Merge pull request 'added integration test code' (#508) from mueller/example-code-as-test into development
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Reviewed-on: #508
This commit is contained in:
Ulrich Mohr 2021-10-25 15:30:53 +02:00
commit e263f2fbdc
20 changed files with 1918 additions and 0 deletions

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add_subdirectory(integration)
if(FSFW_ADD_INTERNAL_TESTS)
add_subdirectory(internal)

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add_subdirectory(assemblies)
add_subdirectory(controller)
add_subdirectory(devices)
add_subdirectory(task)

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target_sources(${LIB_FSFW_NAME} PRIVATE
TestAssembly.cpp
)

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#include "TestAssembly.h"
#include <fsfw/objectmanager/ObjectManager.h>
TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
object_id_t testDevice1):
AssemblyBase(objectId, parentId), deviceHandler0Id(testDevice0),
deviceHandler1Id(testDevice1) {
ModeListEntry newModeListEntry;
newModeListEntry.setObject(testDevice0);
newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry);
newModeListEntry.setObject(testDevice1);
newModeListEntry.setMode(MODE_OFF);
newModeListEntry.setSubmode(SUBMODE_NONE);
commandTable.insert(newModeListEntry);
}
TestAssembly::~TestAssembly() {
}
ReturnValue_t TestAssembly::commandChildren(Mode_t mode,
Submode_t submode) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestAssembly: Received command to go to mode " << mode <<
" submode " << (int) submode << std::endl;
#else
sif::printInfo("TestAssembly: Received command to go to mode %d submode %d\n", mode, submode);
#endif
ReturnValue_t result = RETURN_OK;
if(mode == MODE_OFF){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else if(mode == DeviceHandlerIF::MODE_NORMAL) {
if(submode == submodes::SINGLE){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail
if(isDeviceAvailable(deviceHandler0Id)) {
if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else {
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
else {
if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
}
else{
// Dual Mode Normal
if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
commandTable[0].setMode(mode);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else{
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
commandTable[1].setMode(mode);
commandTable[1].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
result = NEED_SECOND_STEP;
}
}
}
else{
//Mode ON
if(submode == submodes::SINGLE){
commandTable[0].setMode(MODE_OFF);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_OFF);
commandTable[1].setSubmode(SUBMODE_NONE);
// We try to prefer 0 here but we try to switch to 1 even if it might fail
if(isDeviceAvailable(deviceHandler0Id)){
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
}
else{
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
}
}
else{
commandTable[0].setMode(MODE_ON);
commandTable[0].setSubmode(SUBMODE_NONE);
commandTable[1].setMode(MODE_ON);
commandTable[1].setSubmode(SUBMODE_NONE);
}
}
HybridIterator<ModeListEntry> iter(commandTable.begin(),
commandTable.end());
executeTable(iter);
return result;
}
ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode,
Submode_t submode) {
switch (mode) {
case MODE_OFF:
if (submode == SUBMODE_NONE) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
case DeviceHandlerIF::MODE_NORMAL:
case MODE_ON:
if (submode < 3) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
}
return INVALID_MODE;
}
ReturnValue_t TestAssembly::initialize() {
ReturnValue_t result = AssemblyBase::initialize();
if(result != RETURN_OK){
return result;
}
handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id);
handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id);
if((handler0 == nullptr) or (handler1 == nullptr)){
return HasReturnvaluesIF::RETURN_FAILED;
}
handler0->setParentQueue(this->getCommandQueue());
handler1->setParentQueue(this->getCommandQueue());
result = registerChild(objects::TEST_DEVICE_HANDLER_0);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = registerChild(objects::TEST_DEVICE_HANDLER_1);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t TestAssembly::checkChildrenStateOn(
Mode_t wantedMode, Submode_t wantedSubmode) {
if(submode == submodes::DUAL){
for(const auto& info:childrenMap) {
if(info.second.mode != wantedMode or info.second.mode != wantedSubmode){
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}
return RETURN_OK;
}
else if(submode == submodes::SINGLE) {
for(const auto& info:childrenMap) {
if(info.second.mode == wantedMode and info.second.mode != wantedSubmode){
return RETURN_OK;
}
}
}
return INVALID_SUBMODE;
}
bool TestAssembly::isDeviceAvailable(object_id_t object) {
if(healthHelper.healthTable->getHealth(object) == HasHealthIF::HEALTHY){
return true;
}
else{
return false;
}
}

