442 lines
15 KiB
C++
442 lines
15 KiB
C++
#include "Q7STestTask.h"
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#include <bsp_q7s/core/CoreController.h>
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#include <bsp_q7s/xadc/Xadc.h>
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#include <fsfw/globalfunctions/arrayprinter.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw_hal/host/HostFilesystem.h>
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#include <gps.h>
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#include <libgpsmm.h>
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#include <param/param_string.h>
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#include <param/rparam_client.h>
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#include <cstdio>
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#include <ctime>
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#include <fstream>
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#include <iomanip>
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#include <iostream>
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#include <nlohmann/json.hpp>
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#include "OBSWConfig.h"
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#include "bsp_q7s/fs/SdCardManager.h"
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#include "bsp_q7s/fs/helpers.h"
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#include "bsp_q7s/memory/scratchApi.h"
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#include "fsfw/tasks/TaskFactory.h"
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#include "fsfw/timemanager/Stopwatch.h"
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#include "p60pdu.h"
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#include "test/DummyParameter.h"
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using namespace returnvalue;
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Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
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doTestSdCard = false;
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doTestScratchApi = false;
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doTestGpsShm = false;
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doTestGpsSocket = false;
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doTestXadc = false;
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}
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ReturnValue_t Q7STestTask::performOneShotAction() {
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if (doTestSdCard) {
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testSdCard();
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}
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if (doTestScratchApi) {
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testScratchApi();
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}
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if (DO_TEST_GOMSPACE_API) {
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uint8_t p60pdu_node = 3;
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uint8_t hk_mem[P60PDU_HK_SIZE];
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param_index_t p60pdu_hk{};
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p60pdu_hk.physaddr = hk_mem;
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if (!p60pdu_get_hk(&p60pdu_hk, p60pdu_node, 1000)) {
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printf("Error getting p60pdu hk\n");
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} else {
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param_list(&p60pdu_hk, 1);
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}
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}
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if (DO_TEST_GOMSPACE_GET_CONFIG) {
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uint8_t p60pdu_node = 3;
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param_index_t requestStruct{};
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requestStruct.table = p60pdu_config;
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requestStruct.mem_id = P60PDU_PARAM;
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uint8_t hk_mem[P60PDU_PARAM_SIZE];
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requestStruct.count = p60pdu_config_count;
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requestStruct.size = P60PDU_PARAM_SIZE;
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requestStruct.physaddr = hk_mem;
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int result = rparam_get_full_table(&requestStruct, p60pdu_node, P60_PORT_RPARAM,
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requestStruct.mem_id, 1000);
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param_list(&requestStruct, 1);
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return (result == 0);
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}
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// testJsonLibDirect();
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// testDummyParams();
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if (doTestProtHandler) {
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testProtHandler();
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}
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FsOpCodes opCode = FsOpCodes::CREATE_EMPTY_FILE_IN_TMP;
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testFileSystemHandlerDirect(opCode);
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return TestTask::performOneShotAction();
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}
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ReturnValue_t Q7STestTask::performPeriodicAction() {
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if (doTestGpsShm) {
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testGpsDaemonShm();
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}
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if (doTestGpsSocket) {
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testGpsDaemonSocket();
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}
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if (doTestXadc) {
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xadcTest();
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}
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return TestTask::performPeriodicAction();
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}
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void Q7STestTask::testSdCard() {
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using namespace std;
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Stopwatch stopwatch;
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int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
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if (result != 0) {
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sif::debug << "system call failed with " << result << endl;
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}
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ifstream sdStatus("/tmp/sd_status.txt");
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string line;
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uint8_t idx = 0;
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while (std::getline(sdStatus, line)) {
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std::istringstream iss(line);
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string word;
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while (iss >> word) {
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if (word == "on") {
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sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
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} else if (word == "off") {
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sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
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}
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}
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idx++;
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}
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std::remove("/tmp/sd_status.txt");
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}
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void Q7STestTask::fileTests() {
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using namespace std;
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ofstream testFile("/tmp/test.txt");
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testFile << "Hallo Welt" << endl;
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testFile.close();
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system("echo \"Hallo Welt\" > /tmp/test2.txt");
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system("echo \"Hallo Welt\"");
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}
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void Q7STestTask::testScratchApi() {
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ReturnValue_t result = scratch::writeNumber("TEST", 1);
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if (result != returnvalue::OK) {
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sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
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}
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int number = 0;
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result = scratch::readNumber("TEST", number);
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sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
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if (result != returnvalue::OK) {
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sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
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}
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result = scratch::writeString("TEST2", "halloWelt");
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if (result != returnvalue::OK) {
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sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
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}
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std::string string;
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result = scratch::readString("TEST2", string);
