From 423f7c828189701230fe7161a680590e37bf40fb Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sun, 26 Sep 2021 22:45:32 +0200
Subject: [PATCH] missing include and printer compatbility fixes

---
 .../devicehandlers/GyroL3GD20Handler.cpp      |  4 +++-
 .../devicehandlers/MgmLIS3MDLHandler.cpp      |  2 ++
 .../devicehandlers/MgmRM3100Handler.cpp       | 19 ++++++++++++++++---
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
index 70ba49eb..d27351d7 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -1,7 +1,9 @@
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "GyroL3GD20Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 
+#include <cmath>
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
         CookieIF *comCookie, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index 891d6fdc..804e83f2 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -5,6 +5,8 @@
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #endif
 
+#include <cmath>
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
         CookieIF* comCookie, uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
index 20cf95d2..124eebbc 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -89,9 +89,16 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
         break;
     }
     default:
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
+        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state" << std::endl;
+#else
+        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state\n");
+#endif
+#endif
         return HasReturnvaluesIF::RETURN_OK;
     }
 
@@ -342,12 +349,18 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     if(debugDivider->checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "MgmRM3100Handler: Magnetic field strength in"
                 " microtesla:" << std::endl;
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
         sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
         sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
         sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+#else
+        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+        sif::printInfo("X: %f uT\n", fieldStrengthX);
+        sif::printInfo("Y: %f uT\n", fieldStrengthY);
+        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+#endif
     }
 #endif