fsfw/devicehandlers/DeviceHandlerBase.cpp

#include "DeviceHandlerBase.h"
#include "AcceptsDeviceResponsesIF.h"
#include "DeviceTmReportingWrapper.h"

#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
#include "../globalfunctions/CRC.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../ipc/MessageQueueMessage.h"
#include "../ipc/QueueFactory.h"
#include "../subsystem/SubsystemBase.h"
#include "../datapoollocal/LocalPoolVariable.h"

object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;

DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
        CookieIF* comCookie, FailureIsolationBase* fdirInstance, size_t cmdQueueSize):
        SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
        wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
        deviceCommunicationId(deviceCommunication), comCookie(comCookie),
        healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
        actionHelper(this, nullptr), poolManager(this, nullptr),
        childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
        defaultFDIRUsed(fdirInstance == nullptr),
        switchOffWasReported(false), childTransitionDelay(5000),
        transitionSourceMode(_MODE_POWER_DOWN),
        transitionSourceSubMode(SUBMODE_NONE) {
    commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
            MessageQueueMessage::MAX_MESSAGE_SIZE);
    insertInCommandMap(RAW_COMMAND_ID);
    cookieInfo.state = COOKIE_UNUSED;
    cookieInfo.pendingCommand = deviceCommandMap.end();
    if (comCookie == nullptr) {
        printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
                HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
    }
    if (this->fdirInstance == nullptr) {
        this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
                defaultFdirParentId);
    }
}

void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
    this->hkDestination = hkDestination;
}

void DeviceHandlerBase::setThermalStateRequestPoolIds(
        lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId,
        uint32_t thermalSetId) {
    thermalSet = new DeviceHandlerThermalSet(this, thermalSetId,
            thermalStatePoolId, heaterRequestPoolId);
}


DeviceHandlerBase::~DeviceHandlerBase() {
    delete comCookie;
    if (defaultFDIRUsed) {
        delete fdirInstance;
    }
    QueueFactory::instance()->deleteMessageQueue(commandQueue);
}

ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
    this->pstStep = counter;
    this->lastStep = this->pstStep;

    if (getComAction() == CommunicationAction::NOTHING) {
        return HasReturnvaluesIF::RETURN_OK;
    }

    if (getComAction() == CommunicationAction::PERFORM_OPERATION) {
        cookieInfo.state = COOKIE_UNUSED;
        readCommandQueue();
        doStateMachine();
        checkSwitchState();
        decrementDeviceReplyMap();
        fdirInstance->checkForFailures();
        performOperationHook();
        return RETURN_OK;
    }

    if (mode == MODE_OFF) {
        return RETURN_OK;
    }

    switch (getComAction()) {
    case CommunicationAction::SEND_WRITE:
        if (cookieInfo.state == COOKIE_UNUSED) {
            /* If no external command was specified, build internal command. */
            buildInternalCommand();
        }
        doSendWrite();
        break;
    case CommunicationAction::GET_WRITE:
        doGetWrite();
        break;
    case CommunicationAction::SEND_READ:
        doSendRead();
        break;
    case CommunicationAction::GET_READ:
        doGetRead();
        /* This will be performed after datasets have been updated by the
        custom device implementation. */
        poolManager.performHkOperation();
        break;
    default:
        break;
    }
    return RETURN_OK;
}

ReturnValue_t DeviceHandlerBase::initialize() {
    ReturnValue_t result = SystemObject::initialize();
    if (result != RETURN_OK) {
        return result;
    }

    communicationInterface = objectManager->get<DeviceCommunicationIF>(
            deviceCommunicationId);
    if (communicationInterface == nullptr) {
        printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
                ObjectManagerIF::CHILD_INIT_FAILED,
                "Passed communication IF invalid");
        return ObjectManagerIF::CHILD_INIT_FAILED;
    }

    result = communicationInterface->initializeInterface(comCookie);
    if (result != RETURN_OK) {
        printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
                ObjectManagerIF::CHILD_INIT_FAILED,
                "ComIF initialization failed");
        return result;
    }

    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
    if (IPCStore == nullptr) {
        printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
                ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
        return ObjectManagerIF::CHILD_INIT_FAILED;
    }

    if(rawDataReceiverId != objects::NO_OBJECT) {
        AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
                AcceptsDeviceResponsesIF>(rawDataReceiverId);

        if (rawReceiver == nullptr) {
            printWarningOrError(sif::OutputTypes::OUT_ERROR,
                    "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
                    "Raw receiver object ID set but no valid object found.");
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "Make sure the raw receiver object is set up properly"
                    " and implements AcceptsDeviceResponsesIF" << std::endl;
#else
            sif::printError("Make sure the raw receiver object is set up "
                    "properly and implements AcceptsDeviceResponsesIF\n");
#endif
            return ObjectManagerIF::CHILD_INIT_FAILED;
        }
        defaultRawReceiver = rawReceiver->getDeviceQueue();
    }

    if(powerSwitcherId != objects::NO_OBJECT) {
        powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
        if (powerSwitcher == nullptr) {
            printWarningOrError(sif::OutputTypes::OUT_ERROR,
                    "initialize", ObjectManagerIF::CHILD_INIT_FAILED,
                    "Power switcher set but no valid object found.");
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "Make sure the power switcher object is set up "
                    << "properly and implements PowerSwitchIF" << std::endl;
#else
            sif::printError("Make sure the power switcher object is set up "
                    "properly and implements PowerSwitchIF\n");
#endif
            return ObjectManagerIF::CHILD_INIT_FAILED;
        }
    }

