fsfw-example-common/example/test/FsfwExampleTask.h
2022-05-22 15:30:08 +02:00

109 lines
3.6 KiB
C++

#ifndef MISSION_DEMO_FSFWDEMOTASK_H_
#define MISSION_DEMO_FSFWDEMOTASK_H_
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/monitoring/AbsLimitMonitor.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include "testdefinitions/demoDefinitions.h"
class PeriodicTaskIF;
/**
* @brief This demo set shows the local data pool functionality and fixed
* timeslot capabilities of the FSFW.
*
* @details
* There will be multiple demo objects. Each demo object will generate a random
* number and send that number via message queues to the next demo object
* (e.g. DUMMY_1 sends the number to DUMMY_2 etc.). The receiving object
* will check the received value against the sent value by extracting the sent
* value directly from the sender via the local data pool interface.
* If the timing is set up correctly, the values will always be the same.
*/
class FsfwExampleTask : public ExecutableObjectIF,
public SystemObject,
public HasLocalDataPoolIF {
public:
enum OpCodes { SEND_RAND_NUM, RECEIVE_RAND_NUM, DELAY_SHORT };
static constexpr uint8_t MONITOR_ID = 2;
/**
* @brief Simple constructor, only expects object ID.
* @param objectId
*/
FsfwExampleTask(object_id_t objectId);
virtual ~FsfwExampleTask();
/**
* @brief The performOperation method is executed in a task.
* @details There are no restrictions for calls within this method, so any
* other member of the class can be used.
* @return Currently, the return value is ignored.
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* @brief This function will be called by the global object manager
* @details
* This function will always be called before any tasks are started.
* It can also be used to return error codes in the software initialization
* process cleanly.
* @return
*/
virtual ReturnValue_t initialize() override;
/**
* @brief This function will be called by the OSAL task handlers
* @details
* This function will be called before the first #performOperation
* call after the tasks have been started. It can be used if some
* initialization process requires task specific properties like
* periodic intervals (by using the PeriodicTaskIF* handle).
* @return
*/
virtual ReturnValue_t initializeAfterTaskCreation() override;
/**
* This function will be called by the OSAL task handler. The
* task interface handle can be cached to access task specific properties.
* @param task
*/
void setTaskIF(PeriodicTaskIF *task) override;
object_id_t getObjectId() const override;
MessageQueueId_t getMessageQueueId();
private:
LocalDataPoolManager poolManager;
FsfwDemoSet *senderSet = nullptr;
FsfwDemoSet demoSet;
AbsLimitMonitor<int32_t> monitor;
PeriodicTaskIF *task = nullptr;
MessageQueueIF *commandQueue = nullptr;
/* HasLocalDatapoolIF overrides */
MessageQueueId_t getCommandQueue() const override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
uint32_t getPeriodicOperationFrequency() const override;
ReturnValue_t
initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalDataPoolManager *getHkManagerHandle() override;
object_id_t getNextRecipient();
object_id_t getSender();
ReturnValue_t performMonitoringDemo();
ReturnValue_t performSendOperation();
ReturnValue_t performReceiveOperation();
};
#endif /* MISSION_DEMO_FSFWDEMOTASK_H_ */