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#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
#include <fsfw/devicehandlers/AssemblyBase.h>
#include "../devices/TestDeviceHandler.h"
class TestAssembly: public AssemblyBase {
public:
TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
object_id_t testDevice1);
virtual ~TestAssembly();
ReturnValue_t initialize() override;
enum submodes: Submode_t{
SINGLE = 0,
DUAL = 1
};
protected:
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
* or using executeTable()
* @param mode
* @param submode
* @return
* - @c RETURN_OK if ok
* - @c NEED_SECOND_STEP if children need to be commanded again
*/
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
/**
* Check whether desired assembly mode was achieved by checking the modes
* or/and health states of child device handlers.
* The assembly template class will also call this function if a health
* or mode change of a child device handler was detected.
* @param wantedMode
* @param wantedSubmode
* @return
*/
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode)
override;
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) override;
private:
FixedArrayList<ModeListEntry, 2> commandTable;
object_id_t deviceHandler0Id = 0;
object_id_t deviceHandler1Id = 0;
TestDevice* handler0 = nullptr;
TestDevice* handler1 = nullptr;
bool isDeviceAvailable(object_id_t object);
};
#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */

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target_sources(${LIB_FSFW_NAME} PRIVATE
TestController.cpp
)

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#include "TestController.h"
#include "OBSWConfig.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
TestController::TestController(object_id_t objectId, size_t commandQueueDepth):
ExtendedControllerBase(objectId, objects::NO_OBJECT, commandQueueDepth),
deviceDataset0(objects::TEST_DEVICE_HANDLER_0),
deviceDataset1(objects::TEST_DEVICE_HANDLER_1) {
}
TestController::~TestController() {
}
ReturnValue_t TestController::handleCommandMessage(CommandMessage *message) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestController::performControlOperation() {
/* We will trace vaiables if we received an update notification or snapshots */
#if OBSW_CONTROLLER_PRINTOUT == 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;
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
}
void TestController::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
using namespace std;
#if OBSW_CONTROLLER_PRINTOUT == 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::handleChangedDataset: " << printout << " update from object "
"ID " << setw(8) << setfill('0') << hex << sid.objectId <<
" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
#else
sif::printInfo("TestController::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 == objects::TEST_DEVICE_HANDLER_0) {
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 */
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 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 TestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) {
using namespace std;
#if OBSW_CONTROLLER_PRINTOUT == 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 == objects::TEST_DEVICE_HANDLER_0) {
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 */
}
}
#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
/* We will trace the variables for snapshots and update notifications */
if(not traceVariable) {
traceVariable = true;
traceCounter = traceCycles;
currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
}
}
LocalPoolDataSetBase* TestController::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestController::initializeAfterTaskCreation() {
namespace td = testdevice;
HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>(
objects::TEST_DEVICE_HANDLER_0);
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>(
objects::TEST_DEVICE_HANDLER_1);
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 HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_OK;
}

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#ifndef MISSION_CONTROLLER_TESTCONTROLLER_H_
#define MISSION_CONTROLLER_TESTCONTROLLER_H_
#include "../devices/devicedefinitions/testDeviceDefinitions.h"
#include <fsfw/controller/ExtendedControllerBase.h>
class TestController:
public ExtendedControllerBase {
public:
TestController(object_id_t objectId, size_t commandQueueDepth = 10);
virtual~ TestController();
protected:
testdevice::TestDataSet deviceDataset0;
testdevice::TestDataSet deviceDataset1;
/* Extended Controller Base overrides */
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
void performControlOperation() override;
/* HasLocalDatapoolIF callbacks */
void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) override;
ReturnValue_t initializeAfterTaskCreation() override;
private:
bool traceVariable = false;
uint8_t traceCycles = 5;
uint8_t traceCounter = traceCycles;
enum TraceTypes {
NONE,
TRACE_DEV_0_UINT8,
TRACE_DEV_0_VECTOR
};
TraceTypes currentTraceType = TraceTypes::NONE;
};
#endif /* MISSION_CONTROLLER_TESTCONTROLLER_H_ */

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#ifndef MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
#define MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <OBSWConfig.h>
namespace testcontroller {
enum sourceObjectIds: object_id_t {
DEVICE_0_ID = objects::TEST_DEVICE_HANDLER_0,
DEVICE_1_ID = objects::TEST_DEVICE_HANDLER_1,
};
}
#endif /* MISSION_CONTROLLER_CTRLDEFINITIONS_TESTCTRLDEFINITIONS_H_ */