    result = healthHelper.initialize();
    if (result != RETURN_OK) {
        return result;
    }

    result = modeHelper.initialize();
    if (result != RETURN_OK) {
        return result;
    }
    result = actionHelper.initialize(commandQueue);
    if (result != RETURN_OK) {
        return result;
    }
    result = fdirInstance->initialize();
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }

    result = parameterHelper.initialize();
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }

    result = poolManager.initialize(commandQueue);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }

    fillCommandAndReplyMap();

    if(thermalSet != nullptr) {
        //Set temperature target state to NON_OP.
        result = thermalSet->read();
        if(result == HasReturnvaluesIF::RETURN_OK) {
            thermalSet->heaterRequest.value =
                    ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
            thermalSet->heaterRequest.setValid(true);
            thermalSet->commit();
        }

    }

    return RETURN_OK;
}

void DeviceHandlerBase::decrementDeviceReplyMap() {
    for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
            deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
        if (iter->second.delayCycles != 0) {
            iter->second.delayCycles--;
            if (iter->second.delayCycles == 0) {
                if (iter->second.periodic) {
                    iter->second.delayCycles = iter->second.maxDelayCycles;
                }
                replyToReply(iter, TIMEOUT);
                missedReply(iter->first);
            }
        }
    }
}

void DeviceHandlerBase::readCommandQueue() {

    if (dontCheckQueue()) {
        return;
    }

    CommandMessage command;
    ReturnValue_t result = commandQueue->receiveMessage(&command);
    if (result != RETURN_OK) {
        return;
    }

    result = healthHelper.handleHealthCommand(&command);
    if (result == RETURN_OK) {
        return;
    }

    result = modeHelper.handleModeCommand(&command);
    if (result == RETURN_OK) {
        return;
    }

    result = actionHelper.handleActionMessage(&command);
    if (result == RETURN_OK) {
        return;
    }

    result = parameterHelper.handleParameterMessage(&command);
    if (result == RETURN_OK) {
        return;
    }

    result = poolManager.handleHousekeepingMessage(&command);
    if (result == RETURN_OK) {
        return;
    }

    result = handleDeviceHandlerMessage(&command);
    if (result == RETURN_OK) {
        return;
    }

    result = letChildHandleMessage(&command);
    if (result == RETURN_OK) {
        return;
    }

    replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);

}

void DeviceHandlerBase::doStateMachine() {
    switch (mode) {
    case _MODE_START_UP:
    case _MODE_SHUT_DOWN:
    case _MODE_TO_NORMAL:
    case _MODE_TO_ON:
    case _MODE_TO_RAW: {
        Mode_t currentMode = mode;
        callChildStatemachine();
        //Only do timeout if child did not change anything
        if (mode != currentMode) {
            break;
        }
        uint32_t currentUptime;
        Clock::getUptime(&currentUptime);
        if (currentUptime - timeoutStart >= childTransitionDelay) {
            triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
            setMode(transitionSourceMode, transitionSourceSubMode);
            break;
        }
    }
    break;
    case _MODE_POWER_DOWN:
        commandSwitch(PowerSwitchIF::SWITCH_OFF);
        setMode(_MODE_WAIT_OFF);
        break;
    case _MODE_POWER_ON:
        commandSwitch(PowerSwitchIF::SWITCH_ON);
        setMode(_MODE_WAIT_ON);
        break;
    case _MODE_WAIT_ON: {
        uint32_t currentUptime;
        Clock::getUptime(&currentUptime);
        if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
                powerSwitcher->getSwitchDelayMs()) {
            triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
                    0);
            setMode(_MODE_POWER_DOWN);
            callChildStatemachine();
            break;
        }
        ReturnValue_t switchState = getStateOfSwitches();
        if ((switchState == PowerSwitchIF::SWITCH_ON)
                || (switchState == NO_SWITCH)) {
            //NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
            childTransitionFailure = CHILD_TIMEOUT;
            setMode(_MODE_START_UP);
            callChildStatemachine();
        }
    }
    break;
    case _MODE_WAIT_OFF: {
        uint32_t currentUptime;
        Clock::getUptime(&currentUptime);

        if(powerSwitcher == nullptr) {
            setMode(MODE_OFF);
            break;
        }

        if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
            triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
                    0);
            setMode(MODE_ERROR_ON);
            break;
        }
        ReturnValue_t switchState = getStateOfSwitches();
        if ((switchState == PowerSwitchIF::SWITCH_OFF)
                || (switchState == NO_SWITCH)) {
            setMode(_MODE_SWITCH_IS_OFF);
        }
    }
    break;
    case MODE_OFF:
        doOffActivity();
        break;
    case MODE_ON:
        doOnActivity();
        break;
    case MODE_RAW:
    case MODE_NORMAL:
    case MODE_ERROR_ON:
        break;
    case _MODE_SWITCH_IS_OFF:
        setMode(MODE_OFF, SUBMODE_NONE);
        break;
    default:
        triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
        setMode(_MODE_POWER_DOWN, 0);
        break;
    }
}

ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
        Submode_t submode) {
    switch (mode) {
    case MODE_OFF:
    case MODE_ON:
    case MODE_NORMAL:
    case MODE_RAW:
        if (submode == SUBMODE_NONE) {
            return RETURN_OK;
        } else {
            return INVALID_SUBMODE;
        }
    default:
        return HasModesIF::INVALID_MODE;
    }
}

ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
        DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
        LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
        bool hasDifferentReplyId, DeviceCommandId_t replyId) {
    //No need to check, as we may try to insert multiple times.
    insertInCommandMap(deviceCommand);
    if (hasDifferentReplyId) {
        return insertInReplyMap(replyId, maxDelayCycles,
                replyDataSet, replyLen, periodic);
    } else {
        return insertInReplyMap(deviceCommand, maxDelayCycles,
                replyDataSet, replyLen, periodic);
    }
}

ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
        uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
        size_t replyLen, bool periodic) {
    DeviceReplyInfo info;
    info.maxDelayCycles = maxDelayCycles;
    info.periodic = periodic;
    info.delayCycles = 0;
    info.replyLen = replyLen;
    info.dataSet = dataSet;
    info.command = deviceCommandMap.end();
    auto resultPair = deviceReplyMap.emplace(replyId, info);
    if (resultPair.second) {
        return RETURN_OK;
    } else {
        return RETURN_FAILED;
    }
}

ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
    DeviceCommandInfo info;
    info.expectedReplies = 0;
    info.isExecuting = false;
    info.sendReplyTo = NO_COMMANDER;
    auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
    if (resultPair.second) {
        return RETURN_OK;
    } else {
        return RETURN_FAILED;
    }
}

ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
        uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
    auto replyIter = deviceReplyMap.find(deviceReply);
    if (replyIter == deviceReplyMap.end()) {
        triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
        return RETURN_FAILED;
    } else {
        DeviceReplyInfo *info = &(replyIter->second);
        if (maxDelayCycles != 0) {
            info->maxDelayCycles = maxDelayCycles;
        }
        info->delayCycles = delayCycles;
        info->periodic = periodic;
        return RETURN_OK;
    }
}


ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
        LocalPoolDataSetBase *dataSet) {
    auto replyIter = deviceReplyMap.find(replyId);
    if(replyIter == deviceReplyMap.end()) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    replyIter->second.dataSet = dataSet;
    return HasReturnvaluesIF::RETURN_OK;
}

void DeviceHandlerBase::callChildStatemachine() {
    if (mode == _MODE_START_UP) {
        doStartUp();
    } else if (mode == _MODE_SHUT_DOWN) {
        doShutDown();
    } else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
        doTransition(transitionSourceMode, transitionSourceSubMode);
    }
}

void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
    triggerEvent(CHANGING_MODE, modeTo, submodeTo);
    childTransitionDelay = getTransitionDelayMs(mode, modeTo);
    transitionSourceMode = mode;
    transitionSourceSubMode = submode;
    childTransitionFailure = CHILD_TIMEOUT;

    // transitionTargetMode is set by setMode
    setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo);
}

void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
    /* TODO: This will probably be done by the LocalDataPoolManager now */
    //changeHK(mode, submode, false);
    submode = newSubmode;
    mode = newMode;
    modeChanged();
    setNormalDatapoolEntriesInvalid();
    if (!isTransitionalMode()) {
        modeHelper.modeChanged(newMode, newSubmode);
        announceMode(false);
    }
    Clock::getUptime(&timeoutStart);

    if (mode == MODE_OFF and thermalSet != nullptr) {
        ReturnValue_t result = thermalSet->read();
        if(result == HasReturnvaluesIF::RETURN_OK) {
            if (thermalSet->heaterRequest.value !=
                    ThermalComponentIF::STATE_REQUEST_IGNORE) {
                thermalSet->heaterRequest.value = ThermalComponentIF::
                        STATE_REQUEST_NON_OPERATIONAL;
            }
            thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
        }

    }
    /* TODO: This will probably be done by the LocalDataPoolManager now */
    //changeHK(mode, submode, true);
}

void DeviceHandlerBase::setMode(Mode_t newMode) {
    setMode(newMode, submode);
}

void DeviceHandlerBase::replyReturnvalueToCommand(ReturnValue_t status,
        uint32_t parameter) {
    //This is actually the reply protocol for raw and misc DH commands.
    if (status == RETURN_OK) {
        CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter);
        commandQueue->reply(&reply);
    } else {
        CommandMessage reply(CommandMessage::REPLY_REJECTED, status, parameter);
        commandQueue->reply(&reply);
    }
}

void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
        uint32_t parameter) {
    // Check if we reply to a raw command.
    if (cookieInfo.pendingCommand->first == RAW_COMMAND_ID) {
        if (status == NO_REPLY_EXPECTED) {
            status = RETURN_OK;
        }
        replyReturnvalueToCommand(status, parameter);
        // Always delete data from a raw command.
        IPCStore->deleteData(storedRawData);
        return;
    }
    // Check if we were externally commanded.
    if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) {
        MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo;
        if (status == NO_REPLY_EXPECTED) {
            actionHelper.finish(true, queueId, cookieInfo.pendingCommand->first,
                    RETURN_OK);
        } else {
            actionHelper.step(1, queueId, cookieInfo.pendingCommand->first,
                    status);
        }
    }
}

