111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
#include "TestTask.h"
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#include <OBSWConfig.h>
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#include <fsfw/objectmanager/frameworkObjects.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include <fsfw/globalfunctions/arrayprinter.h>
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#include <array>
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#include <cstring>
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TestTask::TestTask(object_id_t objectId_):
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SystemObject(objectId_), testMode(testModes::A) {
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IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
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}
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TestTask::~TestTask() {
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}
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ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
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ReturnValue_t result = RETURN_OK;
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if(oneShotAction) {
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/* Add code here which should only be run once */
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performOneShotAction();
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oneShotAction = false;
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}
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/* Add code here which should only be run once per performOperation */
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performPeriodicAction();
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/* Add code here which should only be run on alternating cycles. */
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if(testMode == testModes::A) {
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performActionA();
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testMode = testModes::B;
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}
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else if(testMode == testModes::B) {
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performActionB();
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testMode = testModes::A;
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}
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return result;
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}
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#include <etl/vector.h>
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#include <lwgps/lwgps.h>
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/**
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* @brief Dummy data from GPS receiver. Will be replaced witgh hyperion data later.
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*/
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const char
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gps_rx_data[] = ""
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"$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F\r\n"
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"$GPRMB,A,,,,,,,,,,,,V*71\r\n"
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"$GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75\r\n"
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"$GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D\r\n"
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"$GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71\r\n"
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"$GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77\r\n"
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"$PGRME,22.0,M,52.9,M,51.0,M*14\r\n"
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"$GPGLL,3907.360,N,12102.481,W,183730,A*33\r\n"
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"$PGRMZ,2062,f,3*2D\r\n"
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"$PGRMM,WGS84*06\r\n"
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"$GPBOD,,T,,M,,*47\r\n"
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"$GPRTE,1,1,c,0*07\r\n"
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"$GPRMC,183731,A,3907.482,N,12102.436,W,000.0,360.0,080301,015.5,E*67\r\n"
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"$GPRMB,A,,,,,,,,,,,,V*71\r\n";
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ReturnValue_t TestTask::performOneShotAction() {
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#if OBSW_ADD_TEST_CODE == 1
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performLwgpsTest();
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TestTask::performPeriodicAction() {
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ReturnValue_t result = RETURN_OK;
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return result;
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}
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ReturnValue_t TestTask::performActionA() {
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ReturnValue_t result = RETURN_OK;
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/* Add periodically executed code here */
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return result;
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}
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ReturnValue_t TestTask::performActionB() {
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ReturnValue_t result = RETURN_OK;
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/* Add periodically executed code here */
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return result;
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}
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void TestTask::performLwgpsTest() {
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/* Everything here will only be performed once. */
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etl::vector<uint8_t, 30> testVec;
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lwgps_t gpsStruct;
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sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl;
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lwgps_init(&gpsStruct);
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/* Process all input data */
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lwgps_process(&gpsStruct, gps_rx_data, strlen(gps_rx_data));
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/* Print messages */
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printf("Valid status: %d\r\n", gpsStruct.is_valid);
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printf("Latitude: %f degrees\r\n", gpsStruct.latitude);
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printf("Longitude: %f degrees\r\n", gpsStruct.longitude);
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printf("Altitude: %f meters\r\n", gpsStruct.altitude);
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}
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