fsfw/fsfw-example-common
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moved some code to fsfw

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This commit is contained in:
Robin Müller 2021-10-17 23:21:38 +02:00
parent 127a0f6e16
commit db0af8b29a
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GPG Key ID: 71B58F8A3CDFA9AC
46 changed files with 39 additions and 1956 deletions
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4
CMakeLists.txt
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@ -1,7 +1,5 @@
add_subdirectory(mission)
add_subdirectory(test)
add_subdirectory(config)
add_subdirectory(utility)
add_subdirectory(example)
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}

8
config/commonPollingSequenceFactory.cpp
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@ -1,10 +1,12 @@
#include <pollingsequence/pollingSequenceFactory.h>
#include <objects/systemObjectList.h>
#include "pollingsequence/pollingSequenceFactory.h"
#include "objects/systemObjectList.h"
#include "example/test/FsfwExampleTask.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <test/FsfwExampleTask.h>
ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
uint32_t length = thisSequence->getPeriodMs();

4
mission/CMakeLists.txt → example/CMakeLists.txt
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@ -1,5 +1,5 @@
add_subdirectory(controller)
add_subdirectory(core)
add_subdirectory(devices)
add_subdirectory(test)
add_subdirectory(utility)
add_subdirectory(controller)
add_subdirectory(assemblies)

0
example/controller/CMakeLists.txt Normal file
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0
mission/core/CMakeLists.txt → example/core/CMakeLists.txt
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22
mission/core/GenericFactory.cpp → example/core/GenericFactory.cpp
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@ -6,16 +6,16 @@
#include "tmtc/pusIds.h"
#include "objects/systemObjectList.h"
#include "fsfw_tests/internal/InternalUnitTester.h"
#include "test/FsfwExampleTask.h"
#include "test/FsfwReaderTask.h"
#include "example/utility/TmFunnel.h"
#include "example/test/FsfwExampleTask.h"
#include "example/test/FsfwReaderTask.h"
#include "mission/assemblies/TestAssembly.h"
#include "mission/devices/TestCookie.h"
#include "mission/devices/TestDeviceHandler.h"
#include "mission/devices/TestEchoComIF.h"
#include "mission/utility/TmFunnel.h"
#include "mission/controller/TestController.h"
#include "fsfw_tests/internal/InternalUnitTester.h"
#include "fsfw_tests/integration/assemblies/TestAssembly.h"
#include "fsfw_tests/integration/devices/TestCookie.h"
#include "fsfw_tests/integration/devices/TestDeviceHandler.h"
#include "fsfw_tests/integration/devices/TestEchoComIF.h"
#include "fsfw_tests/integration/controller/TestController.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/events/EventManager.h"
@ -95,12 +95,12 @@ void ObjectFactory::produceGenericObjects() {
/* Demo device handler object */
size_t expectedMaxReplyLen = 64;
CookieIF* testCookie = new DummyCookie(
CookieIF* testCookie = new TestCookie(
static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0), expectedMaxReplyLen);
new TestEchoComIF(objects::TEST_ECHO_COM_IF);
new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF, testCookie,
testdevice::DeviceIndex::DEVICE_0, enableInfoPrintout);
testCookie = new DummyCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
expectedMaxReplyLen);
new TestDevice(objects::TEST_DEVICE_HANDLER_1, objects::TEST_ECHO_COM_IF, testCookie,
testdevice::DeviceIndex::DEVICE_1, enableInfoPrintout);

0
mission/core/GenericFactory.h → example/core/GenericFactory.h
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0
example/devices/CMakeLists.txt Normal file
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12
example/devices/TestDeviceHandler.h Normal file
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@ -0,0 +1,12 @@
#ifndef EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_
#define EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_
//#include "fsfw_tests/integration/TestDeviceHandler.h"
//
//class FsfwTestDeviceHandler: public TestDeviceHandler {
//
//};
#endif /* EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_ */

5
example/test/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
FsfwReaderTask.cpp
FsfwExampleTask.cpp
MutexExample.cpp
)

0
test/FsfwExampleTask.cpp → example/test/FsfwExampleTask.cpp
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0
test/FsfwExampleTask.h → example/test/FsfwExampleTask.h
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0
test/FsfwReaderTask.cpp → example/test/FsfwReaderTask.cpp
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0
test/FsfwReaderTask.h → example/test/FsfwReaderTask.h
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0
test/MutexExample.cpp → example/test/MutexExample.cpp
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0
test/MutexExample.h → example/test/MutexExample.h
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0
test/testdefinitions/demoDefinitions.h → example/test/testdefinitions/demoDefinitions.h
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1
utility/CMakeLists.txt → example/utility/CMakeLists.txt
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@ -1,3 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
utility.cpp
TmFunnel.cpp
)

0
mission/utility/PusPacketCreator.cpp → example/utility/PusPacketCreator.cpp
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0
mission/utility/PusPacketCreator.h → example/utility/PusPacketCreator.h
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0
mission/utility/TaskCreation.h → example/utility/TaskCreation.h
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3
mission/utility/TmFunnel.cpp → example/utility/TmFunnel.cpp
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@ -1,8 +1,9 @@
#include "TmFunnel.h"
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <mission/utility/TmFunnel.h>
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;

0
mission/utility/TmFunnel.h → example/utility/TmFunnel.h
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0
mission/utility/compile_time.h → example/utility/compile_time.h
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0
utility/utility.cpp → example/utility/utility.cpp
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0
utility/utility.h → example/utility/utility.h
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3
mission/assemblies/CMakeLists.txt
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@ -1,3 +0,0 @@
target_sources(${TARGET_NAME} PRIVATE
TestAssembly.cpp
)