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target_sources(${LIB_FSFW_NAME} PRIVATE
TestCookie.cpp
TestDeviceHandler.cpp
TestEchoComIF.cpp
)

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#include "TestCookie.h"
TestCookie::TestCookie(address_t address, size_t replyMaxLen):
address(address), replyMaxLen(replyMaxLen) {}
TestCookie::~TestCookie() {}
address_t TestCookie::getAddress() const {
return address;
}
size_t TestCookie::getReplyMaxLen() const {
return replyMaxLen;
}

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#ifndef MISSION_DEVICES_TESTCOOKIE_H_
#define MISSION_DEVICES_TESTCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <cstddef>
/**
* @brief Really simple cookie which does not do a lot.
*/
class TestCookie: public CookieIF {
public:
TestCookie(address_t address, size_t maxReplyLen);
virtual ~TestCookie();
address_t getAddress() const;
size_t getReplyMaxLen() const;
private:
address_t address = 0;
size_t replyMaxLen = 0;
};
#endif /* MISSION_DEVICES_TESTCOOKIE_H_ */

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#include "TestDeviceHandler.h"
#include "FSFWConfig.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cstdlib>
TestDevice::TestDevice(object_id_t objectId, object_id_t comIF,
CookieIF * cookie, testdevice::DeviceIndex deviceIdx, bool fullInfoPrintout,
bool changingDataset):
DeviceHandlerBase(objectId, comIF, cookie), deviceIdx(deviceIdx),
dataset(this), fullInfoPrintout(fullInfoPrintout) {
}
TestDevice::~TestDevice() {}
void TestDevice::performOperationHook() {
if(periodicPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
#else
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
#endif
}
if(oneShot) {
oneShot = false;
}
}
void TestDevice::doStartUp() {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doStartUp: Switching On" << std::endl;
#else
sif::printInfo("TestDevice%d::doStartUp: Switching On\n", static_cast<int>(deviceIdx));
#endif
}
setMode(_MODE_TO_ON);
return;
}
void TestDevice::doShutDown() {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doShutDown: Switching Off" << std::endl;
#else
sif::printInfo("TestDevice%d::doShutDown: Switching Off\n", static_cast<int>(deviceIdx));
#endif
}
setMode(_MODE_SHUT_DOWN);
return;
}
ReturnValue_t TestDevice::buildNormalDeviceCommand(DeviceCommandId_t* id) {
using namespace testdevice;
*id = TEST_NORMAL_MODE_CMD;
if(DeviceHandlerBase::isAwaitingReply()) {
return NOTHING_TO_SEND;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t TestDevice::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if(mode == _MODE_TO_ON) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called"
" from _MODE_TO_ON mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: "
"Was called from _MODE_TO_ON mode\n", deviceIdx);
#endif
}
}
if(mode == _MODE_TO_NORMAL) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
"from _MODE_TO_NORMAL mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
" _MODE_TO_NORMAL mode\n", deviceIdx);
#endif
}
setMode(MODE_NORMAL);
}
if(mode == _MODE_SHUT_DOWN) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTransitionDeviceCommand: Was called "
"from _MODE_SHUT_DOWN mode" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTransitionDeviceCommand: Was called from "
"_MODE_SHUT_DOWN mode\n", deviceIdx);
#endif
}
setMode(MODE_OFF);
}
return NOTHING_TO_SEND;
}
void TestDevice::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
if(mode == _MODE_TO_NORMAL) {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::doTransition: Custom transition to "
"normal mode" << std::endl;
#else
sif::printInfo("TestDevice%d::doTransition: Custom transition to normal mode\n",
deviceIdx);
#endif
}
}
else {
DeviceHandlerBase::doTransition(modeFrom, submodeFrom);
}
}
ReturnValue_t TestDevice::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) {
using namespace testdevice;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(deviceCommand) {
case(TEST_NORMAL_MODE_CMD): {
commandSent = true;
result = buildNormalModeCommand(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_COMMAND_0): {
commandSent = true;
result = buildTestCommand0(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_COMMAND_1): {
commandSent = true;
