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mission/devices/TestDeviceHandler.h

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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.
+	 * @param changingDataset
+	 * Will be used later to change the local datasets containeds in the device.
+	 */
+	TestDevice(object_id_t objectId, object_id_t comIF, CookieIF * cookie,
+	        testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0,
+	        bool fullInfoPrintout = false, bool changingDataset = true);
+
+	/**
+	 * This can be used to enable and disable a lot of demo print output.
+	 * @param enable
+	 */
+	void enableFullDebugOutput(bool enable);
+
+	virtual ~ TestDevice();
+
+	//! Size of internal buffer used for communication.
+    static constexpr uint8_t MAX_BUFFER_SIZE = 255;
+
+    //! Unique index if the device handler is created multiple times.
+    testdevice::DeviceIndex deviceIdx = testdevice::DeviceIndex::DEVICE_0;
+
+protected:
+    testdevice::TestDataSet dataset;
+    //! This is used to reset the dataset after a commanded change has been made.
+    bool resetAfterChange = false;
+    bool commandSent = true;
+
+	/** DeviceHandlerBase overrides (see DHB documentation) */
+
+	/**
+	 * Hook into the DHB #performOperation call which is executed
+	 * periodically.
+	 */
+	void performOperationHook() override;
+
+	virtual void doStartUp() override;
+	virtual void doShutDown() override;
+
+	virtual ReturnValue_t buildNormalDeviceCommand(
+			DeviceCommandId_t * id) override;
+	virtual ReturnValue_t buildTransitionDeviceCommand(
+			DeviceCommandId_t * id) override;
+	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t
+			deviceCommand, const uint8_t * commandData,
+			size_t commandDataLen) override;
+
+	virtual void fillCommandAndReplyMap() override;
+
+	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+			DeviceCommandId_t *foundId, size_t *foundLen) override;
+	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+			const uint8_t *packet) override;
+	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom,
+			Mode_t modeTo) override;
+
+	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+
+    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                LocalDataPoolManager& poolManager) override;
+    virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;
+
+	/* HasParametersIF  overrides */
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex) override;
+
+	uint8_t commandBuffer[MAX_BUFFER_SIZE];
+
+	bool fullInfoPrintout = false;
+	bool oneShot = true;
+
+	/* Variables for parameter service */
+	uint32_t testParameter0 = 0;
+	int32_t testParameter1 = -2;
+	float vectorFloatParams2[3] = {};
+
+	/* Change device handler functionality, changeable via parameter service */
+	uint8_t periodicPrintout = false;
+	uint8_t changingDatasets = false;
+
+	ReturnValue_t buildNormalModeCommand(DeviceCommandId_t deviceCommand,
+	        const uint8_t* commandData, size_t commandDataLen);
+	ReturnValue_t buildTestCommand0(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+	        size_t commandDataLen);
+	ReturnValue_t buildTestCommand1(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+	        size_t commandDataLen);
+	void passOnCommand(DeviceCommandId_t command, const uint8_t* commandData,
+	        size_t commandDataLen);
+
+	ReturnValue_t interpretingNormalModeReply();
+	ReturnValue_t interpretingTestReply0(DeviceCommandId_t id,
+			const uint8_t* packet);
+	ReturnValue_t interpretingTestReply1(DeviceCommandId_t id,
+			const uint8_t* packet);
+	ReturnValue_t interpretingTestReply2(DeviceCommandId_t id, const uint8_t* packet);
+
+	/* Some timer utilities */
+	static constexpr uint8_t divider1 = 2;
+	PeriodicOperationDivider opDivider1 = PeriodicOperationDivider(divider1);
+	static constexpr uint8_t divider2 = 10;
+	PeriodicOperationDivider opDivider2 = PeriodicOperationDivider(divider2);
+	static constexpr uint32_t initTimeout = 2000;
+	Countdown countdown1 = Countdown(initTimeout);
+};
+
+
+#endif /* TEST_TESTDEVICES_TESTDEVICEHANDLER_H_ */