200
mission/assemblies/TestAssembly.cpp
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@ -1,200 +0,0 @@
#include "commonSystemObjects.h"
#include <mission/assemblies/TestAssembly.h>
#include <fsfw/objectmanager/ObjectManager.h>
TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId):
AssemblyBase(objectId, parentId) {
ModeListEntry newModeListEntry;
newModeListEntry.setObject(objects::TEST_DEVICE_HANDLER_0);
newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry);
newModeListEntry.setObject(objects::TEST_DEVICE_HANDLER_1);
newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry);
}
TestAssembly::~TestAssembly() {
}
ReturnValue_t TestAssembly::commandChildren(Mode_t mode,
Submode_t submode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestAssembly: Received command to go to mode " << mode <<
" submode " << (int) submode << std::endl;
#else
sif::printInfo("TestAssembly: Received command to go to mode %d submode %d\n", mode, submode);
#endif
ReturnValue_t result = RETURN_OK;
if(mode == MODE_OFF){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else if(mode == DeviceHandlerIF::MODE_NORMAL) {
if(submode == submodes::SINGLE){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail
if(isDeviceAvailable(objects::TEST_DEVICE_HANDLER_0)) {
if (childrenMap[objects::TEST_DEVICE_HANDLER_0].mode == MODE_ON) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else {
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
else {
if (childrenMap[objects::TEST_DEVICE_HANDLER_1].mode == MODE_ON) {
commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
}
else{
// Dual Mode Normal
if (childrenMap[objects::TEST_DEVICE_HANDLER_0].mode == MODE_ON) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else{
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
if (childrenMap[objects::TEST_DEVICE_HANDLER_1].mode == MODE_ON) {
commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
}
else{
//Mode ON
if(submode == submodes::SINGLE){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail
if(isDeviceAvailable(objects::TEST_DEVICE_HANDLER_0)){
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
}
}
else{
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
}
}
HybridIterator<ModeListEntry> iter(commandTable.begin(),
commandTable.end());
executeTable(iter);
return result;
}
ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode,
Submode_t submode) {
switch (mode) {
case MODE_OFF:
if (submode == SUBMODE_NONE) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
case DeviceHandlerIF::MODE_NORMAL:
case MODE_ON:
if (submode < 3) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
}
return INVALID_MODE;
}
ReturnValue_t TestAssembly::initialize() {
ReturnValue_t result = AssemblyBase::initialize();
if(result != RETURN_OK){
return result;
}
handler0 = ObjectManager::instance()->get<TestDevice>(objects::TEST_DEVICE_HANDLER_0);
handler1 = ObjectManager::instance()->get<TestDevice>(objects::TEST_DEVICE_HANDLER_1);
if((handler0 == nullptr) or (handler1 == nullptr)){
return HasReturnvaluesIF::RETURN_FAILED;
}
handler0->setParentQueue(this->getCommandQueue());
handler1->setParentQueue(this->getCommandQueue());
result = registerChild(objects::TEST_DEVICE_HANDLER_0);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(objects::TEST_DEVICE_HANDLER_1);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t TestAssembly::checkChildrenStateOn(
Mode_t wantedMode, Submode_t wantedSubmode) {
if(submode == submodes::DUAL){
for(const auto& info:childrenMap) {
if(info.second.mode != wantedMode or info.second.mode != wantedSubmode){
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}
return RETURN_OK;
}
else if(submode == submodes::SINGLE) {
for(const auto& info:childrenMap) {
if(info.second.mode == wantedMode and info.second.mode != wantedSubmode){
return RETURN_OK;
}
}
}
return INVALID_SUBMODE;
}
bool TestAssembly::isDeviceAvailable(object_id_t object) {
if(healthHelper.healthTable->getHealth(object) == HasHealthIF::HEALTHY){
return true;
}
else{
return false;
}
}

53
mission/assemblies/TestAssembly.h
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@ -1,53 +0,0 @@
#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
#include "../devices/TestDeviceHandler.h"
class TestAssembly: public AssemblyBase {
public:
TestAssembly(object_id_t objectId, object_id_t parentId);
virtual ~TestAssembly();
ReturnValue_t initialize() override;
enum submodes: Submode_t{
SINGLE = 0,
DUAL = 1
};
protected:
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
* or using executeTable()
* @param mode
* @param submode
* @return
* - @c RETURN_OK if ok
* - @c NEED_SECOND_STEP if children need to be commanded again
*/
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
/**
* Check whether desired assembly mode was achieved by checking the modes
* or/and health states of child device handlers.
* The assembly template class will also call this function if a health
* or mode change of a child device handler was detected.
* @param wantedMode
* @param wantedSubmode
* @return
*/
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode)
override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) override;
private:
FixedArrayList<ModeListEntry, 2> commandTable;
TestDevice* handler0 = nullptr;
TestDevice* handler1 = nullptr;
bool isDeviceAvailable(object_id_t object);
};
#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */

3
mission/controller/CMakeLists.txt
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@ -1,3 +0,0 @@
target_sources(${TARGET_NAME} PRIVATE
TestController.cpp
)

214
mission/controller/TestController.cpp
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@ -1,214 +0,0 @@
#include "TestController.h"
#include "OBSWConfig.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
TestController::TestController(object_id_t objectId, size_t commandQueueDepth):
ExtendedControllerBase(objectId, objects::NO_OBJECT, commandQueueDepth),
deviceDataset0(objects::TEST_DEVICE_HANDLER_0),
deviceDataset1(objects::TEST_DEVICE_HANDLER_1) {
}
TestController::~TestController() {
}
ReturnValue_t TestController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestController::performControlOperation() {
/* We will trace vaiables if we received an update notification or snapshots */
#if OBSW_CONTROLLER_PRINTOUT == 1
if(not traceVariable) {
return;
}
switch(currentTraceType) {
case(NONE): {
break;
}
case(TRACE_DEV_0_UINT8): {
if(traceCounter == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing finished" << std::endl;
#else
sif::printInfo("Tracing finished\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
traceVariable = false;
traceCounter = traceCycles;
currentTraceType = TraceTypes::NONE;
break;
}
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing device 0 variable 0 (UINT8), current value: " <<
static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
#else
sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
deviceDataset0.testUint8Var.value);
#endif
traceCounter--;
break;
}
case(TRACE_DEV_0_VECTOR): {
break;
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
}
void TestController::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
using namespace std;
#if OBSW_CONTROLLER_PRINTOUT == 1
char const* printout = nullptr;
if(storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
}
else {
printout = "Snapshot";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestController::handleChangedDataset: " << printout << " update from object "
"ID " << setw(8) << setfill('0') << hex << sid.objectId <<
" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
#else
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
"set ID %lu\n", printout, sid.objectId, sid.ownerSetId);
#endif
if (storeId == storeId::INVALID_STORE_ADDRESS) {
if(sid.objectId == objects::TEST_DEVICE_HANDLER_0) {
PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
float floatVec[3];
floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " <<
floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
#else
sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
floatVec[0], floatVec[1], floatVec[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
/* We will trace the variables for snapshots and update notifications */
if(not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
}
}
void TestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) {
using namespace std;
#if OBSW_CONTROLLER_PRINTOUT == 1
char const* printout = nullptr;
if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
}
else {
printout = "Snapshot";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
"ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
" and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl;
#else
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
"local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
if (storeId == storeId::INVALID_STORE_ADDRESS) {
if(globPoolId.objectId == objects::TEST_DEVICE_HANDLER_0) {
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>(
deviceDataset0.testUint8Var.value) << std::endl;
#else
sif::printInfo("Current test variable 0 (UINT8) value %d\n",
deviceDataset0.testUint8Var.value);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
/* We will trace the variables for snapshots and update notifications */
if(not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
}
}
LocalPoolDataSetBase* TestController::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestController::initializeAfterTaskCreation() {
namespace td = testdevice;
HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
objects::TEST_DEVICE_HANDLER_0);
if(device0 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!" << std::endl;
#else
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!");
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
if(subscriptionIF != nullptr) {
/* For DEVICE_0, we only subscribe for notifications */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), false);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
getObjectId(), getCommandQueue(), false);
}
HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
objects::TEST_DEVICE_HANDLER_1);
if(device1 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!" << std::endl;
#else
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!");
#endif
}
subscriptionIF = device1->getSubscriptionInterface();
if(subscriptionIF != nullptr) {
/* For DEVICE_1, we will subscribe for snapshots */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), true);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
getObjectId(), getCommandQueue(), true);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}

