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