fsfw-example-common/example/test/FsfwExampleTask.cpp

239 lines
8.2 KiB
C++

#include "FsfwExampleTask.h"
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>
#include "OBSWConfig.h"
#include "commonSystemObjects.h"
#include "objects/systemObjectList.h"
FsfwExampleTask::FsfwExampleTask(object_id_t objectId)
: SystemObject(objectId),
poolManager(this, nullptr),
demoSet(this),
monitor(objectId, MONITOR_ID, gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10) {
commandQueue = QueueFactory::instance()->createMessageQueue(10, CommandMessage::MAX_MESSAGE_SIZE);
}
FsfwExampleTask::~FsfwExampleTask() {}
ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
if (operationCode == OpCodes::DELAY_SHORT) {
TaskFactory::delayTask(5);
}
// TODO: Move this to new test controller?
ReturnValue_t result = performMonitoringDemo();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (operationCode == OpCodes::SEND_RAND_NUM) {
result = performSendOperation();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
if (operationCode == OpCodes::RECEIVE_RAND_NUM) {
result = performReceiveOperation();
}
return 0;
}
object_id_t FsfwExampleTask::getNextRecipient() {
switch (this->getObjectId()) {
case (objects::TEST_DUMMY_1): {
return objects::TEST_DUMMY_2;
}
case (objects::TEST_DUMMY_2): {
return objects::TEST_DUMMY_3;
}
case (objects::TEST_DUMMY_3): {
return objects::TEST_DUMMY_1;
}
default:
return objects::TEST_DUMMY_1;
}
}
object_id_t FsfwExampleTask::getSender() {
switch (this->getObjectId()) {
case (objects::TEST_DUMMY_1): {
return objects::TEST_DUMMY_3;
}
case (objects::TEST_DUMMY_2): {
return objects::TEST_DUMMY_1;
}
case (objects::TEST_DUMMY_3): {
return objects::TEST_DUMMY_2;
}
default:
return objects::TEST_DUMMY_1;
}
}
ReturnValue_t FsfwExampleTask::initialize() {
// Get the dataset of the sender. Will be cached for later checks.
object_id_t sender = getSender();
HasLocalDataPoolIF* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
if (senderIF == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::initialize: Sender object invalid!" << std::endl;
#else
sif::printError("FsfwDemoTask::initialize: Sender object invalid!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
// we need a private copy of the previous dataset.. or we use the shared dataset.
senderSet = new FsfwDemoSet(senderIF);
if (senderSet == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::initialize: Sender dataset invalid!" << std::endl;
#else
sif::printError("FsfwDemoTask::initialize: Sender dataset invalid!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return poolManager.initialize(commandQueue);
}
ReturnValue_t FsfwExampleTask::initializeAfterTaskCreation() {
return poolManager.initializeAfterTaskCreation();
}
object_id_t FsfwExampleTask::getObjectId() const { return SystemObject::getObjectId(); }
MessageQueueId_t FsfwExampleTask::getMessageQueueId() { return commandQueue->getId(); }
void FsfwExampleTask::setTaskIF(PeriodicTaskIF* task) { this->task = task; }
LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) { return &demoSet; }
uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const { return task->getPeriodMs(); }
ReturnValue_t FsfwExampleTask::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT, new PoolEntry<uint16_t>({0}));
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
ReturnValue_t result = demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DummyObject::performOperation: Could not read variableLimit!" << std::endl;
#else
sif::printError("DummyObject::performOperation: Could not read variableLimit!\n");
#endif
return result;
}
if (this->getObjectId() == objects::TEST_DUMMY_5) {
if (demoSet.variableLimit.value > 20) {
demoSet.variableLimit.value = 0;
}
demoSet.variableLimit.value++;
demoSet.variableLimit.commit(20);
monitor.check();
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FsfwExampleTask::performSendOperation() {
object_id_t nextRecipient = getNextRecipient();
FsfwExampleTask* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
if (target == nullptr) {
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DummyObject::performOperation: Next recipient does not exist!" << std::endl;
#else
sif::printError("DummyObject::performOperation: Next recipient does not exist!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t randomNumber = rand() % 100;
CommandMessage message;
message.setParameter(randomNumber);
message.setParameter2(this->getMessageQueueId());
/* Send message using own message queue */
ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
#else
sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
#endif
}
/* Send message without via MessageQueueSenderIF */
result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
commandQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
#else
sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
#endif
}
demoSet.variableWrite.value = randomNumber;
result = demoSet.variableWrite.commit(20);
return result;
}
ReturnValue_t FsfwExampleTask::performReceiveOperation() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
while (result != MessageQueueIF::EMPTY) {
CommandMessage receivedMessage;
result = commandQueue->receiveMessage(&receivedMessage);
if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::EMPTY) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Receive failed with " << result << std::endl;
#endif
break;
}
if (result != MessageQueueIF::EMPTY) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
#if OBSW_VERBOSE_LEVEL >= 2
sif::debug << "Message Received by " << getObjectId() << " from Queue "
<< receivedMessage.getSender() << " ObjectId " << receivedMessage.getParameter()
<< " Queue " << receivedMessage.getParameter2() << std::endl;
#endif
#endif
if (senderSet == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING, 20);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (senderSet->variableRead.value != receivedMessage.getParameter()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performReceiveOperation: Variable " << std::hex << "0x"
<< senderSet->variableRead.getDataPoolId() << std::dec << " has wrong value."
<< std::endl;
sif::error << "Value: " << demoSet.variableRead.value
<< ", expected: " << receivedMessage.getParameter() << std::endl;
#endif
}
}
}
return result;
}
MessageQueueId_t FsfwExampleTask::getCommandQueue() const { return commandQueue->getId(); }
LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() { return &poolManager; }