50
mission/controller/TestController.h
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@ -1,50 +0,0 @@
#ifndef MISSION_CONTROLLER_TESTCONTROLLER_H_
#define MISSION_CONTROLLER_TESTCONTROLLER_H_
#include "../devices/devicedefinitions/testDeviceDefinitions.h"
#include <fsfw/controller/ExtendedControllerBase.h>
class TestController:
public ExtendedControllerBase {
public:
TestController(object_id_t objectId, size_t commandQueueDepth = 10);
virtual~ TestController();
protected:
testdevice::TestDataSet deviceDataset0;
testdevice::TestDataSet deviceDataset1;
/* Extended Controller Base overrides */
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
/* HasLocalDatapoolIF callbacks */
void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
ReturnValue_t initializeAfterTaskCreation() override;
private:
bool traceVariable = false;
uint8_t traceCycles = 5;
uint8_t traceCounter = traceCycles;
enum TraceTypes {
NONE,
TRACE_DEV_0_UINT8,
TRACE_DEV_0_VECTOR
};
TraceTypes currentTraceType = TraceTypes::NONE;
};
#endif /* MISSION_CONTROLLER_TESTCONTROLLER_H_ */

18
mission/controller/ctrldefinitions/testCtrlDefinitions.h
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@ -1,18 +0,0 @@
#ifndef MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <OBSWConfig.h>
namespace testcontroller {
enum sourceObjectIds: object_id_t {
DEVICE_0_ID = objects::TEST_DEVICE_HANDLER_0,
DEVICE_1_ID = objects::TEST_DEVICE_HANDLER_1,
};
}
#endif /* MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_ */

6
mission/devices/CMakeLists.txt
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@ -1,6 +0,0 @@
target_sources(${TARGET_NAME}
PRIVATE
TestCookie.cpp
TestDeviceHandler.cpp
TestEchoComIF.cpp
)

14
mission/devices/TestCookie.cpp
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@ -1,14 +0,0 @@
#include "TestCookie.h"
DummyCookie::DummyCookie(address_t address, size_t replyMaxLen):
address(address), replyMaxLen(replyMaxLen) {}
DummyCookie::~DummyCookie() {}
address_t DummyCookie::getAddress() const {
return address;
}
size_t DummyCookie::getReplyMaxLen() const {
return replyMaxLen;
}

22
mission/devices/TestCookie.h
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@ -1,22 +0,0 @@
#ifndef MISSION_DEVICES_TESTCOOKIE_H_
#define MISSION_DEVICES_TESTCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <cstddef>
/**
* @brief Really simple cookie which does not do a lot.
*/
class DummyCookie: public CookieIF {
public:
DummyCookie(address_t address, size_t maxReplyLen);
virtual ~DummyCookie();
address_t getAddress() const;
size_t getReplyMaxLen() const;
private:
address_t address = 0;
size_t replyMaxLen = 0;
};
#endif /* MISSION_DEVICES_TESTCOOKIE_H_ */

