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2021-04-27 17:22:34 +02:00
commit 4f6fe6959f
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--- a/test/FsfwExampleTask.h
+++ b/test/FsfwExampleTask.h
@ -0,0 +1,116 @@
+#ifndef MISSION_DEMO_FSFWDEMOTASK_H_
+#define MISSION_DEMO_FSFWDEMOTASK_H_
+
+#include "testdefinitions/demoDefinitions.h"
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/monitoring/AbsLimitMonitor.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);
+
+    /**
+     * @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;
+    virtual ReturnValue_t initializeLocalDataPool(
+            localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+
+    object_id_t getNextRecipient();
+    object_id_t getSender();
+
+    ReturnValue_t performMonitoringDemo();
+    ReturnValue_t performSendOperation();
+    ReturnValue_t performReceiveOperation();
+    uint8_t execCounter = 0;
+};
+
+#endif /* MISSION_DEMO_FSFWDEMOTASK_H_ */