eive-obsw/bsp_q7s/boardtest/Q7STestTask.cpp
Robin Mueller 00059251f0
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further clean up em and general code
2022-10-26 15:47:23 +02:00

444 lines
15 KiB
C++

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