804
mission/devices/TestDeviceHandler.cpp
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@ -1,804 +0,0 @@
#include "TestDeviceHandler.h"
#include <OBSWConfig.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <cstdlib>
TestDevice::TestDevice(object_id_t objectId, object_id_t comIF,
CookieIF * cookie, testdevice::DeviceIndex deviceIdx, bool fullInfoPrintout,
bool changingDataset):
DeviceHandlerBase(objectId, comIF, cookie), deviceIdx(deviceIdx),
dataset(this), fullInfoPrintout(fullInfoPrintout) {
}
TestDevice::~TestDevice() {}
void TestDevice::performOperationHook() {
if(periodicPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
#else
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
#endif
}
if(oneShot) {
oneShot = false;
}
}
void TestDevice::doStartUp() {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doStartUp: Switching On" << std::endl;
#else
sif::printInfo("TestDevice%d::doStartUp: Switching On\n", static_cast<int>(deviceIdx));
#endif
}
setMode(_MODE_TO_ON);
return;
}
void TestDevice::doShutDown() {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doShutDown: Switching Off" << std::endl;
#else
sif::printInfo("TestDevice%d::doShutDown: Switching Off\n", static_cast<int>(deviceIdx));
#endif
}
setMode(_MODE_SHUT_DOWN);
return;
}
ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
using namespace testdevice;
*id = TEST_NORMAL_MODE_CMD;
if(DeviceHandlerBase::isAwaitingReply()) {
return NOTHING_TO_SEND;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if(mode == _MODE_TO_ON) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called"
" from _MODE_TO_ON mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: "
"Was called from _MODE_TO_ON mode\n", deviceIdx);
#endif
}
}
if(mode == _MODE_TO_NORMAL) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
"from _MODE_TO_NORMAL mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
" _MODE_TO_NORMAL mode\n", deviceIdx);
#endif
}
setMode(MODE_NORMAL);
}
if(mode == _MODE_SHUT_DOWN) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
"from _MODE_SHUT_DOWN mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
"_MODE_SHUT_DOWN mode\n", deviceIdx);
#endif
}
setMode(MODE_OFF);
}
return NOTHING_TO_SEND;
}
void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
if(mode == _MODE_TO_NORMAL) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doTransition: Custom transition to "
"normal mode" << std::endl;
#else
sif::printInfo("TestDevice%d::doTransition: Custom transition to normal mode\n",
deviceIdx);
#endif
}
}
else {
DeviceHandlerBase::doTransition(modeFrom, submodeFrom);
}
}
ReturnValue_t TestDevice::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) {
using namespace testdevice;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(deviceCommand) {
case(TEST_NORMAL_MODE_CMD): {
commandSent = true;
result = buildNormalModeCommand(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_COMMAND_0): {
commandSent = true;
result = buildTestCommand0(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_COMMAND_1): {
commandSent = true;
result = buildTestCommand1(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_NOTIF_SNAPSHOT_VAR): {
if(changingDatasets) {
changingDatasets = false;
}
PoolReadGuard readHelper(&dataset.testUint8Var);
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
/* This will trigger a variable notification to the demo controller */
dataset.testUint8Var = 220;
dataset.testUint8Var.setValid(true);
}
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
/* This will trigger a variable snapshot to the demo controller */
dataset.testUint8Var = 30;
dataset.testUint8Var.setValid(true);
}
break;
}
case(TEST_NOTIF_SNAPSHOT_SET): {
if(changingDatasets) {
changingDatasets = false;
}
PoolReadGuard readHelper(&dataset.testFloat3Vec);
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
/* This will trigger a variable notification to the demo controller */
dataset.testFloat3Vec.value[0] = 60;
dataset.testFloat3Vec.value[1] = 70;
dataset.testFloat3Vec.value[2] = 55;
dataset.testFloat3Vec.setValid(true);
}
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
/* This will trigger a variable notification to the demo controller */
dataset.testFloat3Vec.value[0] = -60;
dataset.testFloat3Vec.value[1] = -70;
dataset.testFloat3Vec.value[2] = -55;
dataset.testFloat3Vec.setValid(true);
}
break;
}
default:
result = DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
}
return result;
}
ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen) {
if(fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
#else
sif::printInfo("TestDevice::buildTestCommand1: Building command from TEST_COMMAND_1\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_VERBOSE_LEVEL >= 3 */
}
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
/* The command is passed on in the command buffer as it is */
passOnCommand(deviceCommand, commandData, commandDataLen);
return RETURN_OK;
}
ReturnValue_t TestDevice::buildTestCommand0(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen) {
using namespace testdevice;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand0: Executing simple command "
" with completion reply" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTestCommand0: Executing simple command with "
"completion reply\n", deviceIdx);
#endif
}
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
/* The command is passed on in the command buffer as it is */
passOnCommand(deviceCommand, commandData, commandDataLen);
return RETURN_OK;
}
ReturnValue_t TestDevice::buildTestCommand1(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
using namespace testdevice;
if(commandDataLen < 7) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand1: Executing command with "
"data reply" << std::endl;
#else
sif::printInfo("TestDevice%d:buildTestCommand1: Executing command with data reply\n",
deviceIdx);
#endif
}
deviceCommand = EndianConverter::convertBigEndian(deviceCommand);
memcpy(commandBuffer, &deviceCommand, sizeof(deviceCommand));
/* Assign and check parameters */
uint16_t parameter1 = 0;
size_t size = commandDataLen;
ReturnValue_t result = SerializeAdapter::deSerialize(&parameter1,
&commandData, &size, SerializeIF::Endianness::BIG);
if(result == HasReturnvaluesIF::RETURN_FAILED) {
return result;
}
/* Parameter 1 needs to be correct */
if(parameter1 != testdevice::COMMAND_1_PARAM1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
uint64_t parameter2 = 0;
result = SerializeAdapter::deSerialize(&parameter2,
&commandData, &size, SerializeIF::Endianness::BIG);
if(parameter2!= testdevice::COMMAND_1_PARAM2){
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
/* Pass on the parameters to the Echo IF */
commandBuffer[4] = (parameter1 & 0xFF00) >> 8;
commandBuffer[5] = (parameter1 & 0xFF);
parameter2 = EndianConverter::convertBigEndian(parameter2);
memcpy(commandBuffer + 6, &parameter2, sizeof(parameter2));
rawPacket = commandBuffer;
rawPacketLen = sizeof(deviceCommand) + sizeof(parameter1) +
sizeof(parameter2);
return RETURN_OK;
}
void TestDevice::passOnCommand(DeviceCommandId_t command, const uint8_t *commandData,
size_t commandDataLen) {
DeviceCommandId_t deviceCommandBe = EndianConverter::convertBigEndian(command);
memcpy(commandBuffer, &deviceCommandBe, sizeof(deviceCommandBe));
memcpy(commandBuffer + 4, commandData, commandDataLen);
rawPacket = commandBuffer;
rawPacketLen = sizeof(deviceCommandBe) + commandDataLen;
}
void TestDevice::fillCommandAndReplyMap() {
namespace td = testdevice;
insertInCommandAndReplyMap(testdevice::TEST_NORMAL_MODE_CMD, 5, &dataset);
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_0, 5);
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_1, 5);
/* No reply expected for these commands */
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_SET);
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_VAR);
}
ReturnValue_t TestDevice::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
using namespace testdevice;
/* Unless a command was sent explicitely, we don't expect any replies and ignore this
the packet. On a real device, there might be replies which are sent without a previous
command. */
if(not commandSent) {
return DeviceHandlerBase::IGNORE_FULL_PACKET;
}
else {
commandSent = false;
}
if(len < sizeof(object_id_t)) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
size_t size = len;
ReturnValue_t result = SerializeAdapter::deSerialize(foundId, &start, &size,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
DeviceCommandId_t pendingCmd = this->getPendingCommand();
switch(pendingCmd) {
case(TEST_NORMAL_MODE_CMD): {
if(fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " <<
TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for normal command (ID %d) "
"received!\n", deviceIdx, TEST_NORMAL_MODE_CMD);
#endif
#endif
}
*foundLen = len;
*foundId = pendingCmd;
return RETURN_OK;
}
case(TEST_COMMAND_0): {
if(len < TEST_COMMAND_0_SIZE) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for simple command "
"(ID " << TEST_COMMAND_0 << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for simple command (ID %d) "
"received!\n", deviceIdx, TEST_COMMAND_0);
#endif
}
*foundLen = TEST_COMMAND_0_SIZE;
*foundId = pendingCmd;
return RETURN_OK;
}
case(TEST_COMMAND_1): {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for data command "
"(ID " << TEST_COMMAND_1 << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for data command (ID %d) "
"received\n", deviceIdx, TEST_COMMAND_1);
#endif
}
*foundLen = len;
*foundId = pendingCmd;
return RETURN_OK;
}
default:
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
}
ReturnValue_t TestDevice::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