result = buildTestCommand1(deviceCommand, commandData, commandDataLen);
break;
}
case(TEST_NOTIF_SNAPSHOT_VAR): {
if(changingDatasets) {
changingDatasets = false;
}
PoolReadGuard readHelper(&dataset.testUint8Var);
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
/* This will trigger a variable notification to the demo controller */
dataset.testUint8Var = 220;
dataset.testUint8Var.setValid(true);
}
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
/* This will trigger a variable snapshot to the demo controller */
dataset.testUint8Var = 30;
dataset.testUint8Var.setValid(true);
}
break;
}
case(TEST_NOTIF_SNAPSHOT_SET): {
if(changingDatasets) {
changingDatasets = false;
}
PoolReadGuard readHelper(&dataset.testFloat3Vec);
if(deviceIdx == testdevice::DeviceIndex::DEVICE_0) {
/* This will trigger a variable notification to the demo controller */
dataset.testFloat3Vec.value[0] = 60;
dataset.testFloat3Vec.value[1] = 70;
dataset.testFloat3Vec.value[2] = 55;
dataset.testFloat3Vec.setValid(true);
}
else if(deviceIdx == testdevice::DeviceIndex::DEVICE_1) {
/* This will trigger a variable notification to the demo controller */
dataset.testFloat3Vec.value[0] = -60;
dataset.testFloat3Vec.value[1] = -70;
dataset.testFloat3Vec.value[2] = -55;
dataset.testFloat3Vec.setValid(true);
}
break;
}
default:
result = DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
}
return result;
}
ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen) {
if(fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
#else
sif::printInfo("TestDevice::buildTestCommand1: Building command from TEST_COMMAND_1\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_VERBOSE_LEVEL >= 3 */
}
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
/* The command is passed on in the command buffer as it is */
passOnCommand(deviceCommand, commandData, commandDataLen);
return RETURN_OK;
}
ReturnValue_t TestDevice::buildTestCommand0(DeviceCommandId_t deviceCommand,
const uint8_t* commandData, size_t commandDataLen) {
using namespace testdevice;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand0: Executing simple command "
" with completion reply" << std::endl;
#else
sif::printInfo("TestDevice%d::buildTestCommand0: Executing simple command with "
"completion reply\n", deviceIdx);
#endif
}
if(commandDataLen > MAX_BUFFER_SIZE - sizeof(DeviceCommandId_t)) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
/* The command is passed on in the command buffer as it is */
passOnCommand(deviceCommand, commandData, commandDataLen);
return RETURN_OK;
}
ReturnValue_t TestDevice::buildTestCommand1(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
using namespace testdevice;
if(commandDataLen < 7) {
return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::buildTestCommand1: Executing command with "
"data reply" << std::endl;
#else
sif::printInfo("TestDevice%d:buildTestCommand1: Executing command with data reply\n",
deviceIdx);
#endif
}
deviceCommand = EndianConverter::convertBigEndian(deviceCommand);
memcpy(commandBuffer, &deviceCommand, sizeof(deviceCommand));
/* Assign and check parameters */
uint16_t parameter1 = 0;
size_t size = commandDataLen;
ReturnValue_t result = SerializeAdapter::deSerialize(&parameter1,
&commandData, &size, SerializeIF::Endianness::BIG);
if(result == HasReturnvaluesIF::RETURN_FAILED) {
return result;
}
/* Parameter 1 needs to be correct */
if(parameter1 != testdevice::COMMAND_1_PARAM1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
uint64_t parameter2 = 0;
result = SerializeAdapter::deSerialize(&parameter2,
&commandData, &size, SerializeIF::Endianness::BIG);
if(parameter2!= testdevice::COMMAND_1_PARAM2){
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
/* Pass on the parameters to the Echo IF */
commandBuffer[4] = (parameter1 & 0xFF00) >> 8;
commandBuffer[5] = (parameter1 & 0xFF);
parameter2 = EndianConverter::convertBigEndian(parameter2);
memcpy(commandBuffer + 6, &parameter2, sizeof(parameter2));
rawPacket = commandBuffer;
rawPacketLen = sizeof(deviceCommand) + sizeof(parameter1) +
sizeof(parameter2);
return RETURN_OK;
}
void TestDevice::passOnCommand(DeviceCommandId_t command, const uint8_t *commandData,
size_t commandDataLen) {
DeviceCommandId_t deviceCommandBe = EndianConverter::convertBigEndian(command);
