CommandDispatcherComponentAc.cpp

Go to the documentation of this file.

// ======================================================================
// \title  CommandDispatcherComponentAc.cpp
// \author Generated by fpp-to-cpp
// \brief  cpp file for CommandDispatcher component base class
// ======================================================================

#include "Fw/Types/Assert.hpp"
#include "Fw/Types/ExternalString.hpp"
#if FW_ENABLE_TEXT_LOGGING
#include "Fw/Types/String.hpp"
#endif
#include "Svc/CmdDispatcher/CommandDispatcherComponentAc.hpp"

namespace Svc {

  namespace {
    enum MsgTypeEnum {
      COMMANDDISPATCHER_COMPONENT_EXIT = Fw::ActiveComponentBase::ACTIVE_COMPONENT_EXIT,
      COMPCMDSTAT_CMDRESPONSE,
      PINGIN_PING,
      RUN_SCHED,
      SEQCMDBUFF_COM,
      CMD_CMD_NO_OP,
      CMD_CMD_NO_OP_STRING,
      CMD_CMD_TEST_CMD_1,
      CMD_CMD_CLEAR_TRACKING,
    };

    // Get the max size by constructing a union of the async input, command, and
    // internal port serialization sizes
    union BuffUnion {
      BYTE compCmdStatPortSize[Fw::CmdResponsePortBuffer::CAPACITY];
      BYTE pingInPortSize[Svc::PingPortBuffer::CAPACITY];
      BYTE runPortSize[Svc::SchedPortBuffer::CAPACITY];
      BYTE seqCmdBuffPortSize[Fw::ComPortBuffer::CAPACITY];
      BYTE cmdPortSize[Fw::CmdPortBuffer::CAPACITY];
    };

    // Define a message buffer class large enough to handle all the
    // asynchronous inputs to the component
    class ComponentIpcSerializableBuffer :
      public Fw::LinearBufferBase
    {

      public:

        enum {
          // Offset into data in buffer: Size of message ID and port number
          DATA_OFFSET = sizeof(FwEnumStoreType) + sizeof(FwIndexType),
          // Max data size
          MAX_DATA_SIZE = sizeof(BuffUnion),
          // Max message size: Size of message id + size of port + max data size
          SERIALIZATION_SIZE = DATA_OFFSET + MAX_DATA_SIZE
        };

        ComponentIpcSerializableBuffer() : Fw::LinearBufferBase(m_buff, sizeof(m_buff)) {

        }

      private:
        // Should be the max of all the input ports serialized sizes...
        U8 m_buff[SERIALIZATION_SIZE];

    };
  }

  // ----------------------------------------------------------------------
  // Component initialization
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    init(
        FwSizeType queueDepth,
        FwEnumStoreType instance
    )
  {
    // Initialize base class
    Fw::ActiveComponentBase::init(instance);

#if !FW_DIRECT_PORT_CALLS
    // Connect input port CmdDisp
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_CmdDisp_InputPorts());
      port++
    ) {
      this->m_CmdDisp_InputPort[port].init();
      this->m_CmdDisp_InputPort[port].addCallComp(
        this,
        m_p_CmdDisp_in
      );
      this->m_CmdDisp_InputPort[port].setPortNum(port);

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_CmdDisp_InputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_CmdDisp_InputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect input port compCmdReg
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_compCmdReg_InputPorts());
      port++
    ) {
      this->m_compCmdReg_InputPort[port].init();
      this->m_compCmdReg_InputPort[port].addCallComp(
        this,
        m_p_compCmdReg_in
      );
      this->m_compCmdReg_InputPort[port].setPortNum(port);

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_compCmdReg_InputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_compCmdReg_InputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect input port compCmdStat
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_compCmdStat_InputPorts());
      port++
    ) {
      this->m_compCmdStat_InputPort[port].init();
      this->m_compCmdStat_InputPort[port].addCallComp(
        this,
        m_p_compCmdStat_in
      );
      this->m_compCmdStat_InputPort[port].setPortNum(port);

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_compCmdStat_InputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_compCmdStat_InputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect input port pingIn
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_pingIn_InputPorts());
      port++
    ) {
      this->m_pingIn_InputPort[port].init();
      this->m_pingIn_InputPort[port].addCallComp(
        this,
        m_p_pingIn_in
      );
      this->m_pingIn_InputPort[port].setPortNum(port);

