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

#include "FsfwTestController.h"

#include <fsfw/datapool/PoolReadGuard.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() = default;

ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage *message) {
  return returnvalue::OK;
}

ReturnValue_t FsfwTestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                          LocalDataPoolManager &poolManager) {
  return returnvalue::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 != returnvalue::OK) {
    return result;
  }
  auto *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);
  }

  auto *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 returnvalue::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 == store_address_t::invalid()) {
      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 == store_address_t::invalid()) {
      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 == store_address_t::invalid()) {
      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 == store_address_t::invalid()) {
      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;
  }
}