/* Periodic replies */
case testdevice::TEST_NORMAL_MODE_CMD: {
result = interpretingNormalModeReply();
break;
}
/* Simple reply */
case testdevice::TEST_COMMAND_0: {
result = interpretingTestReply0(id, packet);
break;
}
/* Data reply */
case testdevice::TEST_COMMAND_1: {
result = interpretingTestReply1(id, packet);
break;
}
default:
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
return result;
}
ReturnValue_t TestDevice::interpretingNormalModeReply() {
CommandMessage directReplyMessage;
if(changingDatasets) {
PoolReadGuard readHelper(&dataset);
if(dataset.testUint8Var.value == 0) {
dataset.testUint8Var.value = 10;
dataset.testUint32Var.value = 777;
dataset.testFloat3Vec.value[0] = 2.5;
dataset.testFloat3Vec.value[1] = -2.5;
dataset.testFloat3Vec.value[2] = 2.5;
dataset.setValidity(true, true);
}
else {
dataset.testUint8Var.value = 0;
dataset.testUint32Var.value = 0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[1] = 0.0;
dataset.testFloat3Vec.value[2] = 0.0;
dataset.setValidity(false, true);
}
return RETURN_OK;
}
PoolReadGuard readHelper(&dataset);
if(dataset.testUint8Var.value == 0) {
/* Reset state */
dataset.testUint8Var.value = 128;
}
else if(dataset.testUint8Var.value > 200) {
if(not resetAfterChange) {
/* This will trigger an update notification to the controller */
dataset.testUint8Var.setChanged(true);
resetAfterChange = true;
/* Decrement by 30 automatically. This will prevent any additional notifications. */
dataset.testUint8Var.value -= 30;
}
}
/* If the value is greater than 0, it will be decremented in a linear way */
else if(dataset.testUint8Var.value > 128) {
size_t sizeToDecrement = 0;
if(dataset.testUint8Var.value > 128 + 30) {
sizeToDecrement = 30;
}
else {
sizeToDecrement = dataset.testUint8Var.value - 128;
resetAfterChange = false;
}
dataset.testUint8Var.value -= sizeToDecrement;
}
else if(dataset.testUint8Var.value < 50) {
if(not resetAfterChange) {
/* This will trigger an update snapshot to the controller */
dataset.testUint8Var.setChanged(true);
resetAfterChange = true;
}
else {
/* Increment by 30 automatically. */
dataset.testUint8Var.value += 30;
}
}
/* Increment in linear way */
else if(dataset.testUint8Var.value < 128) {
size_t sizeToIncrement = 0;
if(dataset.testUint8Var.value < 128 - 20) {
sizeToIncrement = 20;
}
else {
sizeToIncrement = 128 - dataset.testUint8Var.value;
resetAfterChange = false;
}
dataset.testUint8Var.value += sizeToIncrement;
}
/* TODO: Same for vector */
float vectorMean = (dataset.testFloat3Vec.value[0] + dataset.testFloat3Vec.value[1] +
dataset.testFloat3Vec.value[2]) / 3.0;
/* Lambda (private local function) */
auto sizeToAdd = [](bool tooHigh, float currentVal) {
if(tooHigh) {
if(currentVal - 20.0 > 10.0) {
return -10.0;
}
else {
return 20.0 - currentVal;
}
}
else {
if(std::abs(currentVal + 20.0) > 10.0) {
return 10.0;
}
else {
return -20.0 - currentVal;
}
}
};
if(vectorMean > 20.0 and std::abs(vectorMean - 20.0) > 1.0) {
if(not resetAfterChange) {
dataset.testFloat3Vec.setChanged(true);
resetAfterChange = true;
}
else {
float sizeToDecrementVal0 = 0;
float sizeToDecrementVal1 = 0;
float sizeToDecrementVal2 = 0;
sizeToDecrementVal0 = sizeToAdd(true, dataset.testFloat3Vec.value[0]);
sizeToDecrementVal1 = sizeToAdd(true, dataset.testFloat3Vec.value[1]);
sizeToDecrementVal2 = sizeToAdd(true, dataset.testFloat3Vec.value[2]);
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
}
}
else if (vectorMean < -20.0 and std::abs(vectorMean + 20.0) < 1.0) {
if(not resetAfterChange) {
dataset.testFloat3Vec.setChanged(true);
resetAfterChange = true;
}
else {
float sizeToDecrementVal0 = 0;
float sizeToDecrementVal1 = 0;
float sizeToDecrementVal2 = 0;
sizeToDecrementVal0 = sizeToAdd(false, dataset.testFloat3Vec.value[0]);
sizeToDecrementVal1 = sizeToAdd(false, dataset.testFloat3Vec.value[1]);
sizeToDecrementVal2 = sizeToAdd(false, dataset.testFloat3Vec.value[2]);
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
}
}
else {
if(resetAfterChange) {
resetAfterChange = false;
}
}
return RETURN_OK;
}
ReturnValue_t TestDevice::interpretingTestReply0(DeviceCommandId_t id, const uint8_t* packet) {
CommandMessage commandMessage;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::interpretingTestReply0: Generating step and finish reply" <<
std::endl;
#else
sif::printInfo("TestDevice::interpretingTestReply0: Generating step and finish reply\n");
#endif
}
MessageQueueId_t commander = getCommanderQueueId(id);
/* Generate one step reply and the finish reply */
actionHelper.step(1, commander, id);
actionHelper.finish(true, commander, id);
return RETURN_OK;
}
ReturnValue_t TestDevice::interpretingTestReply1(DeviceCommandId_t id,
const uint8_t* packet) {
CommandMessage directReplyMessage;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::interpretingReply1: Setting data reply" <<
std::endl;
#else
sif::printInfo("TestDevice%d::interpretingReply1: Setting data reply\n", deviceIdx);
#endif
}
MessageQueueId_t commander = getCommanderQueueId(id);
/* Send reply with data */
ReturnValue_t result = actionHelper.reportData(commander, id, packet,
testdevice::TEST_COMMAND_1_SIZE, false);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TestDevice" << deviceIdx << "::interpretingReply1: Sending data "
"reply failed!" << std::endl;
#else
sif::printError("TestDevice%d::interpretingReply1: Sending data reply failed!\n",
deviceIdx);
#endif
return result;
}
if(result == HasReturnvaluesIF::RETURN_OK) {
/* Finish reply */
actionHelper.finish(true, commander, id);
}
else {
/* Finish reply */
actionHelper.finish(false, commander, id, result);
}
return RETURN_OK;
}
uint32_t TestDevice::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}
void TestDevice::enableFullDebugOutput(bool enable) {
this->fullInfoPrintout = enable;
}
ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
namespace td = testdevice;
localDataPoolMap.emplace(td::PoolIds::TEST_UINT8_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(td::PoolIds::TEST_UINT32_ID, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(td::PoolIds::TEST_FLOAT_VEC_3_ID,
new PoolEntry<float>({0.0, 0.0, 0.0}));
sid_t sid;
if(deviceIdx == td::DeviceIndex::DEVICE_0) {
sid = td::TEST_SET_DEV_0_SID;
}
else {
sid = td::TEST_SET_DEV_1_SID;
}
/* Subscribe for periodic HK packets but do not enable reporting for now.
Non-diangostic with a period of one second */
poolManager.subscribeForPeriodicPacket(sid, false, 1.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
using namespace testdevice;
switch (uniqueId) {
case ParameterUniqueIds::TEST_UINT32_0: {
if(fullInfoPrintout) {
uint32_t newValue = 0;
ReturnValue_t result = newValues->getElement<uint32_t>(&newValue, 0, 0);
if(result == HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 0 to "
"new value " << newValue << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 0 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
parameterWrapper->set(testParameter0);
break;
}
case ParameterUniqueIds::TEST_INT32_1: {
if(fullInfoPrintout) {
int32_t newValue = 0;
ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
if(result == HasReturnvaluesIF::RETURN_OK) {
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 1 to "
"new value " << newValue << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
}
parameterWrapper->set(testParameter1);
break;
}
case ParameterUniqueIds::TEST_FLOAT_VEC3_2: {
if(fullInfoPrintout) {
float newVector[3];
if(newValues->getElement<float>(newVector, 0, 0) != RETURN_OK or
newValues->getElement<float>(newVector + 1, 0, 1) != RETURN_OK or
newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 3 to "
"(float vector with 3 entries) to new values [" << newVector[0] << ", " <<
newVector[1] << ", " << newVector[2] << "]" << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 3 to new values "
"[%f, %f, %f]\n", deviceIdx, newVector[0], newVector[1], newVector[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
parameterWrapper->setVector(vectorFloatParams2);
break;
}
case(ParameterUniqueIds::PERIODIC_PRINT_ENABLED): {
if(fullInfoPrintout) {
uint8_t enabled = 0;
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
char const* printout = nullptr;
if (enabled) {
printout = "enabled";
}
else {
printout = "disabled";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Periodic printout " <<
printout << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Periodic printout %s", printout);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
parameterWrapper->set(periodicPrintout);
break;
}
case(ParameterUniqueIds::CHANGING_DATASETS): {
uint8_t enabled = 0;
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(not enabled) {
PoolReadGuard readHelper(&dataset);
dataset.testUint8Var.value = 0;
dataset.testUint32Var.value = 0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[1] = 0.0;
}
if(fullInfoPrintout) {
char const* printout = nullptr;
if (enabled) {
printout = "enabled";
}
else {
printout = "disabled";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Changing datasets " <<
printout << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Changing datasets %s", printout);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
parameterWrapper->set(changingDatasets);
break;
}
default:
return INVALID_IDENTIFIER_ID;
}
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolObjectBase* TestDevice::getPoolObjectHandle(lp_id_t localPoolId) {
namespace td = testdevice;
if (localPoolId == td::PoolIds::TEST_UINT8_ID) {
return &dataset.testUint8Var;
}
else if (localPoolId == td::PoolIds::TEST_UINT32_ID) {
return &dataset.testUint32Var;
}
else if(localPoolId == td::PoolIds::TEST_FLOAT_VEC_3_ID) {
return &dataset.testFloat3Vec;
}
else {
return nullptr;
}
}

