fsfw-example-common/example/controller/FsfwTestController.cpp

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#include "FsfwTestController.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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FsfwTestController::FsfwTestController(object_id_t objectId,
object_id_t device0, object_id_t device1,
uint8_t verboseLevel)
: TestController(objectId, objects::NO_OBJECT, 5), device0Id(device0),
device1Id(device1), deviceDataset0(device0), deviceDataset1(device1) {}
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FsfwTestController::~FsfwTestController() {}
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ReturnValue_t
FsfwTestController::handleCommandMessage(CommandMessage *message) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t FsfwTestController::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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return HasReturnvaluesIF::RETURN_OK;
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}
void FsfwTestController::performControlOperation() {
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// We will trace variables if we received an update notification or snapshots
if (verboseLevel >= 1) {
if (not traceVariable) {
return;
}
switch (currentTraceType) {
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case (NONE): {
break;
}
case (TRACE_DEV_0_UINT8): {
if (traceCounter == 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Tracing finished" << std::endl;
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#else
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sif::printInfo("Tracing finished\n");
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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traceVariable = false;
traceCounter = traceCycles;
currentTraceType = TraceTypes::NONE;
break;
}
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Tracing device 0 variable 0 (UINT8), current value: "
<< static_cast<int>(deviceDataset0.testUint8Var.value)
<< std::endl;
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#else
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sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
deviceDataset0.testUint8Var.value);
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#endif
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traceCounter--;
break;
}
case (TRACE_DEV_0_VECTOR): {
break;
}
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}
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}
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}
ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
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namespace td = testdevice;
ReturnValue_t result = TestController::initializeAfterTaskCreation();
if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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HasLocalDataPoolIF *device0 =
ObjectManager::instance()->get<HasLocalDataPoolIF>(
deviceDataset0.getCreatorObjectId());
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if (device0 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning
<< "TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!"
<< std::endl;
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#else
sif::printWarning(
"TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!");
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
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ProvidesDataPoolSubscriptionIF *subscriptionIF =
device0->getSubscriptionInterface();
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if (subscriptionIF != nullptr) {
/* For DEVICE_0, we only subscribe for notifications */
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subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), false);
subscriptionIF->subscribeForVariableUpdateMessage(
td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), false);
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}
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HasLocalDataPoolIF *device1 =
ObjectManager::instance()->get<HasLocalDataPoolIF>(
deviceDataset0.getCreatorObjectId());
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if (device1 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning
<< "TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!"
<< std::endl;
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#else
sif::printWarning(
"TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!");
#endif
}
subscriptionIF = device1->getSubscriptionInterface();
if (subscriptionIF != nullptr) {
/* For DEVICE_1, we will subscribe for snapshots */
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subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
getCommandQueue(), true);
subscriptionIF->subscribeForVariableUpdateMessage(
td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), true);
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}
return result;
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}
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LocalPoolDataSetBase *FsfwTestController::getDataSetHandle(sid_t sid) {
return nullptr;
}
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ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode,
Submode_t submode,
uint32_t *msToReachTheMode) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void FsfwTestController::handleChangedDataset(sid_t sid,
store_address_t storeId,
bool *clearMessage) {
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using namespace std;
if (verboseLevel >= 1) {
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char const *printout = nullptr;
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
} else {
printout = "Snapshot";
}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "FsfwTestController::handleChangedDataset: " << printout
<< " update"
"from object ID "
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<< setw(8) << setfill('0') << hex << sid.objectId
<< " and set ID " << sid.ownerSetId << dec << setfill(' ')
<< endl;
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#else
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sif::printInfo(
"FsfwTestController::handleChangedPoolVariable: %s update from"
"object ID 0x%08x and set ID %lu\n",
printout, sid.objectId, sid.ownerSetId);
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#endif
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
if (sid.objectId == device0Id) {
PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
float floatVec[3];
floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Current float vector (3) values: [" << floatVec[0] << ", "
<< floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
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#else
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sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
floatVec[0], floatVec[1], floatVec[2]);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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}
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}
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}
/* We will trace the variables for snapshots and update notifications */
if (not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
}
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}
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void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId,
store_address_t storeId,
bool *clearMessage) {
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using namespace std;
if (verboseLevel >= 1) {
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char const *printout = nullptr;
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification";
} else {
printout = "Snapshot";
}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestController::handleChangedPoolVariable: " << printout
<< " update from object "
"ID 0x"
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<< setw(8) << setfill('0') << hex << globPoolId.objectId
<< " and local pool ID " << globPoolId.localPoolId << dec
<< setfill(' ') << endl;
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#else
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sif::printInfo("TestController::handleChangedPoolVariable: %s update from "
"object ID 0x%08x and "
"local pool ID %lu\n",
printout, globPoolId.objectId, globPoolId.localPoolId);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
if (globPoolId.objectId == device0Id) {
PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Current test variable 0 (UINT8) value: "
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<< static_cast<int>(deviceDataset0.testUint8Var.value)
<< std::endl;
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#else
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sif::printInfo("Current test variable 0 (UINT8) value %d\n",
deviceDataset0.testUint8Var.value);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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}
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}
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}
/* We will trace the variables for snapshots and update notifications */
if (not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
}
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}