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_pingIn_InputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_pingIn_InputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect input port run
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_run_InputPorts());
      port++
    ) {
      this->m_run_InputPort[port].init();
      this->m_run_InputPort[port].addCallComp(
        this,
        m_p_run_in
      );
      this->m_run_InputPort[port].setPortNum(port);

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_run_InputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_run_InputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect input port seqCmdBuff
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_seqCmdBuff_InputPorts());
      port++
    ) {
      this->m_seqCmdBuff_InputPort[port].init();
      this->m_seqCmdBuff_InputPort[port].addCallComp(
        this,
        m_p_seqCmdBuff_in
      );
      this->m_seqCmdBuff_InputPort[port].setPortNum(port);

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_seqCmdBuff_InputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_seqCmdBuff_InputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port CmdReg
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_CmdReg_OutputPorts());
      port++
    ) {
      this->m_CmdReg_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_CmdReg_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_CmdReg_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port CmdStatus
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_CmdStatus_OutputPorts());
      port++
    ) {
      this->m_CmdStatus_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_CmdStatus_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_CmdStatus_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port Log
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_Log_OutputPorts());
      port++
    ) {
      this->m_Log_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_Log_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_Log_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS && FW_ENABLE_TEXT_LOGGING
    // Connect output port LogText
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_LogText_OutputPorts());
      port++
    ) {
      this->m_LogText_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_LogText_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_LogText_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port Time
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_Time_OutputPorts());
      port++
    ) {
      this->m_Time_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_Time_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_Time_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port Tlm
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_Tlm_OutputPorts());
      port++
    ) {
      this->m_Tlm_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_Tlm_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_Tlm_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port compCmdSend
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_compCmdSend_OutputPorts());
      port++
    ) {
      this->m_compCmdSend_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_compCmdSend_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_compCmdSend_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port pingOut
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_pingOut_OutputPorts());
      port++
    ) {
      this->m_pingOut_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_pingOut_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_pingOut_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

#if !FW_DIRECT_PORT_CALLS
    // Connect output port seqCmdStatus
    for (
      FwIndexType port = 0;
      port < static_cast<FwIndexType>(this->getNum_seqCmdStatus_OutputPorts());
      port++
    ) {
      this->m_seqCmdStatus_OutputPort[port].init();

#if FW_OBJECT_NAMES == 1
      Fw::ObjectName portName;
      portName.format(
        "%s_seqCmdStatus_OutputPort[%" PRI_FwIndexType "]",
        this->m_objName.toChar(),
        port
      );
      this->m_seqCmdStatus_OutputPort[port].setObjName(portName.toChar());
#endif
    }
#endif

    // Create the queue
    Os::Queue::Status qStat = this->createQueue(
      queueDepth,
      static_cast<FwSizeType>(ComponentIpcSerializableBuffer::SERIALIZATION_SIZE)
    );
    FW_ASSERT(
      Os::Queue::Status::OP_OK == qStat,
      static_cast<FwAssertArgType>(qStat)
    );
  }

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Getters for special input ports
  // ----------------------------------------------------------------------

  Fw::InputCmdPort* CommandDispatcherComponentBase ::
    get_CmdDisp_InputPort(FwIndexType portNum)
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdDisp_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return &this->m_CmdDisp_InputPort[portNum];
  }

#endif

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Getters for typed input ports
  // ----------------------------------------------------------------------

  Fw::InputCmdRegPort* CommandDispatcherComponentBase ::
    get_compCmdReg_InputPort(FwIndexType portNum)
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdReg_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return &this->m_compCmdReg_InputPort[portNum];
  }

  Fw::InputCmdResponsePort* CommandDispatcherComponentBase ::
    get_compCmdStat_InputPort(FwIndexType portNum)
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdStat_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return &this->m_compCmdStat_InputPort[portNum];
  }

  Svc::InputPingPort* CommandDispatcherComponentBase ::
    get_pingIn_InputPort(FwIndexType portNum)
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_pingIn_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return &this->m_pingIn_InputPort[portNum];
  }

  Svc::InputSchedPort* CommandDispatcherComponentBase ::
    get_run_InputPort(FwIndexType portNum)
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_run_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return &this->m_run_InputPort[portNum];
  }

  Fw::InputComPort* CommandDispatcherComponentBase ::
    get_seqCmdBuff_InputPort(FwIndexType portNum)
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_seqCmdBuff_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return &this->m_seqCmdBuff_InputPort[portNum];
  }