memcpy(commandBuffer, &deviceCommandBe, sizeof(deviceCommandBe));
memcpy(commandBuffer + 4, commandData, commandDataLen);
rawPacket = commandBuffer;
rawPacketLen = sizeof(deviceCommandBe) + commandDataLen;
}
void TestDevice::fillCommandAndReplyMap() {
namespace td = testdevice;
insertInCommandAndReplyMap(testdevice::TEST_NORMAL_MODE_CMD, 5, &dataset);
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_0, 5);
insertInCommandAndReplyMap(testdevice::TEST_COMMAND_1, 5);
/* No reply expected for these commands */
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_SET);
insertInCommandMap(td::TEST_NOTIF_SNAPSHOT_VAR);
}
ReturnValue_t TestDevice::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
using namespace testdevice;
/* Unless a command was sent explicitely, we don't expect any replies and ignore this
the packet. On a real device, there might be replies which are sent without a previous
command. */
if(not commandSent) {
return DeviceHandlerBase::IGNORE_FULL_PACKET;
}
else {
commandSent = false;
}
if(len < sizeof(object_id_t)) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
size_t size = len;
ReturnValue_t result = SerializeAdapter::deSerialize(foundId, &start, &size,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
DeviceCommandId_t pendingCmd = this->getPendingCommand();
switch(pendingCmd) {
case(TEST_NORMAL_MODE_CMD): {
if(fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " <<
TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for normal command (ID %d) "
"received!\n", deviceIdx, TEST_NORMAL_MODE_CMD);
#endif
#endif
}
*foundLen = len;
*foundId = pendingCmd;
return RETURN_OK;
}
case(TEST_COMMAND_0): {
if(len < TEST_COMMAND_0_SIZE) {
return DeviceHandlerIF::LENGTH_MISSMATCH;
}
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for simple command "
"(ID " << TEST_COMMAND_0 << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for simple command (ID %d) "
"received!\n", deviceIdx, TEST_COMMAND_0);
#endif
}
*foundLen = TEST_COMMAND_0_SIZE;
*foundId = pendingCmd;
return RETURN_OK;
}
case(TEST_COMMAND_1): {
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::scanForReply: Reply for data command "
"(ID " << TEST_COMMAND_1 << ") received!" << std::endl;
#else
sif::printInfo("TestDevice%d::scanForReply: Reply for data command (ID %d) "
"received\n", deviceIdx, TEST_COMMAND_1);
#endif
}
*foundLen = len;
*foundId = pendingCmd;
return RETURN_OK;
}
default:
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
}
ReturnValue_t TestDevice::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
/* Periodic replies */
case testdevice::TEST_NORMAL_MODE_CMD: {
result = interpretingNormalModeReply();
break;
}
/* Simple reply */
case testdevice::TEST_COMMAND_0: {
result = interpretingTestReply0(id, packet);
break;
}
/* Data reply */
case testdevice::TEST_COMMAND_1: {
result = interpretingTestReply1(id, packet);
break;
}
default:
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
return result;
}
ReturnValue_t TestDevice::interpretingNormalModeReply() {
CommandMessage directReplyMessage;
if(changingDatasets) {
PoolReadGuard readHelper(&dataset);
if(dataset.testUint8Var.value == 0) {
dataset.testUint8Var.value = 10;
dataset.testUint32Var.value = 777;
dataset.testFloat3Vec.value[0] = 2.5;
dataset.testFloat3Vec.value[1] = -2.5;
dataset.testFloat3Vec.value[2] = 2.5;
dataset.setValidity(true, true);
}
else {
dataset.testUint8Var.value = 0;
dataset.testUint32Var.value = 0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[1] = 0.0;
dataset.testFloat3Vec.value[2] = 0.0;
dataset.setValidity(false, true);
}
return RETURN_OK;
}
PoolReadGuard readHelper(&dataset);
if(dataset.testUint8Var.value == 0) {
/* Reset state */
dataset.testUint8Var.value = 128;
}
else if(dataset.testUint8Var.value > 200) {
if(not resetAfterChange) {
/* This will trigger an update notification to the controller */
dataset.testUint8Var.setChanged(true);
resetAfterChange = true;
/* Decrement by 30 automatically. This will prevent any additional notifications. */
dataset.testUint8Var.value -= 30;
}
}
/* If the value is greater than 0, it will be decremented in a linear way */
else if(dataset.testUint8Var.value > 128) {
size_t sizeToDecrement = 0;
