptr;
size_t size = 0;
ReturnValue_t result = tmPool->modifyData(message->getStorageId(),
&packetData, &size);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
TmPacketBase packet(packetData);
packet.setPacketSequenceCount(this->sourceSequenceCount);
sourceSequenceCount++;
sourceSequenceCount = sourceSequenceCount %
SpacePacketBase::LIMIT_SEQUENCE_COUNT;
packet.setErrorControl();
result = tmQueue->sendToDefault(message);
if(result != HasReturnvaluesIF::RETURN_OK){
tmPool->deleteData(message->getStorageId());
sif::error << "TmFunnel::handlePacket: Error sending to downlink "
"handler" << std::endl;
return result;
}
if(storageTargetSet) {
result = storageQueue->sendToDefault(message);
if(result != HasReturnvaluesIF::RETURN_OK){
tmPool->deleteData(message->getStorageId());
sif::error << "TmFunnel::handlePacket: Error sending to storage "
"handler" << std::endl;
return result;
}
}
return result;
}
ReturnValue_t TmFunnel::initialize() {
tmPool = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if(tmPool == nullptr) {
sif::error << "TmFunnel::initialize: TM store not set."
<< std::endl;
sif::error << "Make sure the tm store is set up properly"
" and implements StorageManagerIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelemetryIF* tmTarget =
objectManager->get<AcceptsTelemetryIF>(downlinkDestination);
if(tmTarget == nullptr){
sif::error << "TmFunnel::initialize: Downlink Destination not set."
<< std::endl;
sif::error << "Make sure the downlink destination object is set up "
"properly and implements AcceptsTelemetryIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue());
AcceptsTelemetryIF* storageTarget =
objectManager->get<AcceptsTelemetryIF>(storageDestination);
if(storageTarget != nullptr) {
storageTargetSet = true;
storageQueue->setDefaultDestination(
storageTarget->getReportReceptionQueue());
}
return SystemObject::initialize();
}

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#ifndef MISSION_UTILITY_TMFUNNEL_H_
#define MISSION_UTILITY_TMFUNNEL_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/tmtcservices/TmTcMessage.h>
namespace Factory{
void setStaticFrameworkObjectIds();
}
/**
* @brief TM Recipient.
* @details
* Main telemetry receiver. All generated telemetry is funneled into
* this object.
* @ingroup utility
* @author J. Meier
*/
class TmFunnel: public AcceptsTelemetryIF,
public ExecutableObjectIF,
public SystemObject {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
TmFunnel(object_id_t objectId);
virtual ~TmFunnel();
virtual MessageQueueId_t getReportReceptionQueue(
uint8_t virtualChannel = 0) override;
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
virtual ReturnValue_t initialize() override;
protected:
static object_id_t downlinkDestination;
static object_id_t storageDestination;
private:
uint16_t sourceSequenceCount;
bool storageTargetSet;
MessageQueueIF* tmQueue = nullptr;
MessageQueueIF* storageQueue = nullptr;
StorageManagerIF* tmPool = nullptr;
uint32_t messageDepth = 10;
ReturnValue_t handlePacket(TmTcMessage* message);
};
#endif /* MISSION_UTILITY_TMFUNNEL_H_ */

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CXXSRC += $(wildcard $(CURRENTPATH)/testdevices/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/testinterfaces/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/testtasks/*.cpp)

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/*
* MutextestTask.cpp
*
* Created on: 19.07.2018
* Author: mohr
*/
#include <test/testtasks/MutextestTask.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
MutexIF * MutextestTask::mutex = nullptr;
MutextestTask::MutextestTask(const char *name, object_id_t setObjectId) :
SystemObject(setObjectId), name(name), locked(false) {
if (mutex == NULL) {
mutex = MutexFactory::instance()->createMutex();
}
}
ReturnValue_t MutextestTask::performOperation(uint8_t operationCode) {
if (!locked){
sif::info << name << ": locking..." << std::endl;
ReturnValue_t result = mutex->lockMutex(MutexIF::BLOCKING);
sif::info << name << ": locked with " << (int) result << std::endl;
if (result == HasReturnvaluesIF::RETURN_OK){
locked = true;
}
} else {
sif::info << name << ": releasing" << std::endl;
mutex->unlockMutex();
locked = false;
}
return HasReturnvaluesIF::RETURN_OK;
}
MutextestTask::~MutextestTask() {
// TODO Auto-generated destructor stub
}

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/*
* MutextestTask.h
*
* Created on: 19.07.2018
* Author: mohr
*/
#ifndef MISSION_MUTEXTESTTASK_H_
#define MISSION_MUTEXTESTTASK_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/ipc/MutexFactory.h>
/**
* Start two of them with a little time difference and different periods to see mutex in action
*/
class MutextestTask: public SystemObject, public ExecutableObjectIF {
public:
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
MutextestTask(const char *name, object_id_t setObjectId);
virtual ~MutextestTask();
private:
static MutexIF *mutex;
const char * name;
bool locked;
};
#endif /* MISSION_MUTEXTESTTASK_H_ */