#endif

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Connect input ports to special output ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    set_CmdReg_OutputPort(
        FwIndexType portNum,
        Fw::InputCmdRegPort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdReg_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_CmdReg_OutputPort[portNum].addCallPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_CmdStatus_OutputPort(
        FwIndexType portNum,
        Fw::InputCmdResponsePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_CmdStatus_OutputPort[portNum].addCallPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_Log_OutputPort(
        FwIndexType portNum,
        Fw::InputLogPort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Log_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_Log_OutputPort[portNum].addCallPort(port);
  }

#if FW_ENABLE_TEXT_LOGGING == 1

  void CommandDispatcherComponentBase ::
    set_LogText_OutputPort(
        FwIndexType portNum,
        Fw::InputLogTextPort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_LogText_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_LogText_OutputPort[portNum].addCallPort(port);
  }

#endif

  void CommandDispatcherComponentBase ::
    set_Time_OutputPort(
        FwIndexType portNum,
        Fw::InputTimePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Time_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_Time_OutputPort[portNum].addCallPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_Tlm_OutputPort(
        FwIndexType portNum,
        Fw::InputTlmPort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Tlm_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_Tlm_OutputPort[portNum].addCallPort(port);
  }

#endif

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Connect typed input ports to typed output ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    set_compCmdSend_OutputPort(
        FwIndexType portNum,
        Fw::InputCmdPort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdSend_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_compCmdSend_OutputPort[portNum].addCallPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_pingOut_OutputPort(
        FwIndexType portNum,
        Svc::InputPingPort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_pingOut_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_pingOut_OutputPort[portNum].addCallPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_seqCmdStatus_OutputPort(
        FwIndexType portNum,
        Fw::InputCmdResponsePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_seqCmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_seqCmdStatus_OutputPort[portNum].addCallPort(port);
  }

#endif

#if !FW_DIRECT_PORT_CALLS && FW_PORT_SERIALIZATION

  // ----------------------------------------------------------------------
  // Connect serial input ports to special output ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    set_CmdReg_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdReg_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_CmdReg_OutputPort[portNum].registerSerialPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_CmdStatus_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_CmdStatus_OutputPort[portNum].registerSerialPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_Log_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Log_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_Log_OutputPort[portNum].registerSerialPort(port);
  }

#if FW_ENABLE_TEXT_LOGGING == 1

  void CommandDispatcherComponentBase ::
    set_LogText_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_LogText_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_LogText_OutputPort[portNum].registerSerialPort(port);
  }

#endif

  void CommandDispatcherComponentBase ::
    set_Time_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Time_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_Time_OutputPort[portNum].registerSerialPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_Tlm_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Tlm_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_Tlm_OutputPort[portNum].registerSerialPort(port);
  }

#endif

#if !FW_DIRECT_PORT_CALLS && FW_PORT_SERIALIZATION

  // ----------------------------------------------------------------------
  // Connect serial input ports to typed output ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    set_compCmdSend_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdSend_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_compCmdSend_OutputPort[portNum].registerSerialPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_pingOut_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_pingOut_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_pingOut_OutputPort[portNum].registerSerialPort(port);
  }

  void CommandDispatcherComponentBase ::
    set_seqCmdStatus_OutputPort(
        FwIndexType portNum,
        Fw::InputSerializePort* port
    )
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_seqCmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    this->m_seqCmdStatus_OutputPort[portNum].registerSerialPort(port);
  }

#endif

  // ----------------------------------------------------------------------
  // Command registration
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    regCommands()
  {
    FW_ASSERT(this->isConnected_CmdReg_OutputPort(0));

    this->CmdReg_out(
      0,
      this->getIdBase() + OPCODE_CMD_NO_OP
    );

    this->CmdReg_out(
      0,
      this->getIdBase() + OPCODE_CMD_NO_OP_STRING
    );

    this->CmdReg_out(
      0,
      this->getIdBase() + OPCODE_CMD_TEST_CMD_1
    );

    this->CmdReg_out(
      0,
      this->getIdBase() + OPCODE_CMD_CLEAR_TRACKING
    );
  }

  // ----------------------------------------------------------------------
  // Component construction and destruction
  // ----------------------------------------------------------------------

  CommandDispatcherComponentBase ::
    CommandDispatcherComponentBase(const char* compName) :
      Fw::ActiveComponentBase(compName)
  {
    this->m_CommandDroppedQueueOverflowThrottle = 0;
  }