void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
        ReturnValue_t status) {
    // No need to check if iter exists, as this is checked by callers.
    // If someone else uses the method, add check.
    if (iter->second.command == deviceCommandMap.end()) {
        //Is most likely periodic reply. Silent return.
        return;
    }
    // Check if more replies are expected. If so, do nothing.
    DeviceCommandInfo* info = &(iter->second.command->second);
    if (--info->expectedReplies == 0) {
        // Check if it was transition or internal command.
        // Don't send any replies in that case.
        if (info->sendReplyTo != NO_COMMANDER) {
            bool success = false;
            if(status == HasReturnvaluesIF::RETURN_OK) {
                success = true;
            }
            actionHelper.finish(success, info->sendReplyTo, iter->first, status);
        }
        info->isExecuting = false;
    }
}

void DeviceHandlerBase::doSendWrite() {
    if (cookieInfo.state == COOKIE_WRITE_READY) {

        ReturnValue_t result = communicationInterface->sendMessage(comCookie,
                rawPacket, rawPacketLen);

        if (result == RETURN_OK) {
            cookieInfo.state = COOKIE_WRITE_SENT;
        } else {
            // always generate a failure event, so that FDIR knows what's up
            triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result,
                    cookieInfo.pendingCommand->first);
            replyToCommand(result);
            cookieInfo.state = COOKIE_UNUSED;
            cookieInfo.pendingCommand->second.isExecuting = false;
        }
    }
}

void DeviceHandlerBase::doGetWrite() {
    if (cookieInfo.state != COOKIE_WRITE_SENT) {
        return;
    }
    cookieInfo.state = COOKIE_UNUSED;
    ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
    if (result == RETURN_OK) {
        if (wiretappingMode == RAW) {
            replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
        }

        //We need to distinguish here, because a raw command never expects a reply.
        //(Could be done in eRIRM, but then child implementations need to be careful.
        result = enableReplyInReplyMap(cookieInfo.pendingCommand);
    } else {
        //always generate a failure event, so that FDIR knows what's up
        triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result,
                cookieInfo.pendingCommand->first);
    }
    if (result != RETURN_OK) {
        cookieInfo.pendingCommand->second.isExecuting = false;
    }
    replyToCommand(result);
}

void DeviceHandlerBase::doSendRead() {
    ReturnValue_t result;

    size_t requestLen = 0;
    if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
        DeviceReplyIter iter = deviceReplyMap.find(
                cookieInfo.pendingCommand->first);
        if(iter != deviceReplyMap.end()) {
            requestLen = iter->second.replyLen;
        }
    }

    result = communicationInterface->requestReceiveMessage(comCookie, requestLen);

    if (result == RETURN_OK) {
        cookieInfo.state = COOKIE_READ_SENT;
    } else {
        triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
        //We can't inform anyone, because we don't know which command was sent last.
        //So, we need to wait for a timeout.
        //but I think we can allow to ignore one missedReply.
        ignoreMissedRepliesCount++;
        cookieInfo.state = COOKIE_UNUSED;
    }
}

void DeviceHandlerBase::doGetRead() {
    size_t receivedDataLen = 0;
    uint8_t *receivedData = nullptr;

    if (cookieInfo.state != COOKIE_READ_SENT) {
        cookieInfo.state = COOKIE_UNUSED;
        return;
    }

    cookieInfo.state = COOKIE_UNUSED;

    ReturnValue_t result = communicationInterface->readReceivedMessage(
            comCookie, &receivedData, &receivedDataLen);

    if (result != RETURN_OK) {
        triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
        //I think we can allow to ignore one missedReply.
        ignoreMissedRepliesCount++;
        return;
    }

    if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
        return;

    if (wiretappingMode == RAW) {
        replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
    }

    if (mode == MODE_RAW) {
        if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
            replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
        }
    }
    else {
        parseReply(receivedData, receivedDataLen);
    }
}

void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
        size_t receivedDataLen) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
    DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND_ID;
    size_t foundLen = 0;
    /* The loop may not execute more often than the number of received bytes
    (worst case). This approach avoids infinite loops due to buggy scanForReply routines. */
    uint32_t remainingLength = receivedDataLen;
    for (uint32_t count = 0; count < receivedDataLen; count++) {
        result = scanForReply(receivedData, remainingLength, &foundId, &foundLen);
        switch (result) {
        case RETURN_OK:
            handleReply(receivedData, foundId, foundLen);
            if(foundLen == 0) {
                printWarningOrError(sif::OutputTypes::OUT_WARNING,
                        "parseReply", ObjectManagerIF::CHILD_INIT_FAILED,
                        "Found length is one, parsing might be stuck");
            }
            break;
        case APERIODIC_REPLY: {
            result = interpretDeviceReply(foundId, receivedData);
            if (result != RETURN_OK) {
                replyRawReplyIfnotWiretapped(receivedData, foundLen);
                triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
                        foundId);
            }
            if(foundLen == 0) {
                printWarningOrError(sif::OutputTypes::OUT_ERROR,
                        "parseReply", ObjectManagerIF::CHILD_INIT_FAILED,
                        "Power switcher set but no valid object found.");
#if FSFW_CPP_OSTREAM_ENABLED == 1
                sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
                        " Packet parsing will be stuck." << std::endl;
#endif
            }
            break;
        }
        case IGNORE_REPLY_DATA:
            continue;
        case IGNORE_FULL_PACKET:
            return;
        default:
            // We need to wait for timeout.. don't know what command failed
            // and who sent it.
            replyRawReplyIfnotWiretapped(receivedData, foundLen);
            triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
            break;
        }
        receivedData += foundLen;
        if (remainingLength > foundLen) {
            remainingLength -= foundLen;
        } else {
            return;
        }
    }
}

void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
        DeviceCommandId_t foundId, uint32_t foundLen) {
    ReturnValue_t result;
    DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);

    if (iter == deviceReplyMap.end()) {
        replyRawReplyIfnotWiretapped(receivedData, foundLen);
        triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
        return;
    }