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#include <test/testtasks/PusTcInjector.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/tmtcservices/AcceptsTelecommandsIF.h>
#include <fsfw/tmtcservices/TmTcMessage.h>
#include <fsfw/tmtcpacket/pus/TcPacketBase.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tmtcpacket/pus/TcPacketStored.h>
PusTcInjector::PusTcInjector(object_id_t objectId, object_id_t destination,
object_id_t tcStore, uint16_t defaultApid): SystemObject(objectId),
defaultApid(defaultApid), destination(destination), tcStoreId(tcStore) {
}
PusTcInjector::~PusTcInjector() {
}
//ReturnValue_t PusTcInjector::injectPusTelecommand(uint8_t service,
// uint8_t subservice,const uint8_t* appData, size_t appDataLen) {
// return injectPusTelecommand(service, subservice, defaultApid, appData,
// appDataLen);
//}
// TODO: ACK flags
//ReturnValue_t PusTcInjector::injectPusTelecommand(uint8_t service,
// uint8_t subservice,uint16_t apid, const uint8_t* appData,
// size_t appDataLen) {
// // Prepare TC packet. Store into TC store immediately.
// TcPacketStored tcPacket(service, subservice, apid, sequenceCount++);
//
// const uint8_t* packetPtr = nullptr;
// size_t packetSize = 0;
// tcPacket.getData(&packetPtr, &packetSize);
// //arrayprinter::print(packetPtr, packetSize, OutputType::BIN);
//
// // Send TC packet.
// TmTcMessage tcMessage(tcPacket.getStoreAddress());
// ReturnValue_t result = injectionQueue->sendToDefault(&tcMessage);
// if(result != HasReturnvaluesIF::RETURN_OK) {
// sif::warning << "PusTcInjector: Sending TMTC message failed!" << std::endl;
// }
// return result;
//}
ReturnValue_t PusTcInjector::initialize() {
// Prepare message queue which is used to send telecommands.
injectionQueue = QueueFactory::instance()->
createMessageQueue(INJECTION_QUEUE_DEPTH);
AcceptsTelecommandsIF* targetQueue = objectManager->
get<AcceptsTelecommandsIF>(destination);
if(targetQueue == nullptr) {
sif::error << "PusTcInjector: CCSDS distributor not initialized yet!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
else {
injectionQueue->setDefaultDestination(targetQueue->getRequestQueue());
}
// Prepare store used to store TC messages
tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
if(tcStore == nullptr) {
sif::error << "PusTcInjector: TC Store not initialized!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

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#ifndef TEST_TESTTASKS_PUSTCINJECTOR_H_
#define TEST_TESTTASKS_PUSTCINJECTOR_H_
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
#include <array>
class PusTcInjector: public SystemObject {
public:
static constexpr uint8_t INJECTION_QUEUE_DEPTH = 10;
const uint16_t defaultApid;
/**
* Initialize a software telecommand injector by supplying object IDs to
* various helper objects which must exist before calling initialiez()
* @param objectId ID of PUS telecommand injector
* @param destination ID of destination, which has to implement
* AcceptsTelecommandIF.
* @param tcStore ID of telecommand store, which has to implement
* StorageManagerIF.
* @param defaultApid Default APID which will be used if an injection
* without an APID is requested.
*/
PusTcInjector(object_id_t objectId, object_id_t destination,
object_id_t tcStore, uint16_t defaultApid);
/**
* This has to be called before using the PusTcInjector.
* Call Not necessary when using a factory and the object manager.
* @return -@c RETURN_OK for successfull init
* -@c ObjectManagerIF::CHILD_INIT_FAILED otherwise
*/
ReturnValue_t initialize() override;
virtual~ PusTcInjector();
/**
* Can be used to inject a telecommand by supplying service, subservice
* and optional application data and its length.
* Default APID will be used.
* @param service PUS service type
* @param subservice PUS subservice type
* @param appData Pointer to application data
* @param appDataLen Length of application data
* @return
*/
//ReturnValue_t injectPusTelecommand(uint8_t service, uint8_t subservice,
// const uint8_t* appData = nullptr, size_t appDataLen = 0);
/**
* Provides the same functionality while also setting a user defined APID.
* @param service PUS service type
* @param subservice PUS subservice type
* @param apid Custom APID to,
* @param appData Pointer to application data
* @param appDataLen Length of application data
* @return
*/
//ReturnValue_t injectPusTelecommand(uint8_t service, uint8_t subservice,
// uint16_t apid, const uint8_t* appData = nullptr,
// size_t appDataLen = 0);
private:
MessageQueueIF* injectionQueue = nullptr;
StorageManagerIF *tcStore = nullptr;
/* Cached for initialize function */
object_id_t destination = 0;
object_id_t tcStoreId = 0;
uint16_t sequenceCount = 0;
};
#endif /* TEST_TESTTASKS_PUSTCINJECTOR_H_ */

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#include "logicalAddresses.h"
#include "apid.h"
#include <test/testtasks/TestTask.h>
#include <test/testtasks/PusTcInjector.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <etl/vector.h>
#include <array>
#include <cstring>
bool TestTask::oneShotAction = true;
MutexIF* TestTask::testLock = nullptr;
TestTask::TestTask(object_id_t objectId_):
SystemObject(objectId_), testMode(testModes::A) {
if(testLock == nullptr) {
testLock = MutexFactory::instance()->createMutex();
}
IPCStore = objectManager->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() {
ReturnValue_t result = RETURN_OK;
return result;
}
ReturnValue_t TestTask::performActionA() {
ReturnValue_t result = RETURN_OK;
// Add periodically executed code here
return result;
}
ReturnValue_t TestTask::performActionB() {
ReturnValue_t result = RETURN_OK;
// Add periodically executed code here
return result;
}

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#ifndef TEST_TESTTASK_H_
#define TEST_TESTTASK_H_
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/serialize/SerialBufferAdapter.h>
#include <fsfw/serialize/SerializeElement.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
#include <cstddef>
/**
* @brief Test class for general C++ testing.
* @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);
virtual ~TestTask();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
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 testFlag = false;
uint8_t counter { 1 };
uint8_t counterTrigger { 3 };
void performPusInjectorTest();
void examplePacketTest();
private:
// Actually, to be really thread-safe, a mutex should be used as well
// Let's keep it simple for now.
static bool oneShotAction;
static MutexIF* testLock;
StorageManagerIF* IPCStore;
};
#endif /* TESTTASK_H_ */

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