  CommandDispatcherComponentBase ::
    ~CommandDispatcherComponentBase()
  {

  }

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Connection status queries for special output ports
  // ----------------------------------------------------------------------

  bool CommandDispatcherComponentBase ::
    isConnected_CmdReg_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdReg_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_CmdReg_OutputPort[portNum].isConnected();
  }

  bool CommandDispatcherComponentBase ::
    isConnected_CmdStatus_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_CmdStatus_OutputPort[portNum].isConnected();
  }

  bool CommandDispatcherComponentBase ::
    isConnected_Log_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Log_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_Log_OutputPort[portNum].isConnected();
  }

#if FW_ENABLE_TEXT_LOGGING == 1

  bool CommandDispatcherComponentBase ::
    isConnected_LogText_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_LogText_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_LogText_OutputPort[portNum].isConnected();
  }

#endif

  bool CommandDispatcherComponentBase ::
    isConnected_Time_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Time_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_Time_OutputPort[portNum].isConnected();
  }

  bool CommandDispatcherComponentBase ::
    isConnected_Tlm_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Tlm_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_Tlm_OutputPort[portNum].isConnected();
  }

#endif

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Connection status queries for typed output ports
  // ----------------------------------------------------------------------

  bool CommandDispatcherComponentBase ::
    isConnected_compCmdSend_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdSend_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_compCmdSend_OutputPort[portNum].isConnected();
  }

  bool CommandDispatcherComponentBase ::
    isConnected_pingOut_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_pingOut_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_pingOut_OutputPort[portNum].isConnected();
  }

  bool CommandDispatcherComponentBase ::
    isConnected_seqCmdStatus_OutputPort(FwIndexType portNum) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_seqCmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    return this->m_seqCmdStatus_OutputPort[portNum].isConnected();
  }

#endif

  // ----------------------------------------------------------------------
  // Port handler base-class functions for special input ports
  //
  // Call these functions directly to bypass the corresponding ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    CmdDisp_handlerBase(
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    )
  {

    const U32 idBase = this->getIdBase();
    FW_ASSERT(opCode >= idBase, static_cast<FwAssertArgType>(opCode), static_cast<FwAssertArgType>(idBase));

    // Select base class function based on opcode
    switch (opCode - idBase) {
      case OPCODE_CMD_NO_OP: {
        this->CMD_NO_OP_cmdHandlerBase(
          opCode,
          cmdSeq,
          args
        );
        break;
      }

      case OPCODE_CMD_NO_OP_STRING: {
        this->CMD_NO_OP_STRING_cmdHandlerBase(
          opCode,
          cmdSeq,
          args
        );
        break;
      }

      case OPCODE_CMD_TEST_CMD_1: {
        this->CMD_TEST_CMD_1_cmdHandlerBase(
          opCode,
          cmdSeq,
          args
        );
        break;
      }

      case OPCODE_CMD_CLEAR_TRACKING: {
        this->CMD_CLEAR_TRACKING_cmdHandlerBase(
          opCode,
          cmdSeq,
          args
        );
        break;
      }
      default:
        // Unknown opcode: ignore it
        break;
    }
  }

  // ----------------------------------------------------------------------
  // Port handler base-class functions for typed input ports
  //
  // Call these functions directly to bypass the corresponding ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    compCmdReg_handlerBase(
        FwIndexType portNum,
        FwOpcodeType opCode
    )
  {
    // Make sure port number is valid
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdReg_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    // Lock guard mutex before calling
    this->lock();

    // Call handler function
    this->compCmdReg_handler(
      portNum,
      opCode
    );

