changed SusDummies from ExtendedController to DeviceHandler
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ca9ef28199
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c430caadd7
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@ -1,87 +1,43 @@
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#include "SusDummy.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <objects/systemObjectList.h>
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SusDummy::SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
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: DeviceHandlerBase(objectId, comif, comCookie), susSet(this) {}
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#include <cmath>
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#include <cstdlib>
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SusDummy::~SusDummy() {}
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SusDummy::SusDummy() : ExtendedControllerBase(objects::SUS_0_N_LOC_XFYFZM_PT_XF), susSet(this) {
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ObjectManager::instance()->insert(objects::SUS_6_R_LOC_XFYBZM_PT_XF, this);
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ObjectManager::instance()->insert(objects::SUS_1_N_LOC_XBYFZM_PT_XB, this);
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ObjectManager::instance()->insert(objects::SUS_7_R_LOC_XBYBZM_PT_XB, this);
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ObjectManager::instance()->insert(objects::SUS_2_N_LOC_XFYBZB_PT_YB, this);
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ObjectManager::instance()->insert(objects::SUS_8_R_LOC_XBYBZB_PT_YB, this);
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ObjectManager::instance()->insert(objects::SUS_3_N_LOC_XFYBZF_PT_YF, this);
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ObjectManager::instance()->insert(objects::SUS_9_R_LOC_XBYBZB_PT_YF, this);
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ObjectManager::instance()->insert(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, this);
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ObjectManager::instance()->insert(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, this);
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ObjectManager::instance()->insert(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, this);
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ObjectManager::instance()->insert(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, this);
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void SusDummy::doStartUp() {}
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void SusDummy::doShutDown() {}
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ReturnValue_t SusDummy::buildNormalDeviceCommand(DeviceCommandId_t *id) { return NOTHING_TO_SEND; }
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ReturnValue_t SusDummy::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t SusDummy::initialize() {
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static bool done = false;
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if (not done) {
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done = true;
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ReturnValue_t result = ExtendedControllerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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}
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ReturnValue_t SusDummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData, size_t commandDataLen) {
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return returnvalue::OK;
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}
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ReturnValue_t SusDummy::handleCommandMessage(CommandMessage* message) {
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return returnvalue::FAILED;
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}
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void SusDummy::performControlOperation() {
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// value = sin(iteration / 80. * M_PI + 10) * 10 - 10;
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susSet.read();
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// susSet.temperatureCelcius = value;
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// if ((iteration % 100) < 20) {
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// susSet.setValidity(false, true);
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// } else {
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// susSet.setValidity(true, true);
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// }
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susSet.channels[0] = 3913;
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susSet.channels[1] = 3912;
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susSet.channels[2] = 3799;
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susSet.channels[3] = 3797;
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susSet.channels[4] = 4056;
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susSet.setValidity(true, true);
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susSet.commit();
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iteration++;
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}
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ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
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localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
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new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0}, true));
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ReturnValue_t SusDummy::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) {
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return returnvalue::OK;
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}
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LocalPoolDataSetBase* SusDummy::getDataSetHandle(sid_t sid) {
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switch (sid.ownerSetId) {
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case SUS::SUS_DATA_SET_ID:
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return &susSet;
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default:
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return nullptr;
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}
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}
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ReturnValue_t SusDummy::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) {
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if (submode != SUBMODE_NONE) {
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return INVALID_SUBMODE;
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}
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if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
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return INVALID_MODE;
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}
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ReturnValue_t SusDummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
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return returnvalue::OK;
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}
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void SusDummy::fillCommandAndReplyMap() {}
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uint32_t SusDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
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ReturnValue_t SusDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(SUS::SusPoolIds::TEMPERATURE_C, new PoolEntry<float>({0}, 1, true));
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localDataPoolMap.emplace(SUS::SusPoolIds::CHANNEL_VEC,
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new PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0},true));
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return returnvalue::OK;
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}
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@ -1,27 +1,36 @@
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#pragma once
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#ifndef DUMMIES_SUSDUMMY_H_
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#define DUMMIES_SUSDUMMY_H_
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#include <fsfw/controller/ExtendedControllerBase.h>
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#include <mission/devices/devicedefinitions/SusDefinitions.h>
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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class SusDummy : public ExtendedControllerBase {
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#include "mission/devices/devicedefinitions/SusDefinitions.h"
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class SusDummy : public DeviceHandlerBase {
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public:
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SusDummy();
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static const DeviceCommandId_t SIMPLE_COMMAND = 1;
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static const DeviceCommandId_t PERIODIC_REPLY = 2;
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ReturnValue_t initialize() override;
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static const uint8_t SIMPLE_COMMAND_DATA = 1;
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static const uint8_t PERIODIC_REPLY_DATA = 2;
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SusDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
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virtual ~SusDummy();
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protected:
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virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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virtual void performControlOperation() override;
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virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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// Mode abstract functions
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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private:
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int iteration = 0;
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float value = 0;
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SUS::SusDataset susSet;
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
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size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
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void fillCommandAndReplyMap() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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};
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#endif /* DUMMIES_SUSDUMMY_H_ */
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@ -1,3 +1,5 @@
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#include "helpers.h"
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#include <dummies/AcuDummy.h>
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#include <dummies/BpxDummy.h>
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#include <dummies/ComCookieDummy.h>
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@ -19,8 +21,6 @@
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#include <dummies/SyrlinksDummy.h>
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#include <dummies/TemperatureSensorsDummy.h>
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#include "helpers.h"
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using namespace dummy;
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void dummy::createDummies(DummyCfg cfg) {
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@ -63,7 +63,18 @@ void dummy::createDummies(DummyCfg cfg) {
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}
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if (cfg.addSusDummies) {
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new SusDummy();
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new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
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new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
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}
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if (cfg.addTempSensorDummies) {
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