minimal first version
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@ -22,8 +22,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
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CookieIF* comCookie, FailureIsolationBase* fdirInstance,
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size_t cmdQueueSize)
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: SystemObject(setObjectId),
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mode(MODE_OFF),
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submode(SUBMODE_NONE),
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wiretappingMode(OFF),
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storedRawData(StorageManagerIF::INVALID_ADDRESS),
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deviceCommunicationId(deviceCommunication),
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@ -38,6 +36,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
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defaultFDIRUsed(fdirInstance == nullptr),
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switchOffWasReported(false),
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childTransitionDelay(5000),
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mode(MODE_OFF),
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submode(SUBMODE_NONE),
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transitionSourceMode(_MODE_POWER_DOWN),
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transitionSourceSubMode(SUBMODE_NONE) {
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commandQueue = QueueFactory::instance()->createMessageQueue(
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@ -352,7 +352,6 @@ void DeviceHandlerBase::doStateMachine() {
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currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
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triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
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setMode(_MODE_POWER_DOWN);
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callChildStatemachine();
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break;
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}
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ReturnValue_t switchState = getStateOfSwitches();
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@ -567,11 +566,23 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
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void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
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/* TODO: This will probably be done by the LocalDataPoolManager now */
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// changeHK(mode, submode, false);
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/**
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* handle transition from OFF to NORMAL by continuing towards normal when ON is reached
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*/
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if (newMode == MODE_ON and continueToNormal) {
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continueToNormal = false;
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mode = _MODE_TO_NORMAL;
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return;
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}
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submode = newSubmode;
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mode = newMode;
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modeChanged();
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setNormalDatapoolEntriesInvalid();
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if (!isTransitionalMode()) {
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//clear this flag when a non-transitional Mode is reached to be safe
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continueToNormal = false;
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modeHelper.modeChanged(newMode, newSubmode);
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announceMode(false);
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}
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@ -1056,8 +1067,7 @@ Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
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return transitionMode & ~(TRANSITION_MODE_BASE_ACTION_MASK | TRANSITION_MODE_CHILD_ACTION_MASK);
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}
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// SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the
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// way, throw away DHB and write a new one:
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// SHOULDDO: throw away DHB and write a new one:
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// - Include power and thermal completely, but more modular :-)
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// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
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// - Modularization?
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@ -1069,11 +1079,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
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if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
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return TRANS_NOT_ALLOWED;
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}
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if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
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return TRANS_NOT_ALLOWED;
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}
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if ((commandedMode == MODE_ON) && (mode == MODE_OFF) and (thermalSet != nullptr)) {
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// Do not check thermal state for MODE_RAW
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if ((mode == MODE_OFF) and ((commandedMode == MODE_ON) or (commandedMode == MODE_NORMAL)) and
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(thermalSet != nullptr)) {
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ReturnValue_t result = thermalSet->read();
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if (result == returnvalue::OK) {
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if ((thermalSet->heaterRequest.value != ThermalComponentIF::STATE_REQUEST_IGNORE) and
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@ -1088,6 +1097,7 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode, Submode_
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}
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void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commandedSubmode) {
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continueToNormal = false;
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switch (commandedMode) {
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case MODE_ON:
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handleTransitionToOnMode(commandedMode, commandedSubmode);
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@ -1117,8 +1127,9 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode, Submode_t commande
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case MODE_NORMAL:
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if (mode != MODE_OFF) {
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setTransition(MODE_NORMAL, commandedSubmode);
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} else {
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replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
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} else { // mode is off
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continueToNormal = true;
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handleTransitionToOnMode(MODE_NORMAL, commandedSubmode);
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}
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break;
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}
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@ -102,6 +102,54 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
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FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
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/**
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* extending the modes of DeviceHandler IF for internal state machine
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*/
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static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
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static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
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//! This is a transitional state which can not be commanded. The device
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//! handler performs all commands to get the device in a state ready to
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//! perform commands. When this is completed, the mode changes to @c MODE_ON.
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static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
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//! This is a transitional state which can not be commanded.