142
mission/devices/TestDeviceHandler.h
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#ifndef TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
#define TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
#include "devicedefinitions/testDeviceDefinitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>
/**
* @brief Basic dummy device handler to test device commanding without a physical device.
* @details
* This test device handler provided a basic demo for the device handler object.
* It can also be commanded with the following PUS services, using
* the specified object ID of the test device handler.
*
* 1. PUS Service 8 - Functional commanding
* 2. PUS Service 2 - Device access, raw commanding
* 3. PUS Service 20 - Parameter Management
* 4. PUS Service 3 - Housekeeping
* @author R. Mueller
* @ingroup devices
*/
class TestDevice: public DeviceHandlerBase {
public:
/**
* Build the test device in the factory.
* @param objectId This ID will be assigned to the test device handler.
* @param comIF The ID of the Communication IF used by test device handler.
* @param cookie Cookie object used by the test device handler. This is
* also used and passed to the comIF object.
* @param onImmediately This will start a transition to MODE_ON immediately
* so the device handler jumps into #doStartUp. Should only be used
* in development to reduce need of commanding while debugging.
* @param changingDataset
* Will be used later to change the local datasets containeds in the device.
*/
TestDevice(object_id_t objectId, object_id_t comIF, CookieIF * cookie,
testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0,
bool fullInfoPrintout = false, bool changingDataset = true);
/**
* This can be used to enable and disable a lot of demo print output.
* @param enable
*/
void enableFullDebugOutput(bool enable);
virtual ~ TestDevice();
//! Size of internal buffer used for communication.
static constexpr uint8_t MAX_BUFFER_SIZE = 255;
//! Unique index if the device handler is created multiple times.
testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0;
protected:
testdevice::TestDataSet dataset;
//! This is used to reset the dataset after a commanded change has been made.
bool resetAfterChange = false;
bool commandSent = false;
/** DeviceHandlerBase overrides (see DHB documentation) */
/**
* Hook into the DHB #performOperation call which is executed
* periodically.
*/
void performOperationHook() override;
virtual void doStartUp() override;
virtual void doShutDown() override;
virtual ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t * id) override;
virtual ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t * id) override;
virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t
deviceCommand, const uint8_t * commandData,
size_t commandDataLen) override;
virtual void fillCommandAndReplyMap() override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
virtual uint32_t getTransitionDelayMs(Mode_t modeFrom,
Mode_t modeTo) override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;
/* HasParametersIF overrides */
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex) override;
uint8_t commandBuffer[MAX_BUFFER_SIZE];
bool fullInfoPrintout = false;
bool oneShot = true;
/* Variables for parameter service */
uint32_t testParameter0 = 0;
int32_t testParameter1 = -2;
float vectorFloatParams2[3] = {};
/* Change device handler functionality, changeable via parameter service */
uint8_t periodicPrintout = false;
uint8_t changingDatasets = false;
ReturnValue_t buildNormalModeCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t buildTestCommand0(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen);
ReturnValue_t buildTestCommand1(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen);
void passOnCommand(DeviceCommandId_t command, const uint8_t* commandData,
size_t commandDataLen);
ReturnValue_t interpretingNormalModeReply();
ReturnValue_t interpretingTestReply0(DeviceCommandId_t id,
const uint8_t* packet);
ReturnValue_t interpretingTestReply1(DeviceCommandId_t id,
const uint8_t* packet);
ReturnValue_t interpretingTestReply2(DeviceCommandId_t id, const uint8_t* packet);
/* Some timer utilities */
static constexpr uint8_t divider1 = 2;
PeriodicOperationDivider opDivider1 = PeriodicOperationDivider(divider1);
static constexpr uint8_t divider2 = 10;
PeriodicOperationDivider opDivider2 = PeriodicOperationDivider(divider2);
static constexpr uint32_t initTimeout = 2000;
Countdown countdown1 = Countdown(initTimeout);
};
#endif /* TEST_TESTDEVICES_TESTDEVICEHANDLER_H_ */

