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

#include <fsfw/datapool/PoolReadGuard.h>
#include "FsfwTestController.h"

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) {
}

FsfwTestController::~FsfwTestController() {

}

ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage *message) {
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t FsfwTestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
        LocalDataPoolManager &poolManager) {
    return HasReturnvaluesIF::RETURN_OK;
}

void FsfwTestController::performControlOperation() {
    // We will trace variables if we received an update notification or snapshots
    if (verboseLevel >= 1) {
        if(not traceVariable) {
            return;
        }
        switch(currentTraceType) {
        case(NONE): {
            break;
        }
        case(TRACE_DEV_0_UINT8): {
            if(traceCounter == 0) {
    #if FSFW_CPP_OSTREAM_ENABLED == 1
                sif::info << "Tracing finished" << std::endl;
    #else
                sif::printInfo("Tracing finished\n");
    #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
                traceVariable = false;
                traceCounter = traceCycles;
                currentTraceType = TraceTypes::NONE;
                break;
            }
            PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
    #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::info << "Tracing device 0 variable 0 (UINT8), current value: " <<
                    static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
    #else
            sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
                    deviceDataset0.testUint8Var.value);
    #endif
            traceCounter--;
            break;
        }
        case(TRACE_DEV_0_VECTOR): {
            break;
        }

        }
    }
}

ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
    namespace td = testdevice;
    ReturnValue_t result = TestController::initializeAfterTaskCreation();
    if(result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
            deviceDataset0.getCreatorObjectId());
    if(device0 == nullptr) {
    #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
                "handle invalid!" << std::endl;
    #else
        sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
                "handle invalid!");
    #endif
        return ObjectManagerIF::CHILD_INIT_FAILED;
    }
    ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
    if(subscriptionIF != nullptr) {
        /* For DEVICE_0, we only subscribe for notifications */
        subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
                getCommandQueue(), false);
        subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
                getObjectId(), getCommandQueue(), false);
    }


    HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
            deviceDataset0.getCreatorObjectId());
    if(device1 == nullptr) {
    #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
                "handle invalid!" << std::endl;
    #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 */
        subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
                getCommandQueue(), true);
        subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
                getObjectId(), getCommandQueue(), true);
    }
    return result;
}

LocalPoolDataSetBase* FsfwTestController::getDataSetHandle(sid_t sid) {

    return nullptr;
}

ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode, Submode_t submode,
        uint32_t *msToReachTheMode) {
    return HasReturnvaluesIF::RETURN_OK;
}

void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId,
        bool* clearMessage) {
    using namespace std;

    if (verboseLevel >= 1) {
        char const* printout = nullptr;
        if(storeId == storeId::INVALID_STORE_ADDRESS) {
            printout = "Notification";
        }
        else {
            printout = "Snapshot";
        }
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "FsfwTestController::handleChangedDataset: " << printout << " update"
                "from object ID " << setw(8) << setfill('0') << hex << sid.objectId <<
                " and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
#else
        sif::printInfo("FsfwTestController::handleChangedPoolVariable: %s update from"
                "object ID 0x%08x and set ID %lu\n", printout, sid.objectId, sid.ownerSetId);
#endif

        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];
#if FSFW_CPP_OSTREAM_ENABLED == 1
                sif::info << "Current float vector (3) values: ["  << floatVec[0] << ", " <<
                        floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
#else
                sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
                        floatVec[0], floatVec[1], floatVec[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
            }
        }
    }

    /* We will trace the variables for snapshots and update notifications */
    if(not traceVariable) {
        traceVariable = true;
        traceCounter = traceCycles;
        currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
    }
}

void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
        bool* clearMessage) {

    using namespace std;

    if (verboseLevel >= 1) {
        char const* printout = nullptr;
        if (storeId == storeId::INVALID_STORE_ADDRESS) {
            printout = "Notification";
        }
        else {
            printout = "Snapshot";
        }

#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
                "ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
                " and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl;
#else
        sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
                "local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */

        if (storeId == storeId::INVALID_STORE_ADDRESS) {
            if(globPoolId.objectId == device0Id) {
                PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1
                sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>(
                        deviceDataset0.testUint8Var.value) << std::endl;
#else
                sif::printInfo("Current test variable 0 (UINT8) value %d\n",
                        deviceDataset0.testUint8Var.value);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
            }
        }
    }

    /* We will trace the variables for snapshots and update notifications */
    if(not traceVariable) {
        traceVariable = true;
        traceCounter = traceCycles;
        currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
    }
}