    // Unlock guard mutex
    this->unLock();
  }

  void CommandDispatcherComponentBase ::
    compCmdStat_handlerBase(
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        const Fw::CmdResponse& response
    )
  {
    // Make sure port number is valid
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdStat_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    // Call pre-message hook
    compCmdStat_preMsgHook(
      portNum,
      opCode,
      cmdSeq,
      response
    );
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize message ID
    _status = msg.serializeFrom(
      static_cast<FwEnumStoreType>(COMPCMDSTAT_CMDRESPONSE)
    );
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize port number
    _status = msg.serializeFrom(portNum);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument opCode
    _status = msg.serializeFrom(opCode);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument cmdSeq
    _status = msg.serializeFrom(cmdSeq);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument response
    _status = msg.serializeFrom(response);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  void CommandDispatcherComponentBase ::
    pingIn_handlerBase(
        FwIndexType portNum,
        U32 key
    )
  {
    // Make sure port number is valid
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_pingIn_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    // Call pre-message hook
    pingIn_preMsgHook(
      portNum,
      key
    );
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize message ID
    _status = msg.serializeFrom(
      static_cast<FwEnumStoreType>(PINGIN_PING)
    );
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize port number
    _status = msg.serializeFrom(portNum);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument key
    _status = msg.serializeFrom(key);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  void CommandDispatcherComponentBase ::
    run_handlerBase(
        FwIndexType portNum,
        U32 context
    )
  {
    // Make sure port number is valid
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_run_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    // Call pre-message hook
    run_preMsgHook(
      portNum,
      context
    );
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize message ID
    _status = msg.serializeFrom(
      static_cast<FwEnumStoreType>(RUN_SCHED)
    );
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize port number
    _status = msg.serializeFrom(portNum);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument context
    _status = msg.serializeFrom(context);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  void CommandDispatcherComponentBase ::
    seqCmdBuff_handlerBase(
        FwIndexType portNum,
        Fw::ComBuffer& data,
        U32 context
    )
  {
    // Make sure port number is valid
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_seqCmdBuff_InputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    // Call pre-message hook
    seqCmdBuff_preMsgHook(
      portNum,
      data,
      context
    );
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize message ID
    _status = msg.serializeFrom(
      static_cast<FwEnumStoreType>(SEQCMDBUFF_COM)
    );
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize port number
    _status = msg.serializeFrom(portNum);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument data
    _status = msg.serializeFrom(data);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Serialize argument context
    _status = msg.serializeFrom(context);
    FW_ASSERT(
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    if (qStatus == Os::Queue::Status::FULL) {
      this->seqCmdBuff_overflowHook(portNum, data, context);
      return;
    }

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  // ----------------------------------------------------------------------
  // Pre-message hooks for typed async input ports
  //
  // Each of these functions is invoked just before processing a message
  // on the corresponding port. By default, they do nothing. You can
  // override them to provide specific pre-message behavior.
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    compCmdStat_preMsgHook(
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        const Fw::CmdResponse& response
    )
  {
    // Default: no-op
  }

  void CommandDispatcherComponentBase ::
    pingIn_preMsgHook(
        FwIndexType portNum,
        U32 key
    )
  {
    // Default: no-op
  }

  void CommandDispatcherComponentBase ::
    run_preMsgHook(
        FwIndexType portNum,
        U32 context
    )
  {
    // Default: no-op
  }

  void CommandDispatcherComponentBase ::
    seqCmdBuff_preMsgHook(
        FwIndexType portNum,
        Fw::ComBuffer& data,
        U32 context
    )
  {
    // Default: no-op
  }

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Invocation functions for typed output ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    compCmdSend_out(
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_compCmdSend_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_compCmdSend_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_compCmdSend_OutputPort[portNum].invoke(
      opCode,
      cmdSeq,
      args
    );
  }

  void CommandDispatcherComponentBase ::
    pingOut_out(
        FwIndexType portNum,
        U32 key
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_pingOut_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_pingOut_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_pingOut_OutputPort[portNum].invoke(
      key
    );
  }

  void CommandDispatcherComponentBase ::
    seqCmdStatus_out(
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        const Fw::CmdResponse& response
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_seqCmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_seqCmdStatus_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_seqCmdStatus_OutputPort[portNum].invoke(
      opCode,
      cmdSeq,
      response
    );
  }

#endif

  // ----------------------------------------------------------------------
  // Command response
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    cmdResponse_out(
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdResponse response
    )
  {
    FW_ASSERT(this->isConnected_CmdStatus_OutputPort(0));
    this->CmdStatus_out(0, opCode, cmdSeq, response);
  }

  // ----------------------------------------------------------------------
  // Command handler base-class functions
  //
  // Call these functions directly to bypass the command input port
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    CMD_NO_OP_cmdHandlerBase(
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    )
  {
    // Call pre-message hook
    this->CMD_NO_OP_preMsgHook(opCode,cmdSeq);

    // Defer deserializing arguments to the message dispatcher
    // to avoid deserializing and reserializing just for IPC
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize for IPC
    _status = msg.serializeFrom(static_cast<FwEnumStoreType>(CMD_CMD_NO_OP));
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Fake port number to make message dequeue work
    FwIndexType port = 0;

    _status = msg.serializeFrom(port);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(opCode);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(cmdSeq);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(args);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  void CommandDispatcherComponentBase ::
    CMD_NO_OP_STRING_cmdHandlerBase(
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    )
  {
    // Call pre-message hook
    this->CMD_NO_OP_STRING_preMsgHook(opCode,cmdSeq);