86
mission/devices/TestEchoComIF.cpp
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@ -1,86 +0,0 @@
#include "TestEchoComIF.h"
#include "TestCookie.h"
#include <fsfw/serialize/SerializeAdapter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcpacket/pus/tm.h>
TestEchoComIF::TestEchoComIF(object_id_t objectId):
SystemObject(objectId) {
}
TestEchoComIF::~TestEchoComIF() {}
ReturnValue_t TestEchoComIF::initializeInterface(CookieIF * cookie) {
DummyCookie* dummyCookie = dynamic_cast<DummyCookie*>(cookie);
if(dummyCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestEchoComIF::initializeInterface: Invalid cookie!" << std::endl;
#else
sif::printWarning("TestEchoComIF::initializeInterface: Invalid cookie!\n");
#endif
return NULLPOINTER;
}
auto resultPair = replyMap.emplace(
dummyCookie->getAddress(), ReplyBuffer(dummyCookie->getReplyMaxLen()));
if(not resultPair.second) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) {
DummyCookie* dummyCookie = dynamic_cast<DummyCookie*>(cookie);
if(dummyCookie == nullptr) {
return NULLPOINTER;
}
ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
if(sendLen > replyBuffer.capacity()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestEchoComIF::sendMessage: Send length " << sendLen << " larger than "
"current reply buffer length!" << std::endl;
#else
sif::printWarning("TestEchoComIF::sendMessage: Send length %d larger than current "
"reply buffer length!\n", sendLen);
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
replyBuffer.resize(sendLen);
memcpy(replyBuffer.data(), sendData, sendLen);
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return RETURN_OK;
}
ReturnValue_t TestEchoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) {
DummyCookie* dummyCookie = dynamic_cast<DummyCookie*>(cookie);
if(dummyCookie == nullptr) {
return NULLPOINTER;
}
ReplyBuffer& replyBuffer = replyMap.find(dummyCookie->getAddress())->second;
*buffer = replyBuffer.data();
*size = replyBuffer.size();
dummyReplyCounter ++;
if(dummyReplyCounter == 10) {
// add anything that needs to be read periodically by dummy handler
dummyReplyCounter = 0;
}
return RETURN_OK;
}