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//! The device handler performs all actions and commands to get the device
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//! shut down. When the device is off, the mode changes to @c MODE_OFF.
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//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
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//! transition if available.
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static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
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//! It is possible to set the mode to _MODE_TO_ON to use the to on
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//! transition if available.
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static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
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//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
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//! transition if available.
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static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
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//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
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//! transition if available.
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static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
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//! This is a transitional state which can not be commanded.
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//! The device is shut down and ready to be switched off.
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//! After the command to set the switch off has been sent,
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//! the mode changes to @c _MODE_WAIT_OFF
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static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
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//! This is a transitional state which can not be commanded. The device
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//! will be switched on in this state. After the command to set the switch
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//! on has been sent, the mode changes to @c _MODE_WAIT_ON.
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static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
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//! This is a transitional state which can not be commanded. The switch has
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//! been commanded off and the handler waits for it to be off.
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//! When the switch is off, the mode changes to @c MODE_OFF.
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static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
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//! This is a transitional state which can not be commanded. The switch
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//! has been commanded on and the handler waits for it to be on.
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//! When the switch is on, the mode changes to @c _MODE_TO_ON.
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static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
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//! This is a transitional state which can not be commanded. The switch has
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//! been commanded off and is off now. This state is only to do an RMAP
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//! cycle once more where the doSendRead() function will set the mode to
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//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
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static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
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void setHkDestination(object_id_t hkDestination);
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/**
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@ -684,15 +732,18 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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size_t rawPacketLen = 0;
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/**
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* The mode the device handler is currently in.
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* This should never be changed directly but only with setMode()
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*/
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Mode_t mode;
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* Get the current mode
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*
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* set via setMode()
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*/
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Mode_t getMode();
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/**
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* The submode the device handler is currently in.
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* This should never be changed directly but only with setMode()
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*/
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Submode_t submode;
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* Get the current Submode
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*
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* set via setMode()
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*/
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Submode_t getSubmode;
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/** This is the counter value from performOperation(). */
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uint8_t pstStep = 0;
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@ -873,8 +924,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
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*
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* If the transition is complete, the mode should be set to the target mode,
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* which can be deduced from the current mode which is
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* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
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* which can be deduced from the current mode (which is
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* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]) using getBaseMode()
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*
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* The intended target submode is already set.
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* The origin submode can be read in subModeFrom.
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@ -1170,6 +1221,19 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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*/
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uint32_t childTransitionDelay;
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/**
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* The mode the device handler is currently in.
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* This should not be changed directly but only with setMode()
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*/
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Mode_t mode;
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/**
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* The submode the device handler is currently in.
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* This should not be changed directly but only with setMode()
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*/
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Submode_t submode;
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/**
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* @brief The mode the current transition originated from
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*
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@ -1187,6 +1251,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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*/
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Submode_t transitionSourceSubMode;
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/**
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* used to make the state machine continue from ON to NOMAL when
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* a Device is commanded to NORMAL in OFF mode
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*
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* set in startTransition()
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* evaluated in setMode() to continue to NORMAL when ON is reached
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*/
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bool continueToNormal;
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/**
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* read the command queue
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*/
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@ -24,8 +24,6 @@ class DeviceHandlerIF {
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static const DeviceCommandId_t RAW_COMMAND_ID = -1;
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static const DeviceCommandId_t NO_COMMAND_ID = -2;
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static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
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static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
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using dh_heater_request_t = uint8_t;
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using dh_thermal_state_t = int8_t;
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@ -54,47 +52,6 @@ class DeviceHandlerIF {
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//! device still is powered. In this mode, only a mode change to @c MODE_OFF
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//! can be commanded, which tries to switch off the device again.
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static const Mode_t MODE_ERROR_ON = 4;
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//! This is a transitional state which can not be commanded. The device
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//! handler performs all commands to get the device in a state ready to
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//! perform commands. When this is completed, the mode changes to @c MODE_ON.
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static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
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//! This is a transitional state which can not be commanded.
