add FSFW example specific controller
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target_sources(${TARGET_NAME} PRIVATE
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FsfwTestController.cpp
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)
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217
example/controller/FsfwTestController.cpp
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217
example/controller/FsfwTestController.cpp
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "FsfwTestController.h"
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FsfwTestController::FsfwTestController(object_id_t objectId, object_id_t device0,
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object_id_t device1, uint8_t verboseLevel):
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TestController(objectId, objects::NO_OBJECT, 5), device0Id(device0),
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device1Id(device1), deviceDataset0(device0), deviceDataset1(device1) {
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}
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FsfwTestController::~FsfwTestController() {
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}
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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,
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LocalDataPoolManager &poolManager) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void FsfwTestController::performControlOperation() {
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// We will trace variables if we received an update notification or snapshots
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if (verboseLevel >= 1) {
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if(not traceVariable) {
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return;
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}
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switch(currentTraceType) {
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case(NONE): {
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break;
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}
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case(TRACE_DEV_0_UINT8): {
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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;
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traceCounter = traceCycles;
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currentTraceType = TraceTypes::NONE;
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break;
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}
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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: " <<
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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",
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deviceDataset0.testUint8Var.value);
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#endif
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traceCounter--;
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break;
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}
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case(TRACE_DEV_0_VECTOR): {
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break;
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}
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}
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}
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}
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ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
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namespace td = testdevice;
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ReturnValue_t result = TestController::initializeAfterTaskCreation();
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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>(
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deviceDataset0.getCreatorObjectId());
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if(device0 == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
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"handle invalid!" << std::endl;
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#else
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sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
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"handle invalid!");
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
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if(subscriptionIF != nullptr) {
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/* For DEVICE_0, we only subscribe for notifications */
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subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
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getCommandQueue(), false);
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subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
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getObjectId(), getCommandQueue(), false);
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}
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HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
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deviceDataset0.getCreatorObjectId());
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if(device1 == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
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"handle invalid!" << std::endl;
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#else
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sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 "
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"handle invalid!");
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#endif
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}
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subscriptionIF = device1->getSubscriptionInterface();
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if(subscriptionIF != nullptr) {
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/* For DEVICE_1, we will subscribe for snapshots */
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subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
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getCommandQueue(), true);
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subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
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getObjectId(), getCommandQueue(), true);
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}
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return result;
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}
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LocalPoolDataSetBase* FsfwTestController::getDataSetHandle(sid_t sid) {
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return nullptr;
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}
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ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode, Submode_t submode,
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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,
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bool* clearMessage) {
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using namespace std;
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if (verboseLevel >= 1) {
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char const* printout = nullptr;
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if(storeId == storeId::INVALID_STORE_ADDRESS) {
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printout = "Notification";
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}
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else {
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printout = "Snapshot";
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "FsfwTestController::handleChangedDataset: " << printout << " update"
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"from object ID " << setw(8) << setfill('0') << hex << sid.objectId <<
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" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
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#else
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sif::printInfo("FsfwTestController::handleChangedPoolVariable: %s update from"
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"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) {
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if(sid.objectId == device0Id) {
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PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
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float floatVec[3];
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floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
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floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
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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] << ", " <<
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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",
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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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}
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/* We will trace the variables for snapshots and update notifications */
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if(not traceVariable) {
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traceVariable = true;
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traceCounter = traceCycles;
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currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
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}
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}
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void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
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bool* clearMessage) {
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using namespace std;
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if (verboseLevel >= 1) {
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char const* printout = nullptr;
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
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printout = "Notification";
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}
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else {
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printout = "Snapshot";
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
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"ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
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" 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 "
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"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) {
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if(globPoolId.objectId == device0Id) {
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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: " << static_cast<int>(
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deviceDataset0.testUint8Var.value) << std::endl;
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#else
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sif::printInfo("Current test variable 0 (UINT8) value %d\n",
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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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}
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/* We will trace the variables for snapshots and update notifications */
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if(not traceVariable) {
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traceVariable = true;
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traceCounter = traceCycles;
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currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
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}
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}
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53
example/controller/FsfwTestController.h
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53
example/controller/FsfwTestController.h
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#ifndef EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_
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#define EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_
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#include "fsfw/controller/ExtendedControllerBase.h"
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#include "fsfw_tests/integration/controller/TestController.h"
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class FsfwTestController: public TestController {
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public:
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FsfwTestController(object_id_t objectId, object_id_t device0, object_id_t device1,
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uint8_t verboseLevel = 0);
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virtual~ FsfwTestController();
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ReturnValue_t handleCommandMessage(CommandMessage *message) override;
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/**
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* Periodic helper from ControllerBase, implemented by child class.
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*/
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virtual void performControlOperation() override;
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private:
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object_id_t device0Id;
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object_id_t device1Id;
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testdevice::TestDataSet deviceDataset0;
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testdevice::TestDataSet deviceDataset1;
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uint8_t verboseLevel = 0;
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bool traceVariable = false;
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uint8_t traceCycles = 5;
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uint8_t traceCounter = traceCycles;
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enum TraceTypes {
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NONE,
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TRACE_DEV_0_UINT8,
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TRACE_DEV_0_VECTOR
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};
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TraceTypes currentTraceType = TraceTypes::NONE;
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ReturnValue_t initializeAfterTaskCreation() override;
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void handleChangedDataset(sid_t sid, store_address_t storeId,
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bool* clearMessage) override;
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void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
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bool* clearMessage) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) override ;
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};
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#endif /* EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_ */
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@ -1,4 +1,3 @@
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target_sources(${TARGET_NAME}
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target_sources(${TARGET_NAME} PRIVATE
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PRIVATE
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GenericFactory.cpp
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GenericFactory.cpp
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)
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)
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#ifndef MISSION_DEMO_MUTEXEXAMPLE_H_
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#ifndef EXAMPLE_COMMON_MUTEXEXAMPLE_H_
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#define MISSION_DEMO_MUTEXEXAMPLE_H_
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#define EXAMPLE_COMMON_MUTEXEXAMPLE_H_
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namespace MutexExample {
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namespace MutexExample {
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void example();
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void example();
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};
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};
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#endif /* MISSION_DEMO_MUTEXEXAMPLE_H_ */
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#endif /* EXAMPLE_COMMON_MUTEXEXAMPLE_H_ */
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