fsfw-example-common/mission/devices/TestDeviceHandler.h

#ifndef TEST_TESTDEVICES_TESTDEVICEHANDLER_H_
#define TEST_TESTDEVICES_TESTDEVICEHANDLER_H_

#include "devicedefinitions/testDeviceDefinitions.h"

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>

/**
 * @brief 	Basic dummy device handler to test device commanding without a physical device.
 * @details
 * This test device handler provided a basic demo for the device handler object.
 * It can also be commanded with the following PUS services, using
 * the specified object ID of the test device handler.
 *
 * 	1. PUS Service 8 - Functional commanding
 * 	2. PUS Service 2 - Device access, raw commanding
 * 	3. PUS Service 20 - Parameter Management
 * 	4. PUS Service 3 - Housekeeping

 * @author	R. Mueller
 * @ingroup devices
 */
class TestDevice: public DeviceHandlerBase {
public:
	/**
	 * Build the test device in the factory.
	 * @param objectId This ID will be assigned to the test device handler.
	 * @param comIF The ID of the Communication IF used by test device handler.
	 * @param cookie Cookie object used by the test device handler. This is
	 * also used and passed to the comIF object.
	 * @param onImmediately This will start a transition to MODE_ON immediately
	 * so the device handler jumps into #doStartUp. Should only be used
	 * in development to reduce need of commanding while debugging.
	 * @param changingDataset
	 * Will be used later to change the local datasets containeds in the device.
	 */
	TestDevice(object_id_t objectId, object_id_t comIF, CookieIF * cookie,
	        testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0,
	        bool fullInfoPrintout = false, bool changingDataset = true);

	/**
	 * This can be used to enable and disable a lot of demo print output.
	 * @param enable
	 */
	void enableFullDebugOutput(bool enable);

	virtual ~ TestDevice();

	//! Size of internal buffer used for communication.
    static constexpr uint8_t MAX_BUFFER_SIZE = 255;

    //! Unique index if the device handler is created multiple times.
    testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0;

protected:
    testdevice::TestDataSet dataset;
    //! This is used to reset the dataset after a commanded change has been made.
    bool resetAfterChange = false;
    bool commandSent = false;

	/** DeviceHandlerBase overrides (see DHB documentation) */

	/**
	 * Hook into the DHB #performOperation call which is executed
	 * periodically.
	 */
	void performOperationHook() override;

	virtual void doStartUp() override;
	virtual void doShutDown() override;

	virtual ReturnValue_t buildNormalDeviceCommand(
			DeviceCommandId_t * id) override;
	virtual ReturnValue_t buildTransitionDeviceCommand(
			DeviceCommandId_t * id) override;
	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t
			deviceCommand, const uint8_t * commandData,
			size_t commandDataLen) override;

	virtual void fillCommandAndReplyMap() override;

	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
			DeviceCommandId_t *foundId, size_t *foundLen) override;
	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
			const uint8_t *packet) override;
	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom,
			Mode_t modeTo) override;

	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;

    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                LocalDataPoolManager& poolManager) override;
    virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;

	/* HasParametersIF  overrides */
	virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
			ParameterWrapper *parameterWrapper,
			const ParameterWrapper *newValues, uint16_t startAtIndex) override;

	uint8_t commandBuffer[MAX_BUFFER_SIZE];

	bool fullInfoPrintout = false;
	bool oneShot = true;

	/* Variables for parameter service */
	uint32_t testParameter0 = 0;
	int32_t testParameter1 = -2;
	float vectorFloatParams2[3] = {};

	/* Change device handler functionality, changeable via parameter service */
	uint8_t periodicPrintout = false;
	uint8_t changingDatasets = false;

	ReturnValue_t buildNormalModeCommand(DeviceCommandId_t deviceCommand,
	        const uint8_t* commandData, size_t commandDataLen);
	ReturnValue_t buildTestCommand0(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
	        size_t commandDataLen);
	ReturnValue_t buildTestCommand1(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
	        size_t commandDataLen);
	void passOnCommand(DeviceCommandId_t command, const uint8_t* commandData,
	        size_t commandDataLen);

	ReturnValue_t interpretingNormalModeReply();
	ReturnValue_t interpretingTestReply0(DeviceCommandId_t id,
			const uint8_t* packet);
	ReturnValue_t interpretingTestReply1(DeviceCommandId_t id,
			const uint8_t* packet);
	ReturnValue_t interpretingTestReply2(DeviceCommandId_t id, const uint8_t* packet);

	/* Some timer utilities */
	static constexpr uint8_t divider1 = 2;
	PeriodicOperationDivider opDivider1 = PeriodicOperationDivider(divider1);
	static constexpr uint8_t divider2 = 10;
	PeriodicOperationDivider opDivider2 = PeriodicOperationDivider(divider2);
	static constexpr uint32_t initTimeout = 2000;
	Countdown countdown1 = Countdown(initTimeout);
};


#endif /* TEST_TESTDEVICES_TESTDEVICEHANDLER_H_ */