56
mission/devices/TestEchoComIF.h
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#ifndef TEST_TESTDEVICES_TESTECHOCOMIF_H_
#define TEST_TESTDEVICES_TESTECHOCOMIF_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
#include <vector>
/**
* @brief Used to simply returned sent data from device handler
* @details Assign this com IF in the factory when creating the device handler
* @ingroup test
*/
class TestEchoComIF: public DeviceCommunicationIF, public SystemObject {
public:
TestEchoComIF(object_id_t objectId);
virtual ~TestEchoComIF();
/**
* DeviceCommunicationIF overrides
* (see DeviceCommunicationIF documentation
*/
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
/**
* Send TM packet which contains received data as TM[17,130].
* Wiretapping will do the same.
* @param data
* @param len
*/
void sendTmPacket(const uint8_t *data,uint32_t len);
AcceptsTelemetryIF* funnel = nullptr;
MessageQueueIF* tmQueue = nullptr;
size_t replyMaxLen = 0;
using ReplyBuffer = std::vector<uint8_t>;
std::map<address_t, ReplyBuffer> replyMap;
uint8_t dummyReplyCounter = 0;
uint16_t packetSubCounter = 0;
};
#endif /* TEST_TESTDEVICES_TESTECHOCOMIF_H_ */

100
mission/devices/devicedefinitions/testDeviceDefinitions.h
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <commonSystemObjects.h>
namespace testdevice {
enum ParameterUniqueIds: uint8_t {
TEST_UINT32_0,
TEST_INT32_1,
TEST_FLOAT_VEC3_2,
PERIODIC_PRINT_ENABLED,
CHANGING_DATASETS
};
enum DeviceIndex: uint32_t {
DEVICE_0,
DEVICE_1
};
/** Normal mode command. This ID is also used to access the set variable via the housekeeping
service */
static constexpr DeviceCommandId_t TEST_NORMAL_MODE_CMD = 0;
//! Test completion reply
static constexpr DeviceCommandId_t TEST_COMMAND_0 = 1;
//! Test data reply
static constexpr DeviceCommandId_t TEST_COMMAND_1 = 2;
/**
* Can be used to trigger a notification to the demo controller. For DEVICE_0, only notifications
* messages will be generated while for DEVICE_1, snapshot messages will be generated.
*
* DEVICE_0 VAR: Sets the set variable 0 above a treshold (200) to trigger a variable
* notification.
* DEVICE_0 SET: Sets the vector mean values above a treshold (mean larger than 20) to trigger a
* set notification.
*
* DEVICE_1 VAR: Sets the set variable 0 below a treshold (less than 50 but not 0) to trigger a
* variable snapshot.
* DEVICE_1 SET: Sets the set vector mean values below a treshold (mean smaller than -20) to
* trigger a set snapshot message.
*/
static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_VAR = 3;
static constexpr DeviceCommandId_t TEST_NOTIF_SNAPSHOT_SET = 4;
/**
* Can be used to trigger a snapshot message to the demo controller.
* Depending on the device index, a notification will be triggered for different set variables.
*
* DEVICE_0: Sets the set variable 0 below a treshold (below 50 but not 0) to trigger
* a variable snapshot
* DEVICE_1: Sets the vector mean values below a treshold (mean less than -20) to trigger a
* set snapshot
*/
static constexpr DeviceCommandId_t TEST_SNAPSHOT = 5;
//! Generates a random value for variable 1 of the dataset.
static constexpr DeviceCommandId_t GENERATE_SET_VAR_1_RNG_VALUE = 6;
/**
* These parameters are sent back with the command ID as a data reply
*/
static constexpr uint16_t COMMAND_1_PARAM1 = 0xBAB0; //!< param1, 2 bytes
//! param2, 8 bytes
static constexpr uint64_t COMMAND_1_PARAM2 = 0x000000524F42494E;
static constexpr size_t TEST_COMMAND_0_SIZE = sizeof(TEST_COMMAND_0);
static constexpr size_t TEST_COMMAND_1_SIZE = sizeof(TEST_COMMAND_1) + sizeof(COMMAND_1_PARAM1) +
sizeof(COMMAND_1_PARAM2);
enum PoolIds: lp_id_t {
TEST_UINT8_ID = 0,
TEST_UINT32_ID = 1,
TEST_FLOAT_VEC_3_ID = 2
};
static constexpr uint8_t TEST_SET_ID = TEST_NORMAL_MODE_CMD;
static const sid_t TEST_SET_DEV_0_SID = sid_t(objects::TEST_DEVICE_HANDLER_0, TEST_SET_ID);
static const sid_t TEST_SET_DEV_1_SID = sid_t(objects::TEST_DEVICE_HANDLER_1, TEST_SET_ID);
class TestDataSet: public StaticLocalDataSet<3> {
public:
TestDataSet(HasLocalDataPoolIF* owner): StaticLocalDataSet(owner, TEST_SET_ID) {}
TestDataSet(object_id_t owner): StaticLocalDataSet(sid_t(owner, TEST_SET_ID)) {}
lp_var_t<uint8_t> testUint8Var = lp_var_t<uint8_t>(
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT8_ID), this);
lp_var_t<uint32_t> testUint32Var = lp_var_t<uint32_t>(
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_UINT32_ID), this);
lp_vec_t<float ,3> testFloat3Vec = lp_vec_t<float, 3>(
gp_id_t(this->getCreatorObjectId(), PoolIds::TEST_FLOAT_VEC_3_ID), this);
};
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TESTDEVICEDEFINITIONS_H_ */

17
mission/mission.mk
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# add main and others
CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/*.c)
CSRC += $(wildcard $(CURRENTPATH)/core/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/core/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/devices/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/utility/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/utility/*.c)
CXXSRC += $(wildcard $(CURRENTPATH)/test/*.cpp)
CSRC += $(wildcard $(CURRENTPATH)/test/*.c)

5
mission/utility/CMakeLists.txt
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@ -1,5 +0,0 @@
target_sources(${TARGET_NAME}
PRIVATE
PusPacketCreator.cpp
TmFunnel.cpp
)

7
test/CMakeLists.txt
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@ -1,7 +0,0 @@
target_sources(${TARGET_NAME}
PRIVATE
TestTask.cpp
FsfwReaderTask.cpp
FsfwExampleTask.cpp
MutexExample.cpp
)

80
test/TestTask.cpp
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@ -1,80 +0,0 @@
#include "TestTask.h"
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
bool TestTask::oneShotAction = true;
MutexIF* TestTask::testLock = nullptr;
TestTask::TestTask(object_id_t objectId, bool periodicPrintout, bool periodicEvent):
SystemObject(objectId), testMode(testModes::A),
periodicPrinout(periodicPrintout), periodicEvent(periodicEvent) {
if(testLock == nullptr) {
testLock = MutexFactory::instance()->createMutex();
}
IPCStore = ObjectManager::instance()->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() {
/* This is performed each task cycle */
ReturnValue_t result = RETURN_OK;
if(periodicPrinout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestTask::performPeriodicAction: Hello World!" << std::endl;
#else
sif::printInfo("TestTask::performPeriodicAction: Hello World!\n");
#endif
}
if(periodicEvent) {
triggerEvent(TEST_EVENT, 0x1234, 0x4321);
}
return result;
}
ReturnValue_t TestTask::performActionA() {
/* This is performed each alternating task cycle */
ReturnValue_t result = RETURN_OK;
return result;
}
ReturnValue_t TestTask::performActionB() {
/* This is performed each alternating task cycle */
ReturnValue_t result = RETURN_OK;
return result;
}

56
test/TestTask.h
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#ifndef MISSION_DEMO_TESTTASK_H_
#define MISSION_DEMO_TESTTASK_H_
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/storagemanager/StorageManagerIF.h>
#include "fsfw/events/Event.h"
#include "events/subsystemIdRanges.h"
/**
* @brief Test class for general C++ testing and any other code which will not be part of the
* primary mission software.
* @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, bool periodicPrintout = false, bool periodicEvent = false);
virtual ~TestTask();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
static constexpr uint8_t subsystemId = SUBSYSTEM_ID::TEST_TASK_ID;
static constexpr Event TEST_EVENT = event::makeEvent(subsystemId, 0, severity::INFO);
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 periodicPrinout = false;
bool periodicEvent = false;
bool testFlag = false;
uint8_t counter { 1 };
uint8_t counterTrigger { 3 };
void performPusInjectorTest();
void examplePacketTest();
private:
static bool oneShotAction;
static MutexIF* testLock;
StorageManagerIF* IPCStore;
};
#endif /* TESTTASK_H_ */