Base app class for derived implementation. More...

#include <App.h>

Inheritance diagram for warpos::App:

[legend]

Public Member Functions
	App (FlightExecutive &executive, const char *name, uint16 apid, uint8 instance=0)
	Executive-based constructor for the task.
virtual	~App ()
	Destructor. Doesn't really do anything.
int16	startup ()
	Initialize the app. Should be called once before step.
int16	step ()
	Step the app by a single step. Maps params, inputs, etc. to outputs.
virtual int16	activate ()
	Activate the app. The app will step when active.
virtual int16	deactivate ()
	Deactivate the app. The app will not step when deactivated.
virtual int16	command (uint16 apid, uint8 *buffer, uint16 size)
	Process commands issued to the app.
log_level_e	logLevel ()
	Get the log level set for the executive.
void	logLevel (log_level_e log_level)
	Set the executive log level.
bool	isStarted ()
	Return whether task startup has been run.
uint16	apid ()
	Get the apid for this app.
uint8 &	instance ()
	Get the instance of this app (used to differentiate between multiple instances of the same app).
Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default.
virtual	~GraphTreeObject ()
	Destructor.
GraphTreeObject *	parent ()
	Functions to get object's parent/children.
GraphTreeObject **	children ()
GraphTreeObject *	childAtIndex (uint8 i) const
int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.
int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.
uint8	nChildren () const
	Getters for number of children and descendants.
uint16	nDescendants () const
uint8	capacity () const
const char *	name () const
	Getter and setter for object name.
int16	name (const char *new_name)
uint8	rank ()
	Getter for the object rank.
int8	type ()
	Function to indicate type – -1 by default unless implemented downstream.
bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree.
virtual int16	str (char *output, size_t size) const
	Get object represented as string.
virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string.

Public Attributes
clockwerk::DataIO< bool >	active = clockwerk::DataIO<bool>(this, "active", true)
	The active flag for the task – set to true by default.

Protected Member Functions
virtual int16	start ()
	Init the app. This is the specific call and should be overwritten in derived apps. Called from startup.
virtual int16	execute ()
	Step the app. This is the specific call and should be overwritten in derived apps. Called from step.
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address.
void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.
void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.
int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing.
int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
FlightExecutive &	exc
	Override our executive to include the FlightExecutive instead.
int16	_error = 0
	Internal variable to track and return error on app step through.
uint16	_apid = 0
	Internal variable to hold the APID for this app.
bool	_is_started = false
	Flag indicating whether app has been started or not.
log_level_e	_local_log_level = log_level_e::LOG_WARNING
	The log level for this particular app.
GraphTreeObject *	_app_children [MAXIMUM_APP_CHILDREN]
	Local storage for App children so it can live on the graph tree.
uint8	_instance
	Instance number of this app. Used to differentiate between multiple instances of the same app.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr
GraphTreeObject **	_children_ptr = nullptr
uint32	_max_num_children = 0
uint16	_num_descendants = 0
char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object.
uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself).
uint8	_rank = 0
int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.
bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.
uint32	_index = 0
	Index pointing to the next write location for the graph tree children.

Detailed Description

Base app class for derived implementation.

This is the base app class, which should be implemented in derived applications via class inheritence. It is designed to provide the same params/inputs/outputs functionality as WarpTwin models and tasks, but with the addition of access to flight executive utilities including commands, telemetry, and abstracted hardware/software.

PARAMETERS: Configuration flags which should be carefully controlled and only modified at few, select events (i.e. not every timestep) INPUTS: Input parameters to the app which may, but do not have to, change often. These will often be utilized in application level software such as GN&C applications. OUTPUTS: Output parameters from the app which are the result of an internal calculation in the app.

Functions are created in the base app class to be implemented in the derived app. Each of the following may be left unmodified, in which case they will do nothing. Functions should only be modified if the developer wants them to do something. Once implemented, the functions will be called automatically by the App and should not be invoked directly.

Constructor & Destructor Documentation

◆ App()

warpos::App::App	(	FlightExecutive &	executive,
		const char *	name,
		uint16	apid,
		uint8	instance = 0 )

Executive-based constructor for the task.

Parameters

executive	The executive to set
m_name	The name for the task
instance	Instance of the app, only incremented for 2 apps with the same APID

◆ ~App()

virtual warpos::App::~App ( )

inlinevirtual

Destructor. Doesn't really do anything.

Member Function Documentation

◆ activate()

int16 warpos::App::activate ( )

virtual

Activate the app. The app will step when active.

Returns: Flag indicating success/failure

Reimplemented in warpos::DeadReckon, warpos::GPSUpdate, warpos::LedBlinker, warpos::MagUpdate, warpos::PdAttitudeControl, warpos::StorageManager, warpos::TelemetryManager, and warpos::TwoAxisPointingGuidance.

◆ apid()

uint16 warpos::App::apid ( )

inline

Get the apid for this app.