if(dataset.testUint8Var.value > 128 + 30) {
sizeToDecrement = 30;
}
else {
sizeToDecrement = dataset.testUint8Var.value - 128;
resetAfterChange = false;
}
dataset.testUint8Var.value -= sizeToDecrement;
}
else if(dataset.testUint8Var.value < 50) {
if(not resetAfterChange) {
/* This will trigger an update snapshot to the controller */
dataset.testUint8Var.setChanged(true);
resetAfterChange = true;
}
else {
/* Increment by 30 automatically. */
dataset.testUint8Var.value += 30;
}
}
/* Increment in linear way */
else if(dataset.testUint8Var.value < 128) {
size_t sizeToIncrement = 0;
if(dataset.testUint8Var.value < 128 - 20) {
sizeToIncrement = 20;
}
else {
sizeToIncrement = 128 - dataset.testUint8Var.value;
resetAfterChange = false;
}
dataset.testUint8Var.value += sizeToIncrement;
}
/* TODO: Same for vector */
float vectorMean = (dataset.testFloat3Vec.value[0] + dataset.testFloat3Vec.value[1] +
dataset.testFloat3Vec.value[2]) / 3.0;
/* Lambda (private local function) */
auto sizeToAdd = [](bool tooHigh, float currentVal) {
if(tooHigh) {
if(currentVal - 20.0 > 10.0) {
return -10.0;
}
else {
return 20.0 - currentVal;
}
}
else {
if(std::abs(currentVal + 20.0) > 10.0) {
return 10.0;
}
else {
return -20.0 - currentVal;
}
}
};
if(vectorMean > 20.0 and std::abs(vectorMean - 20.0) > 1.0) {
if(not resetAfterChange) {
dataset.testFloat3Vec.setChanged(true);
resetAfterChange = true;
}
else {
float sizeToDecrementVal0 = 0;
float sizeToDecrementVal1 = 0;
float sizeToDecrementVal2 = 0;
sizeToDecrementVal0 = sizeToAdd(true, dataset.testFloat3Vec.value[0]);
sizeToDecrementVal1 = sizeToAdd(true, dataset.testFloat3Vec.value[1]);
sizeToDecrementVal2 = sizeToAdd(true, dataset.testFloat3Vec.value[2]);
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
}
}
else if (vectorMean < -20.0 and std::abs(vectorMean + 20.0) < 1.0) {
if(not resetAfterChange) {
dataset.testFloat3Vec.setChanged(true);
resetAfterChange = true;
}
else {
float sizeToDecrementVal0 = 0;
float sizeToDecrementVal1 = 0;
float sizeToDecrementVal2 = 0;
sizeToDecrementVal0 = sizeToAdd(false, dataset.testFloat3Vec.value[0]);
sizeToDecrementVal1 = sizeToAdd(false, dataset.testFloat3Vec.value[1]);
sizeToDecrementVal2 = sizeToAdd(false, dataset.testFloat3Vec.value[2]);
dataset.testFloat3Vec.value[0] += sizeToDecrementVal0;
dataset.testFloat3Vec.value[1] += sizeToDecrementVal1;
dataset.testFloat3Vec.value[2] += sizeToDecrementVal2;
}
}
else {
if(resetAfterChange) {
resetAfterChange = false;
}
}
return RETURN_OK;
}
ReturnValue_t TestDevice::interpretingTestReply0(DeviceCommandId_t id, const uint8_t* packet) {
CommandMessage commandMessage;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::interpretingTestReply0: Generating step and finish reply" <<
std::endl;
#else
sif::printInfo("TestDevice::interpretingTestReply0: Generating step and finish reply\n");
#endif
}
MessageQueueId_t commander = getCommanderQueueId(id);
/* Generate one step reply and the finish reply */
actionHelper.step(1, commander, id);
actionHelper.finish(true, commander, id);
return RETURN_OK;
}
ReturnValue_t TestDevice::interpretingTestReply1(DeviceCommandId_t id,
const uint8_t* packet) {
CommandMessage directReplyMessage;
if(fullInfoPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::interpretingReply1: Setting data reply" <<
std::endl;
#else
sif::printInfo("TestDevice%d::interpretingReply1: Setting data reply\n", deviceIdx);
#endif
}
MessageQueueId_t commander = getCommanderQueueId(id);
/* Send reply with data */
ReturnValue_t result = actionHelper.reportData(commander, id, packet,
testdevice::TEST_COMMAND_1_SIZE, false);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TestDevice" << deviceIdx << "::interpretingReply1: Sending data "
"reply failed!" << std::endl;
#else
sif::printError("TestDevice%d::interpretingReply1: Sending data reply failed!\n",
deviceIdx);
#endif
return result;
}
if(result == HasReturnvaluesIF::RETURN_OK) {
/* Finish reply */
actionHelper.finish(true, commander, id);
}
else {
/* Finish reply */
actionHelper.finish(false, commander, id, result);
}
return RETURN_OK;
}
uint32_t TestDevice::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}
void TestDevice::enableFullDebugOutput(bool enable) {
this->fullInfoPrintout = enable;