    DeviceReplyInfo *info = &(iter->second);

    if (info->delayCycles != 0) {
        result = interpretDeviceReply(foundId, receivedData);

        if(result == IGNORE_REPLY_DATA) {
            return;
        }

        if (info->periodic) {
            info->delayCycles = info->maxDelayCycles;
        }
        else {
            info->delayCycles = 0;
        }

        if (result != RETURN_OK) {
            // Report failed interpretation to FDIR.
            replyRawReplyIfnotWiretapped(receivedData, foundLen);
            triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
        }
        replyToReply(iter, result);
    }
    else {
        /* Other completion failure messages are created by timeout.
        Powering down the device might take some time during which periodic
        replies may still come in. */
        if (mode != _MODE_WAIT_OFF) {
            triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
        }
    }
}

ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
        uint8_t** data, uint32_t * len) {
    size_t lenTmp;

    if (IPCStore == nullptr) {
        *data = nullptr;
        *len = 0;
        return RETURN_FAILED;
    }
    ReturnValue_t result = IPCStore->modifyData(storageAddress, data, &lenTmp);
    if (result == RETURN_OK) {
        *len = lenTmp;
        return RETURN_OK;
    } else {
        triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
                storageAddress.raw);
        *data = nullptr;
        *len = 0;
        return result;
    }
}

void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
        MessageQueueId_t sendTo, bool isCommand) {
    if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
        return;
    }
    store_address_t address;
    ReturnValue_t result = IPCStore->addData(&address, data, len);

    if (result != RETURN_OK) {
        triggerEvent(StorageManagerIF::STORE_DATA_FAILED, result);
        return;
    }

    CommandMessage command;

    DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
            getObjectId(), address, isCommand);

    result = commandQueue->sendMessage(sendTo, &command);

    if (result != RETURN_OK) {
        IPCStore->deleteData(address);
        // Silently discard data, this indicates heavy TM traffic which
        // should not be increased by additional events.
    }
}

//Default child implementations
DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() {
    switch (pstStep) {
    case 0:
        return CommunicationAction::PERFORM_OPERATION;
        break;
    case 1:
        return CommunicationAction::SEND_WRITE;
        break;
    case 2:
        return CommunicationAction::GET_WRITE;
        break;
    case 3:
        return CommunicationAction::SEND_READ;
        break;
    case 4:
        return CommunicationAction::GET_READ;
        break;
    default:
        break;
    }
    return CommunicationAction::NOTHING;
}

MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
    return commandQueue->getId();
}

void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
    storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
    ReturnValue_t result = getStorageData(storedRawData, &rawPacket,
            &rawPacketLen);
    if (result != RETURN_OK) {
        replyReturnvalueToCommand(result, RAW_COMMAND_ID);
        storedRawData.raw = StorageManagerIF::INVALID_ADDRESS;
    } else {
        cookieInfo.pendingCommand = deviceCommandMap.find(
                (DeviceCommandId_t) RAW_COMMAND_ID);
        cookieInfo.pendingCommand->second.isExecuting = true;
        cookieInfo.state = COOKIE_WRITE_READY;
    }
}

void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
    if(powerSwitcher == nullptr) {
        return;
    }
    const uint8_t *switches;
    uint8_t numberOfSwitches = 0;
    ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
    if (result == RETURN_OK) {
        while (numberOfSwitches > 0) {
            powerSwitcher->sendSwitchCommand(switches[numberOfSwitches - 1],
                    onOff);
            numberOfSwitches--;
        }
    }
}

ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
        uint8_t *numberOfSwitches) {
    return DeviceHandlerBase::NO_SWITCH;
}

void DeviceHandlerBase::modeChanged(void) {
}

ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
        DeviceCommandMap::iterator command, uint8_t expectedReplies,
        bool useAlternativeId, DeviceCommandId_t alternativeReply) {
    DeviceReplyMap::iterator iter;
    if (useAlternativeId) {
        iter = deviceReplyMap.find(alternativeReply);
    } else {
        iter = deviceReplyMap.find(command->first);
    }
    if (iter != deviceReplyMap.end()) {
        DeviceReplyInfo *info = &(iter->second);
        info->delayCycles = info->maxDelayCycles;
        info->command = command;
        command->second.expectedReplies = expectedReplies;
        return RETURN_OK;
    } else {
        return NO_REPLY_EXPECTED;
    }
}

void DeviceHandlerBase::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
    setMode(getBaseMode(mode));
}

ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
    if(powerSwitcher == nullptr) {
        return NO_SWITCH;
    }
    uint8_t numberOfSwitches = 0;
    const uint8_t *switches;

    ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
    if ((result == RETURN_OK) && (numberOfSwitches != 0)) {
        while (numberOfSwitches > 0) {
            if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1])
                    == PowerSwitchIF::SWITCH_OFF) {
                return PowerSwitchIF::SWITCH_OFF;
            }
            numberOfSwitches--;
        }
        return PowerSwitchIF::SWITCH_ON;
    }

    return NO_SWITCH;
}

Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
    // only child action special modes are handled, as a child should
    // never see any base action modes
    if (transitionMode == _MODE_START_UP) {
        return _MODE_TO_ON;
    }
    if (transitionMode == _MODE_SHUT_DOWN) {
        return _MODE_POWER_DOWN;
    }
    return transitionMode
            & ~(TRANSITION_MODE_BASE_ACTION_MASK
                    | TRANSITION_MODE_CHILD_ACTION_MASK);
}

//SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the way, throw away DHB and write a new one:
// - Include power and thermal completely, but more modular :-)
// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
// - Modularization?
ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
        Submode_t commandedSubmode, uint32_t* msToReachTheMode) {
    if (isTransitionalMode()) {
        return IN_TRANSITION;
    }
    if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
        return TRANS_NOT_ALLOWED;
    }
    if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
        return TRANS_NOT_ALLOWED;
    }

    if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
            and (thermalSet != nullptr)) {
        ReturnValue_t result = thermalSet->read();
        if(result == HasReturnvaluesIF::RETURN_OK) {
            if((thermalSet->heaterRequest.value !=
                    ThermalComponentIF::STATE_REQUEST_IGNORE) and (not
                            ThermalComponentIF::isOperational(
                                    thermalSet->thermalState.value))) {
                triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE,
                        thermalSet->thermalState.value);
                return NON_OP_TEMPERATURE;
            }
        }
    }

    return isModeCombinationValid(commandedMode, commandedSubmode);
}

void DeviceHandlerBase::startTransition(Mode_t commandedMode,
        Submode_t commandedSubmode) {
    switch (commandedMode) {
    case MODE_ON:
        handleTransitionToOnMode(commandedMode, commandedSubmode);
        break;
    case MODE_OFF:
        if (mode == MODE_OFF) {
            triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
            setMode(_MODE_POWER_DOWN, commandedSubmode);
        } else {
            // already set the delay for the child transition
            // so we don't need to call it twice
            childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN);
            transitionSourceMode = _MODE_POWER_DOWN;
            transitionSourceSubMode = commandedSubmode;
            childTransitionFailure = CHILD_TIMEOUT;
            setMode(_MODE_SHUT_DOWN, commandedSubmode);
            triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
        }
        break;
    case MODE_RAW:
        if (mode != MODE_OFF) {
            setTransition(MODE_RAW, commandedSubmode);
        } else {
            setMode(MODE_RAW, commandedSubmode);
        }
        break;
    case MODE_NORMAL:
        if (mode != MODE_OFF) {
            setTransition(MODE_NORMAL, commandedSubmode);
        } else {
            replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
        }
        break;
    }
}

void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode,
        Submode_t commandedSubmode) {
    if (mode == MODE_OFF) {
        transitionSourceMode = _MODE_POWER_DOWN;
        transitionSourceSubMode = SUBMODE_NONE;
        setMode(_MODE_POWER_ON, commandedSubmode);
        // already set the delay for the child transition so we don't
        // need to call it twice
        childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
                MODE_ON);
        triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
        if(thermalSet != nullptr) {
            ReturnValue_t result = thermalSet->read();
            if(result == HasReturnvaluesIF::RETURN_OK) {
                if(thermalSet->heaterRequest !=
                        ThermalComponentIF::STATE_REQUEST_IGNORE) {
                    thermalSet->heaterRequest =
                            ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
                    thermalSet->commit();
                }
            }
        }
    } else {
        setTransition(MODE_ON, commandedSubmode);
    }
}

void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
    *mode = this->mode;
    *submode = this->submode;
}

void DeviceHandlerBase::setToExternalControl() {
    healthHelper.setHealth(EXTERNAL_CONTROL);
}

void DeviceHandlerBase::announceMode(bool recursive) {
    triggerEvent(MODE_INFO, mode, submode);
}

bool DeviceHandlerBase::dontCheckQueue() {
    return false;
}

void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
    if (ignoreMissedRepliesCount > 0) {
        ignoreMissedRepliesCount--;
    } else {
        triggerEvent(DEVICE_MISSED_REPLY, id);
    }
}

HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
    return healthHelper.getHealth();
}

ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
    healthHelper.setHealth(health);
    return HasReturnvaluesIF::RETURN_OK;
}

void DeviceHandlerBase::checkSwitchState() {
    if ((mode == MODE_ON || mode == MODE_NORMAL)) {
        //We only check in ON and NORMAL, ignore RAW and ERROR_ON.
        ReturnValue_t result = getStateOfSwitches();
        if (result == PowerSwitchIF::SWITCH_OFF && !switchOffWasReported) {
            triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF);
            switchOffWasReported = true;
        }
    } else {
        switchOffWasReported = false;
    }
}

void DeviceHandlerBase::doOnActivity() {
}

ReturnValue_t DeviceHandlerBase::acceptExternalDeviceCommands() {
    if ((mode != MODE_ON) && (mode != MODE_NORMAL)) {
        return WRONG_MODE_FOR_COMMAND;
    }
    return RETURN_OK;
}

void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
        size_t len) {
    if ((wiretappingMode == RAW)
            && (defaultRawReceiver == requestedRawTraffic)) {
        //The raw packet was already sent by the wiretapping service
    } else {
        replyRawData(data, len, defaultRawReceiver);
    }
}

ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
        CommandMessage * message) {
    switch (message->getCommand()) {
    case DeviceHandlerMessage::CMD_WIRETAPPING:
        switch (DeviceHandlerMessage::getWiretappingMode(message)) {
        case RAW:
            wiretappingMode = RAW;
            requestedRawTraffic = commandQueue->getLastPartner();
            break;
        case TM:
            wiretappingMode = TM;
            requestedRawTraffic = commandQueue->getLastPartner();
            break;
        case OFF:
            wiretappingMode = OFF;
            break;
        default:
            replyReturnvalueToCommand(INVALID_COMMAND_PARAMETER);
            wiretappingMode = OFF;
            return RETURN_OK;
        }
        replyReturnvalueToCommand(RETURN_OK);
        return RETURN_OK;
        case DeviceHandlerMessage::CMD_RAW:
            if ((mode != MODE_RAW)) {
                DeviceHandlerMessage::clear(message);
                replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
            } else {
                buildRawDeviceCommand(message);
            }
            return RETURN_OK;
        default:
            return RETURN_FAILED;
    }
}

void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
    modeHelper.setParentQueue(parentQueueId);
    healthHelper.setParentQueue(parentQueueId);
}

bool DeviceHandlerBase::isAwaitingReply() {
    std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
    for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
        if (iter->second.delayCycles != 0) {
            return true;
        }
    }
    return false;
}

ReturnValue_t DeviceHandlerBase::letChildHandleMessage(
        CommandMessage * message) {
    return RETURN_FAILED;
}

void DeviceHandlerBase::handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId,
        bool forceDirectTm) {
    if(dataSet == nullptr) {
        return;
    }

    DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
    if (iter == deviceReplyMap.end()) {
        triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
        return;
    }

    /* Regular replies to a command */
    if (iter->second.command != deviceCommandMap.end())
    {
        MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;

        if (queueId != NO_COMMANDER) {
            /* This may fail, but we'll ignore the fault. */
            actionHelper.reportData(queueId, replyId, dataSet);
        }

        /* This check should make sure we get any TM but don't get anything doubled. */
        if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
            DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
            actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
        }

        else if (forceDirectTm and (defaultRawReceiver != queueId) and
                (defaultRawReceiver != MessageQueueIF::NO_QUEUE))
        {
            // hiding of sender needed so the service will handle it as
            // unexpected Data, no matter what state (progress or completed)
            // it is in
            actionHelper.reportData(defaultRawReceiver, replyId, dataSet, true);
        }
    }
    /* Unrequested or aperiodic replies */
    else
    {
        DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
        if (wiretappingMode == TM) {
            actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
        }
        if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE)
        {
            //		    sid_t setSid = sid_t(this->getObjectId(), replyId);
            //		    LocalPoolDataSetBase* dataset = getDataSetHandle(setSid);
            //		    if(dataset != nullptr) {
            //	            poolManager.generateHousekeepingPacket(setSid, dataset, true);
            //		    }

            // hiding of sender needed so the service will handle it as
            // unexpected Data, no matter what state (progress or completed)
            // it is in
            actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
        }
    }
}

ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
        MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
    ReturnValue_t result = acceptExternalDeviceCommands();
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
    if (iter == deviceCommandMap.end()) {
        result = COMMAND_NOT_SUPPORTED;
    } else if (iter->second.isExecuting) {
        result = COMMAND_ALREADY_SENT;
    } else {
        result = buildCommandFromCommand(actionId, data, size);
    }
    if (result == RETURN_OK) {
        iter->second.sendReplyTo = commandedBy;
        iter->second.isExecuting = true;
        cookieInfo.pendingCommand = iter;
        cookieInfo.state = COOKIE_WRITE_READY;
    }
    return result;
}

void DeviceHandlerBase::buildInternalCommand(void) {
    /* Neither raw nor direct could build a command */
    ReturnValue_t result = NOTHING_TO_SEND;
    DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
    if (mode == MODE_NORMAL) {
        result = buildNormalDeviceCommand(&deviceCommandId);
        if (result == BUSY) {
            /* So we can track misconfigurations */
            printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
                    HasReturnvaluesIF::RETURN_FAILED, "Busy.");
            /* No need to report this */
            result = NOTHING_TO_SEND;
        }
    }
    else if (mode == MODE_RAW) {
        result = buildChildRawCommand();
        deviceCommandId = RAW_COMMAND_ID;
    }
    else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
        result = buildTransitionDeviceCommand(&deviceCommandId);
    }
    else {
        return;
    }

    if (result == NOTHING_TO_SEND) {
        return;
    }
    if (result == RETURN_OK) {
        DeviceCommandMap::iterator iter = deviceCommandMap.find(
                deviceCommandId);
        if (iter == deviceCommandMap.end()) {
            result = COMMAND_NOT_SUPPORTED;
        }
        else if (iter->second.isExecuting) {
#if FSFW_DISABLE_PRINTOUT == 0
            char output[36];
            sprintf(output, "Command 0x%08x is executing",
                    static_cast<unsigned int>(deviceCommandId));
            // so we can track misconfigurations
            printWarningOrError(sif::OutputTypes::OUT_WARNING,
                    "buildInternalCommand",
                    HasReturnvaluesIF::RETURN_FAILED,
                    output);
#endif
            // this is an internal command, no need to report a failure here,
            // missed reply will track if a reply is too late, otherwise, it's ok
            return;
        } else {
            iter->second.sendReplyTo = NO_COMMANDER;
            iter->second.isExecuting = true;
            cookieInfo.pendingCommand = iter;
            cookieInfo.state = COOKIE_WRITE_READY;
        }
    }
    if (result != RETURN_OK) {
        triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId);
    }
}

