73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
#include <iostream>
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#include "fsfw/serviceinterface.h"
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#include "FSFWConfig.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tasks/TaskFactory.h"
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#include <thread>
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#include <chrono>
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#include <functional>
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using namespace std;
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using namespace returnvalue;
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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ServiceInterfaceStream sif::debug("DEBUG", false);
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ServiceInterfaceStream sif::info("INFO", false);
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ServiceInterfaceStream sif::warning("WARNING", false);
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ServiceInterfaceStream sif::error("ERROR", false, true, true);
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#endif
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class MyExecutable: public SystemObject, public ExecutableObjectIF {
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public:
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MyExecutable(object_id_t objectId): SystemObject(objectId) {}
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static int myTaskEntryPoint(MyExecutable& self) {
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using namespace std::chrono_literals;
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while (true) {
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self.performOperation(0);
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this_thread::sleep_for(1000ms);
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}
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}
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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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ReturnValue_t performOperation(uint8_t operationCode) override {
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cout << "hello world from MyExecutable" << endl;
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return OK;
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}
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ReturnValue_t initialize() override {
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cout << "MyExecutable custom init" << endl;
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return OK;
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}
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private:
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};
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static const object_id_t MY_OBJ = 1;
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void objFactory(void* args);
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int main() {
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using namespace std::chrono_literals;
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cout << "hello world!" << endl;
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auto *objMan = ObjectManager::instance();
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objMan->setObjectFactoryFunction(&objFactory, nullptr);
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objMan->initialize();
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PeriodicTaskIF* task = TaskFactory::instance()->createPeriodicTask("MY_EXECUTABLE", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
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task->addComponent(MY_OBJ);
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task->startTask();
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while (true) {
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this_thread::sleep_for(5000ms);
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}
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}
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void objFactory(void* args) {
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new MyExecutable(MY_OBJ);
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}
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