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if (result != returnvalue::OK) {
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sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
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}
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sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
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result = scratch::clearValue("TEST");
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result = scratch::clearValue("TEST2");
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}
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void Q7STestTask::testJsonLibDirect() {
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Stopwatch stopwatch;
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// for convenience
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using json = nlohmann::json;
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json helloTest;
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// add a number that is stored as double (note the implicit conversion of j to an object)
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helloTest["pi"] = 3.141;
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std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
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std::string fileName = mntPrefix + "/pretty.json";
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std::ofstream o(fileName);
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o << std::setw(4) << helloTest << std::endl;
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}
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void Q7STestTask::testDummyParams() {
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std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
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DummyParameter param(mntPrefix, "dummy_json.txt");
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param.printKeys();
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param.print();
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if (not param.getJsonFileExists()) {
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param.writeJsonFile();
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}
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ReturnValue_t result = param.readJsonFile();
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if (result != returnvalue::OK) {
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}
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param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
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param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
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param.writeJsonFile();
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param.print();
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int test = 0;
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result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
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<< " does not exist" << std::endl;
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}
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std::string test2;
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result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
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<< " does not exist" << std::endl;
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}
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sif::info << "Test value (3 expected): " << test << std::endl;
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sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
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}
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ReturnValue_t Q7STestTask::initialize() {
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coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
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if (coreController == nullptr) {
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sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
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<< std::endl;
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}
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return TestTask::initialize();
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}
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void Q7STestTask::testProtHandler() {
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bool opPerformed = false;
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ReturnValue_t result = returnvalue::OK;
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// If any chips are unlocked, lock them here
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result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
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opPerformed, true);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
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}
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// unlock own copy
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result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
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opPerformed, true);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
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}
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if (not opPerformed) {
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sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
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}
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int retval = std::system("print-chip-prot-status.sh");
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if (retval != 0) {
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utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
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}
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// lock own copy
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result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
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opPerformed, true);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
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}
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if (not opPerformed) {
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sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
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}
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retval = std::system("print-chip-prot-status.sh");
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if (retval != 0) {
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utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
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}
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// unlock specific copy
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result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
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opPerformed, true);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
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}
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if (not opPerformed) {
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sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
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}
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retval = std::system("print-chip-prot-status.sh");
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if (retval != 0) {
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utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
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}
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// lock specific copy
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result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
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opPerformed, true);
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if (result != returnvalue::OK) {
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sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
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}
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if (not opPerformed) {
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sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
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}
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retval = std::system("print-chip-prot-status.sh");
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if (retval != 0) {
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utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
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}
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}
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void Q7STestTask::testGpsDaemonShm() {
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gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
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gps_data_t* gps;
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gps = gpsmm.read();
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if (gps == nullptr) {
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sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
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}
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sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
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#if LIBGPS_VERSION_MINOR <= 17
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time_t timeRaw = gps->fix.time;
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#else
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time_t timeRaw = gps->fix.time.tv_sec;
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#endif
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std::tm* time = gmtime(&timeRaw);
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sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
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sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