}
ReturnValue_t TestDevice::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
namespace td = testdevice;
localDataPoolMap.emplace(td::PoolIds::TEST_UINT8_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(td::PoolIds::TEST_UINT32_ID, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(td::PoolIds::TEST_FLOAT_VEC_3_ID,
new PoolEntry<float>({0.0, 0.0, 0.0}));
sid_t sid;
if(deviceIdx == td::DeviceIndex::DEVICE_0) {
sid = td::TEST_SET_DEV_0_SID;
}
else {
sid = td::TEST_SET_DEV_1_SID;
}
/* Subscribe for periodic HK packets but do not enable reporting for now.
Non-diangostic with a period of one second */
poolManager.subscribeForPeriodicPacket(sid, false, 1.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
using namespace testdevice;
switch (uniqueId) {
case ParameterUniqueIds::TEST_UINT32_0: {
if(fullInfoPrintout) {
uint32_t newValue = 0;
ReturnValue_t result = newValues->getElement<uint32_t>(&newValue, 0, 0);
if(result == HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 0 to "
"new value " << newValue << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 0 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
}
parameterWrapper->set(testParameter0);
break;
}
case ParameterUniqueIds::TEST_INT32_1: {
if(fullInfoPrintout) {
int32_t newValue = 0;
ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
if(result == HasReturnvaluesIF::RETURN_OK) {
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 1 to "
"new value " << newValue << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
}
parameterWrapper->set(testParameter1);
break;
}
case ParameterUniqueIds::TEST_FLOAT_VEC3_2: {
if(fullInfoPrintout) {
float newVector[3];
if(newValues->getElement<float>(newVector, 0, 0) != RETURN_OK or
newValues->getElement<float>(newVector + 1, 0, 1) != RETURN_OK or
newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Setting parameter 3 to "
"(float vector with 3 entries) to new values [" << newVector[0] << ", " <<
newVector[1] << ", " << newVector[2] << "]" << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Setting parameter 3 to new values "
"[%f, %f, %f]\n", deviceIdx, newVector[0], newVector[1], newVector[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
}
parameterWrapper->setVector(vectorFloatParams2);
break;
}
case(ParameterUniqueIds::PERIODIC_PRINT_ENABLED): {
if(fullInfoPrintout) {
uint8_t enabled = 0;
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
char const* printout = nullptr;
if (enabled) {
printout = "enabled";
}
else {
printout = "disabled";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Periodic printout " <<
printout << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Periodic printout %s", printout);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
parameterWrapper->set(periodicPrintout);
break;
}
case(ParameterUniqueIds::CHANGING_DATASETS): {
uint8_t enabled = 0;
ReturnValue_t result = newValues->getElement<uint8_t>(&enabled, 0, 0);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(not enabled) {
PoolReadGuard readHelper(&dataset);
dataset.testUint8Var.value = 0;
dataset.testUint32Var.value = 0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[0] = 0.0;
dataset.testFloat3Vec.value[1] = 0.0;
}
if(fullInfoPrintout) {
char const* printout = nullptr;
if (enabled) {
printout = "enabled";
}
else {
printout = "disabled";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::getParameter: Changing datasets " <<
printout << std::endl;
#else
sif::printInfo("TestDevice%d::getParameter: Changing datasets %s", printout);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
parameterWrapper->set(changingDatasets);
break;
}
default:
return INVALID_IDENTIFIER_ID;
}
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolObjectBase* TestDevice::getPoolObjectHandle(lp_id_t localPoolId) {
namespace td = testdevice;
if (localPoolId == td::PoolIds::TEST_UINT8_ID) {
return &dataset.testUint8Var;
}
else if (localPoolId == td::PoolIds::TEST_UINT32_ID) {
return &dataset.testUint32Var;
}
else if(localPoolId == td::PoolIds::TEST_FLOAT_VEC_3_ID) {
return &dataset.testFloat3Vec;
}
else {
return nullptr;
}
}

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#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.