ReturnValue_t DeviceHandlerBase::buildChildRawCommand() {
    return NOTHING_TO_SEND;
}

uint8_t DeviceHandlerBase::getReplyDelayCycles(
        DeviceCommandId_t deviceCommand) {
    DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
    if (iter == deviceReplyMap.end()) {
        return 0;
    }
    return iter->second.delayCycles;
}

Mode_t DeviceHandlerBase::getTransitionSourceMode() const {
    return transitionSourceMode;
}

Submode_t DeviceHandlerBase::getTransitionSourceSubMode() const {
    return transitionSourceSubMode;
}

void DeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1,
        uint32_t parameter2) {
    fdirInstance->triggerEvent(event, parameter1, parameter2);
}

void DeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
        uint32_t parameter2) const {
    fdirInstance->triggerEvent(event, parameter1, parameter2);
}

void DeviceHandlerBase::doOffActivity() {
}

ReturnValue_t DeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
        ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
        uint16_t startAtIndex) {
    ReturnValue_t result = fdirInstance->getParameter(domainId, uniqueId, parameterWrapper,
            newValues, startAtIndex);
    if (result != INVALID_DOMAIN_ID) {
        return result;
    }
    return INVALID_DOMAIN_ID;

}

bool DeviceHandlerBase::isTransitionalMode() {
    return ((mode
            & (TRANSITION_MODE_BASE_ACTION_MASK
                    | TRANSITION_MODE_CHILD_ACTION_MASK)) != 0);
}

bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
    auto iter = deviceCommandMap.find(commandId);
    if (iter != deviceCommandMap.end()) {
        return iter->second.isExecuting;
    } else {
        return false;
    }

}

void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
    executingTask = task;
}

void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
        object_id_t objectId, uint32_t parameter) {}

void DeviceHandlerBase::performOperationHook() {
}

ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
        localpool::DataPool &localDataPoolMap,
        LocalDataPoolManager& poolManager) {
    if(thermalSet != nullptr) {
        localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
                new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
        localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
                new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
    }
    return RETURN_OK;
}

ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
    // In this function, the task handle should be valid if the task
    // was implemented correctly. We still check to be 1000 % sure :-)
    if(executingTask != nullptr) {
        pstIntervalMs = executingTask->getPeriodMs();
    }
    this->poolManager.initializeAfterTaskCreation();

    if(setStartupImmediately) {
        startTransition(MODE_ON, SUBMODE_NONE);
    }
    return HasReturnvaluesIF::RETURN_OK;
}

LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
    auto iter = deviceReplyMap.find(sid.ownerSetId);
    if(iter != deviceReplyMap.end()) {
        return iter->second.dataSet;
    }
    else {
        return nullptr;
    }
}

object_id_t DeviceHandlerBase::getObjectId() const {
    return SystemObject::getObjectId();
}

void DeviceHandlerBase::setStartUpImmediately() {
    this->setStartupImmediately = true;
}

dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
    return pstIntervalMs;
}

DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
    if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
        return cookieInfo.pendingCommand->first;
    }
    return DeviceHandlerIF::NO_COMMAND_ID;
}

void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
    for(const auto& reply: deviceReplyMap) {
        if(reply.second.dataSet != nullptr) {
            reply.second.dataSet->setValidity(false, true);
        }
    }
}

void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
        const char *functionName, ReturnValue_t errorCode,
        const char *errorPrint) {
    if(errorPrint == nullptr) {
        if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
            errorPrint = "Initialization error";
        }
        else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
            if(errorType == sif::OutputTypes::OUT_WARNING) {
                errorPrint = "Generic Warning";
            }
            else {
                errorPrint = "Generic Error";
            }
        }
        else {
            errorPrint = "Unknown error";
        }
    }
    if(functionName == nullptr) {
        functionName = "unknown function";
    }

    if(errorType == sif::OutputTypes::OUT_WARNING) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID "
                << std::hex << std::setw(8) << std::setfill('0')
                << this->getObjectId() << " | " << errorPrint << std::dec
                << std::setfill(' ') << std::endl;
#else
        sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
                functionName, this->getObjectId(), errorPrint);
#endif
    }
    else if(errorType == sif::OutputTypes::OUT_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "DeviceHandlerBase::" << functionName << ": Object ID "
                << std::hex << std::setw(8) << std::setfill('0')
                << this->getObjectId() << " | " << errorPrint << std::dec
                << std::setfill(' ') << std::endl;
#else
        sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
                functionName, this->getObjectId(), errorPrint);
#endif
    }

}

LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
    return &poolManager;
}

MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const {
    auto commandIter = deviceCommandMap.find(replyId);
    if(commandIter == deviceCommandMap.end()) {
        return MessageQueueIF::NO_QUEUE;
    }
    return commandIter->second.sendReplyTo;
}