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sif::info << "Satellites used: " << gps->satellites_used << std::endl;
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sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
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sif::info << "Latitude: " << gps->fix.latitude << std::endl;
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sif::info << "Longitude: " << gps->fix.longitude << std::endl;
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#if LIBGPS_VERSION_MINOR <= 17
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sif::info << "Altitude(MSL): " << gps->fix.altitude << std::endl;
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#else
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sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
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#endif
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sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
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}
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void Q7STestTask::testGpsDaemonSocket() {
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if (gpsmmShmPtr == nullptr) {
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gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
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}
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// The data from the device will generally be read all at once. Therefore, we
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// can set all field here
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if (not gpsmmShmPtr->is_open()) {
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if (gpsNotOpenSwitch) {
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// Opening failed
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#if FSFW_VERBOSE_LEVEL >= 1
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sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
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<< "Error " << errno << " | " << gps_errstr(errno) << std::endl;
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#endif
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gpsNotOpenSwitch = false;
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}
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return;
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}
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// Stopwatch watch;
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gps_data_t* gps = nullptr;
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gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
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if (not gpsmmShmPtr->waiting(50000000)) {
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return;
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}
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gps = gpsmmShmPtr->read();
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if (gps == nullptr) {
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if (gpsReadFailedSwitch) {
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gpsReadFailedSwitch = false;
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sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
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}
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return;
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}
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if (MODE_SET != (MODE_SET & gps->set)) {
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if (noModeSetCntr >= 0) {
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noModeSetCntr++;
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}
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if (noModeSetCntr == 10) {
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// TODO: Trigger event here
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sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be "
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"read for 10 consecutive reads"
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<< std::endl;
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noModeSetCntr = -1;
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}
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return;
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} else {
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noModeSetCntr = 0;
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}
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sif::info << "-- Q7STestTask: GPS socket read test --" << std::endl;
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#if LIBGPS_VERSION_MINOR <= 17
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time_t timeRaw = gps->fix.time;
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#else
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time_t timeRaw = gps->fix.time.tv_sec;
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#endif
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std::tm* time = gmtime(&timeRaw);
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sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
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sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
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sif::info << "Satellites used: " << gps->satellites_used << std::endl;
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sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
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sif::info << "Latitude: " << gps->fix.latitude << std::endl;
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sif::info << "Longitude: " << gps->fix.longitude << std::endl;
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}
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void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
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HostFilesystem hostFs;
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auto* sdcMan = SdCardManager::instance();
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std::string mountPrefix = sdcMan->getCurrentMountPrefix();
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sif::info << "Current mount prefix: " << mountPrefix << std::endl;
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auto prefixedPath = fshelpers::getPrefixedPath(*sdcMan, "conf/test.txt");
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sif::info << "Prefixed path: " << prefixedPath << std::endl;
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if (opCode == FsOpCodes::CREATE_EMPTY_FILE_IN_TMP) {
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FilesystemParams params("/tmp/hello.txt");
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auto res = hostFs.createFile(params);
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if (res != OK) {
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sif::warning << "Creating empty file in /tmp failed" << std::endl;
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}
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bool fileExists = std::filesystem::exists("/tmp/hello.txt");
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if (not fileExists) {
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sif::warning << "File was not created!" << std::endl;
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}
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hostFs.removeFile("/tmp/hello.txt");
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}
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}
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void Q7STestTask::xadcTest() {
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ReturnValue_t result = returnvalue::OK;
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float temperature = 0;
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float vccPint = 0;
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float vccPaux = 0;
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float vccInt = 0;
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float vccAux = 0;
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float vccBram = 0;
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float vccOddr = 0;
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float vrefp = 0;
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float vrefn = 0;
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Xadc xadc;
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result = xadc.getTemperature(temperature);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
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}
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result = xadc.getVccPint(vccPint);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
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}
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result = xadc.getVccPaux(vccPaux);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
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}
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result = xadc.getVccInt(vccInt);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
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}
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result = xadc.getVccAux(vccAux);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
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}
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result = xadc.getVccBram(vccBram);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
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}
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result = xadc.getVccOddr(vccOddr);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
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}
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result = xadc.getVrefp(vrefp);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
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}
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result = xadc.getVrefn(vrefn);
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if (result == returnvalue::OK) {
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sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
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}
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|
}
|