2021-07-13 20:22:54 +02:00
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#include "fsfw/objectmanager/ObjectManager.h"
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2022-02-02 10:29:30 +01:00
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2021-07-13 20:22:54 +02:00
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#include "fsfw/serviceinterface/ServiceInterface.h"
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2021-01-03 14:08:40 +01:00
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2020-06-10 20:51:59 +02:00
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#include <iomanip>
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2021-01-03 14:08:40 +01:00
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#endif
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2016-06-15 23:48:41 +02:00
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#include <cstdlib>
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2021-06-05 19:52:38 +02:00
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ObjectManager* ObjectManager::objManagerInstance = nullptr;
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ObjectManager* ObjectManager::instance() {
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2022-02-02 10:29:30 +01:00
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if (objManagerInstance == nullptr) {
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objManagerInstance = new ObjectManager();
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}
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return objManagerInstance;
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2021-06-05 19:52:38 +02:00
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}
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2022-02-02 10:29:30 +01:00
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void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc, void* factoryArgs) {
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this->objectFactoryFunction = objFactoryFunc;
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this->factoryArgs = factoryArgs;
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2016-06-15 23:48:41 +02:00
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}
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2022-07-25 22:36:53 +02:00
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ObjectManager::ObjectManager() = default;
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2021-06-05 19:52:38 +02:00
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2023-01-12 15:40:52 +01:00
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void ObjectManager::clear() {
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if (objManagerInstance != nullptr) {
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delete objManagerInstance;
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objManagerInstance = nullptr;
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}
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}
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2016-06-15 23:48:41 +02:00
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ObjectManager::~ObjectManager() {
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2023-01-12 15:40:52 +01:00
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teardown = true;
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for (auto iter = objectList.begin(); iter != objectList.end(); iter = objectList.erase(iter)) {
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delete iter->second;
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2022-02-02 10:29:30 +01:00
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}
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
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auto returnPair = objectList.emplace(id, object);
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if (returnPair.second) {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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// sif::debug << "ObjectManager::insert: Object " << std::hex
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// << (int)id << std::dec << " inserted." << std::endl;
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2021-01-03 13:58:18 +01:00
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#endif
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2022-08-16 01:08:26 +02:00
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return returnvalue::OK;
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2022-02-02 10:29:30 +01:00
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} else {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::insert: Object ID " << std::hex << static_cast<uint32_t>(id)
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<< std::dec << " is already in use!" << std::endl;
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sif::error << "Terminating program" << std::endl;
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2021-06-05 19:52:38 +02:00
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#else
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2022-02-02 10:29:30 +01:00
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sif::printError("ObjectManager::insert: Object ID 0x%08x is already in use!\n",
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static_cast<unsigned int>(id));
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sif::printError("Terminating program");
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2021-01-03 13:58:18 +01:00
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#endif
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2022-02-02 10:29:30 +01:00
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// This is very severe and difficult to handle in other places.
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std::exit(INSERTION_FAILED);
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}
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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ReturnValue_t ObjectManager::remove(object_id_t id) {
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2023-01-12 15:40:52 +01:00
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// this function is called during destruction of System Objects
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// disabeld for teardown to avoid iterator invalidation and
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// double free
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if (teardown) {
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return returnvalue::OK;
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}
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2022-07-25 22:36:53 +02:00
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if (this->getSystemObject(id) != nullptr) {
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2022-02-02 10:29:30 +01:00
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this->objectList.erase(id);
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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// sif::debug << "ObjectManager::removeObject: Object " << std::hex
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// << (int)id << std::dec << " removed." << std::endl;
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2021-01-03 13:58:18 +01:00
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#endif
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2022-08-16 01:08:26 +02:00
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return returnvalue::OK;
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2022-02-02 10:29:30 +01:00
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} else {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::removeObject: Requested object " << std::hex << (int)id
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<< std::dec << " not found." << std::endl;
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2021-01-03 13:58:18 +01:00
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#endif
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2022-02-02 10:29:30 +01:00
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return NOT_FOUND;
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}
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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SystemObjectIF* ObjectManager::getSystemObject(object_id_t id) {
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auto listIter = this->objectList.find(id);
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if (listIter == this->objectList.end()) {
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return nullptr;
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} else {
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return listIter->second;
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}
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2016-06-15 23:48:41 +02:00
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}
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void ObjectManager::initialize() {
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2022-02-02 10:29:30 +01:00
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if (objectFactoryFunction == nullptr) {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::initialize: Passed produceObjects "
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"functions is nullptr!"
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<< std::endl;
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2021-01-27 20:04:16 +01:00
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#else
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2022-02-02 10:29:30 +01:00
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sif::printError("ObjectManager::initialize: Passed produceObjects functions is nullptr!\n");
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2021-01-03 13:58:18 +01:00
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#endif
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return;
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}
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objectFactoryFunction(factoryArgs);
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2022-08-16 01:08:26 +02:00
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ReturnValue_t result = returnvalue::FAILED;
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2022-02-02 10:29:30 +01:00
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uint32_t errorCount = 0;
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for (auto const& it : objectList) {
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result = it.second->initialize();
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2022-08-16 01:08:26 +02:00
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if (result != returnvalue::OK) {
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2022-02-02 10:29:30 +01:00
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object_id_t var = it.first;
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2023-05-26 17:03:27 +02:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::initialize: Object 0x" << std::hex << std::setw(8)
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<< std::setfill('0') << var
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<< " failed to "
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"initialize with code 0x"
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<< result << std::dec << std::setfill(' ') << std::endl;
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2023-05-26 17:03:27 +02:00
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#else
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sif::printError("ObjectManager::initialize: Object 0x%08x failed to initialize with code 0x%04x\n", var, result);
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2021-01-03 13:58:18 +01:00
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#endif
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2022-02-02 10:29:30 +01:00
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errorCount++;
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}
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}
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if (errorCount > 0) {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
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<< " failed initializations." << std::endl;
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2023-05-26 17:03:27 +02:00
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#else
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sif::printError("ObjectManager: Counted %d\n", errorCount);
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2021-01-03 13:58:18 +01:00
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#endif
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2022-02-02 10:29:30 +01:00
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}
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// Init was successful. Now check successful interconnections.
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errorCount = 0;
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for (auto const& it : objectList) {
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result = it.second->checkObjectConnections();
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2022-08-16 01:08:26 +02:00
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if (result != returnvalue::OK) {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::ObjectManager: Object 0x" << std::hex << (int)it.first
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<< " connection check failed with code 0x" << result << std::dec << std::endl;
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2021-01-03 13:58:18 +01:00
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#endif
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2022-02-02 10:29:30 +01:00
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errorCount++;
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}
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}
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if (errorCount > 0) {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
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<< " failed connection checks." << std::endl;
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2021-01-03 13:58:18 +01:00
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#endif
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2022-02-02 10:29:30 +01:00
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}
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2016-06-15 23:48:41 +02:00
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}
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void ObjectManager::printList() {
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::debug << "ObjectManager: Object List contains:" << std::endl;
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for (auto const& it : objectList) {
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sif::debug << std::hex << it.first << " | " << it.second << std::endl;
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}
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2021-01-03 13:58:18 +01:00
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#endif
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2016-06-15 23:48:41 +02:00
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}
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