214 lines
7.8 KiB
C++
214 lines
7.8 KiB
C++
#include "TestController.h"
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#include <OBSWConfig.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/serviceinterface/ServiceInterface.h>
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TestController::TestController(object_id_t objectId, size_t commandQueueDepth):
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ExtendedControllerBase(objectId, objects::NO_OBJECT, commandQueueDepth),
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deviceDataset0(objects::TEST_DEVICE_HANDLER_0),
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deviceDataset1(objects::TEST_DEVICE_HANDLER_1) {
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}
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TestController::~TestController() {
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}
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ReturnValue_t TestController::handleCommandMessage(CommandMessage *message) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void TestController::performControlOperation() {
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/* We will trace vaiables if we received an update notification or snapshots */
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#if OBSW_CONTROLLER_PRINTOUT == 1
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if(not traceVariable) {
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return;
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}
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switch(currentTraceType) {
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case(NONE): {
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break;
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}
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case(TRACE_DEV_0_UINT8): {
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if(traceCounter == 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Tracing finished" << std::endl;
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#else
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sif::printInfo("Tracing finished\n");
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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traceVariable = false;
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traceCounter = traceCycles;
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currentTraceType = TraceTypes::NONE;
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break;
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}
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PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Tracing device 0 variable 0 (UINT8), current value: " <<
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static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
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#else
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sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
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deviceDataset0.testUint8Var.value);
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#endif
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traceCounter--;
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break;
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}
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case(TRACE_DEV_0_VECTOR): {
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break;
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}
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}
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#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
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}
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void TestController::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
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using namespace std;
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#if OBSW_CONTROLLER_PRINTOUT == 1
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char const* printout = nullptr;
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if(storeId == storeId::INVALID_STORE_ADDRESS) {
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printout = "Notification";
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}
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else {
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printout = "Snapshot";
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestController::handleChangedDataset: " << printout << " update from object "
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"ID " << setw(8) << setfill('0') << hex << sid.objectId <<
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" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl;
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#else
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sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
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"set ID %lu\n", printout, sid.objectId, sid.ownerSetId);
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#endif
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
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if(sid.objectId == objects::TEST_DEVICE_HANDLER_0) {
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PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
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float floatVec[3];
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floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
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floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
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floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " <<
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floatVec[1] << ", " << floatVec[2] << "]" << std::endl;
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#else
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sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n",
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floatVec[0], floatVec[1], floatVec[2]);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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}
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}
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#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
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/* We will trace the variables for snapshots and update notifications */
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if(not traceVariable) {
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traceVariable = true;
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traceCounter = traceCycles;
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currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
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}
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}
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void TestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
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bool* clearMessage) {
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using namespace std;
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#if OBSW_CONTROLLER_PRINTOUT == 1
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char const* printout = nullptr;
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
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printout = "Notification";
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}
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else {
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printout = "Snapshot";
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object "
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"ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId <<
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" and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl;
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#else
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sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
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"local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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if (storeId == storeId::INVALID_STORE_ADDRESS) {
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if(globPoolId.objectId == objects::TEST_DEVICE_HANDLER_0) {
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PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>(
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deviceDataset0.testUint8Var.value) << std::endl;
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#else
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sif::printInfo("Current test variable 0 (UINT8) value %d\n",
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deviceDataset0.testUint8Var.value);
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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}
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}
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#endif /* OBSW_CONTROLLER_PRINTOUT == 1 */
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/* We will trace the variables for snapshots and update notifications */
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if(not traceVariable) {
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traceVariable = true;
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traceCounter = traceCycles;
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currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
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}
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}
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LocalPoolDataSetBase* TestController::getDataSetHandle(sid_t sid) {
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return nullptr;
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}
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ReturnValue_t TestController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TestController::initializeAfterTaskCreation() {
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namespace td = testdevice;
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HasLocalDataPoolIF* device0 = objectManager->get<HasLocalDataPoolIF>(
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objects::TEST_DEVICE_HANDLER_0);
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if(device0 == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
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"handle invalid!" << std::endl;
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#else
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sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 "
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"handle invalid!");
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
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if(subscriptionIF != nullptr) {
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/* For DEVICE_0, we only subscribe for notifications */
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subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
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getCommandQueue(), false);
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subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
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getObjectId(), getCommandQueue(), false);
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}
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HasLocalDataPoolIF* device1 = objectManager->get<HasLocalDataPoolIF>(
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objects::TEST_DEVICE_HANDLER_1);
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if(device1 == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
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"handle invalid!" << std::endl;
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#else
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sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 "
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"handle invalid!");
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#endif
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}
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subscriptionIF = device1->getSubscriptionInterface();
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if(subscriptionIF != nullptr) {
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/* For DEVICE_1, we will subscribe for snapshots */
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subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
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getCommandQueue(), true);
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subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
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getObjectId(), getCommandQueue(), true);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t TestController::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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