Returns: The apid for this app

◆ command()

int16 warpos::App::command	(	uint16	apid,
		uint8 *	buffer,
		uint16	size )

virtual

Process commands issued to the app.

Parameters

apid	The apid of the command to execute
buffer	The buffer of command data
size	The size of the command data buffer

Returns: Flag indicating success/failure

Reimplemented in warpos::CommandManager, warpos::DeadReckon, warpos::GPSUpdate, warpos::LedBlinker, warpos::MagUpdate, warpos::PdAttitudeControl, warpos::StorageManager, warpos::TelemetryManager, and warpos::TwoAxisPointingGuidance.

◆ deactivate()

int16 warpos::App::deactivate ( )

virtual

Deactivate the app. The app will not step when deactivated.

Returns: Flag indicating success/failure

Reimplemented in warpos::DeadReckon, warpos::GPSUpdate, warpos::LedBlinker, warpos::MagUpdate, warpos::PdAttitudeControl, warpos::StorageManager, warpos::TelemetryManager, and warpos::TwoAxisPointingGuidance.

◆ execute()

int16 warpos::App::execute ( )

protectedvirtual

Step the app. This is the specific call and should be overwritten in derived apps. Called from step.

Returns: Flag indicating success/failure

Reimplemented in warpos::CommandManager, warpos::DeadReckon, warpos::GPSUpdate, warpos::LedBlinker, warpos::MagUpdate, warpos::PdAttitudeControl, warpos::StorageManager, warpos::TelemetryManager, warpos::TwoAxisPointingGuidance, warptwin::ExternalInterfaceModel, warptwin::GroundStationSensor, warptwin::SixDOFDynamicsModel, warptwin::SpicePlanet, and warptwin::VisualsModel.

◆ instance()

uint8 & warpos::App::instance ( )

inline

Get the instance of this app (used to differentiate between multiple instances of the same app).

Returns: instance number of the app

◆ isStarted()

bool warpos::App::isStarted ( )

inline

Return whether task startup has been run.

Returns: Status of whether task startup has been run

◆ logLevel() [1/2]

log_level_e warpos::App::logLevel ( )

inline

Get the log level set for the executive.

Returns: Log level for the executive

◆ logLevel() [2/2]

void warpos::App::logLevel ( log_level_e log_level )

inline

Set the executive log level.

Parameters

log_level The level to set logging to

◆ start()

int16 warpos::App::start ( )

protectedvirtual

Init the app. This is the specific call and should be overwritten in derived apps. Called from startup.

Returns: Flag indicating success/failure

Reimplemented in warpos::CommandManager, warpos::DeadReckon, warpos::GPSUpdate, warpos::LedBlinker, warpos::MagUpdate, warpos::PdAttitudeControl, warpos::StorageManager, warpos::TelemetryManager, warpos::TwoAxisPointingGuidance, warptwin::ExternalInterfaceModel, warptwin::GroundStationSensor, warptwin::SixDOFDynamicsModel, warptwin::SpicePlanet, and warptwin::VisualsModel.

◆ startup()

int16 warpos::App::startup ( )

Initialize the app. Should be called once before step.

Returns: Flag indicating success/failure

◆ step()

int16 warpos::App::step ( )

Step the app by a single step. Maps params, inputs, etc. to outputs.

Returns: Flag indicating success/failure

Member Data Documentation

◆ _apid

uint16 warpos::App::_apid = 0

protected

Internal variable to hold the APID for this app.

◆ _app_children

GraphTreeObject* warpos::App::_app_children[MAXIMUM_APP_CHILDREN]

protected

Local storage for App children so it can live on the graph tree.

◆ _error

int16 warpos::App::_error = 0

protected

Internal variable to track and return error on app step through.

◆ _instance

uint8 warpos::App::_instance

protected

Instance number of this app. Used to differentiate between multiple instances of the same app.

◆ _is_started

bool warpos::App::_is_started = false

protected

Flag indicating whether app has been started or not.

◆ _local_log_level

log_level_e warpos::App::_local_log_level = log_level_e::LOG_WARNING

protected

The log level for this particular app.

◆ active

clockwerk::DataIO<bool> warpos::App::active = clockwerk::DataIO<bool>(this, "active", true)

The active flag for the task – set to true by default.

◆ exc

FlightExecutive& warpos::App::exc

protected

Override our executive to include the FlightExecutive instead.

The documentation for this class was generated from the following files:

/Users/mickey/Documents/Projects/warptwin/warpos/src/flight/App.h
/Users/mickey/Documents/Projects/warptwin/warpos/src/flight/App.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ App()

◆ ~App()

Member Function Documentation

◆ activate()

◆ apid()

◆ command()

◆ deactivate()

◆ execute()

◆ instance()

◆ isStarted()

◆ logLevel() [1/2]

◆ logLevel() [2/2]

◆ start()

◆ startup()

◆ step()

Member Data Documentation

◆ _apid

◆ _app_children

◆ _error

◆ _instance

◆ _is_started

◆ _local_log_level

◆ active

◆ exc