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//! The device handler performs all actions and commands to get the device
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//! shut down. When the device is off, the mode changes to @c MODE_OFF.
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//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
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//! transition if available.
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static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
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//! It is possible to set the mode to _MODE_TO_ON to use the to on
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//! transition if available.
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static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
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//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
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//! transition if available.
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static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
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//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
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//! transition if available.
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static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
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//! This is a transitional state which can not be commanded.
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//! The device is shut down and ready to be switched off.
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//! After the command to set the switch off has been sent,
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//! the mode changes to @c MODE_WAIT_OFF
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static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
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//! This is a transitional state which can not be commanded. The device
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//! will be switched on in this state. After the command to set the switch
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//! on has been sent, the mode changes to @c MODE_WAIT_ON.
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static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
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//! This is a transitional state which can not be commanded. The switch has
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//! been commanded off and the handler waits for it to be off.
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//! When the switch is off, the mode changes to @c MODE_OFF.
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static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
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//! This is a transitional state which can not be commanded. The switch
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//! has been commanded on and the handler waits for it to be on.
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//! When the switch is on, the mode changes to @c MODE_TO_ON.
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static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
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//! This is a transitional state which can not be commanded. The switch has
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//! been commanded off and is off now. This state is only to do an RMAP
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//! cycle once more where the doSendRead() function will set the mode to
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//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
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static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
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static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
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@ -195,7 +195,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
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#endif
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return DeviceHandlerIF::INVALID_DATA;
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}
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if (mode == _MODE_START_UP) {
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if (getMode() == _MODE_START_UP) {
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commandExecuted = true;
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}
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@ -224,7 +224,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
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return DeviceHandlerIF::INVALID_DATA;
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}
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if (mode == _MODE_START_UP) {
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if (getMode() == _MODE_START_UP) {
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commandExecuted = true;
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}
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}
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@ -169,7 +169,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
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case (RM3100::CONFIGURE_CYCLE_COUNT):
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case (RM3100::CONFIGURE_TMRC): {
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// We can only check whether write was successful with read operation
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if (mode == _MODE_START_UP) {
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if (getMode() == _MODE_START_UP) {
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commandExecuted = true;
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}
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break;
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@ -192,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
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if (packet[1] == tmrcRegValue) {
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commandExecuted = true;
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// Reading TMRC was commanded. Trigger event to inform ground
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if (mode != _MODE_START_UP) {
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if (getMode() != _MODE_START_UP) {
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triggerEvent(tmrcSet, tmrcRegValue, 0);
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}
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} else {
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@ -211,7 +211,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
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return DeviceHandlerIF::DEVICE_REPLY_INVALID;
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}
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// Reading TMRC was commanded. Trigger event to inform ground
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if (mode != _MODE_START_UP) {
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if (getMode() != _MODE_START_UP) {
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uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
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triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
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}
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@ -65,7 +65,7 @@ ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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}
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ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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if (mode == _MODE_TO_ON) {
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if (getMode() == _MODE_TO_ON) {
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if (fullInfoPrintout) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice" << deviceIdx
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@ -80,7 +80,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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#endif
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}
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}
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if (mode == _MODE_TO_NORMAL) {
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if (getMode() == _MODE_TO_NORMAL) {
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if (fullInfoPrintout) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice" << deviceIdx
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@ -97,7 +97,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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setMode(MODE_NORMAL);
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}
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if (mode == _MODE_SHUT_DOWN) {
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if (getMode() == _MODE_SHUT_DOWN) {
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if (fullInfoPrintout) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice" << deviceIdx
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@ -118,7 +118,7 @@ ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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}
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void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
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if (mode == _MODE_TO_NORMAL) {
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if (getMode() == _MODE_TO_NORMAL) {
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if (fullInfoPrintout) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestDevice" << deviceIdx
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@ -5,7 +5,7 @@
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DeviceHandlerMock::DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, FailureIsolationBase *fdirInstance)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie, fdirInstance) {
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mode = MODE_ON;
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setMode(MODE_ON);
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}
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DeviceHandlerMock::~DeviceHandlerMock() = default;
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