    // Defer deserializing arguments to the message dispatcher
    // to avoid deserializing and reserializing just for IPC
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize for IPC
    _status = msg.serializeFrom(static_cast<FwEnumStoreType>(CMD_CMD_NO_OP_STRING));
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Fake port number to make message dequeue work
    FwIndexType port = 0;

    _status = msg.serializeFrom(port);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(opCode);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(cmdSeq);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(args);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  void CommandDispatcherComponentBase ::
    CMD_TEST_CMD_1_cmdHandlerBase(
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    )
  {
    // Call pre-message hook
    this->CMD_TEST_CMD_1_preMsgHook(opCode,cmdSeq);

    // Defer deserializing arguments to the message dispatcher
    // to avoid deserializing and reserializing just for IPC
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize for IPC
    _status = msg.serializeFrom(static_cast<FwEnumStoreType>(CMD_CMD_TEST_CMD_1));
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Fake port number to make message dequeue work
    FwIndexType port = 0;

    _status = msg.serializeFrom(port);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(opCode);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(cmdSeq);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(args);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  void CommandDispatcherComponentBase ::
    CMD_CLEAR_TRACKING_cmdHandlerBase(
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    )
  {
    // Call pre-message hook
    this->CMD_CLEAR_TRACKING_preMsgHook(opCode,cmdSeq);

    // Defer deserializing arguments to the message dispatcher
    // to avoid deserializing and reserializing just for IPC
    ComponentIpcSerializableBuffer msg;
    Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

    // Serialize for IPC
    _status = msg.serializeFrom(static_cast<FwEnumStoreType>(CMD_CMD_CLEAR_TRACKING));
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Fake port number to make message dequeue work
    FwIndexType port = 0;

    _status = msg.serializeFrom(port);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(opCode);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(cmdSeq);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    _status = msg.serializeFrom(args);
    FW_ASSERT (
      _status == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_status)
    );

    // Send message
    Os::Queue::BlockingType _block = Os::Queue::NONBLOCKING;
    Os::Queue::Status qStatus = this->m_queue.send(msg, 0, _block);

    FW_ASSERT(
      qStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(qStatus)
    );
  }

  // ----------------------------------------------------------------------
  // Pre-message hooks for async commands
  //
  // Each of these functions is invoked just before processing the
  // corresponding command. By default they do nothing. You can
  // override them to provide specific pre-command behavior.
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    CMD_NO_OP_preMsgHook(
        FwOpcodeType opCode,
        U32 cmdSeq
    )
  {
    // Defaults to no-op; can be overridden
    (void) opCode;
    (void) cmdSeq;
  }

  void CommandDispatcherComponentBase ::
    CMD_NO_OP_STRING_preMsgHook(
        FwOpcodeType opCode,
        U32 cmdSeq
    )
  {
    // Defaults to no-op; can be overridden
    (void) opCode;
    (void) cmdSeq;
  }

  void CommandDispatcherComponentBase ::
    CMD_TEST_CMD_1_preMsgHook(
        FwOpcodeType opCode,
        U32 cmdSeq
    )
  {
    // Defaults to no-op; can be overridden
    (void) opCode;
    (void) cmdSeq;
  }

  void CommandDispatcherComponentBase ::
    CMD_CLEAR_TRACKING_preMsgHook(
        FwOpcodeType opCode,
        U32 cmdSeq
    )
  {
    // Defaults to no-op; can be overridden
    (void) opCode;
    (void) cmdSeq;
  }

  // ----------------------------------------------------------------------
  // Event logging functions
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    log_DIAGNOSTIC_OpCodeRegistered(
        FwOpcodeType Opcode,
        I32 port,
        I32 slot
    ) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_OPCODEREGISTERED;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(3));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(I32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(port);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(I32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(slot);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::DIAGNOSTIC,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Opcode 0x%" PRIx32 " registered to port %" PRIi32 " slot %" PRIi32 "";
#else
      const char* _formatString =
        "%s: Opcode 0x%" PRIx32 " registered to port %" PRIi32 " slot %" PRIi32 "";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "OpCodeRegistered ",
        Opcode,
        port,
        slot
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::DIAGNOSTIC,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_COMMAND_OpCodeDispatched(
        FwOpcodeType Opcode,
        I32 port
    ) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_OPCODEDISPATCHED;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(2));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(I32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(port);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::COMMAND,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Opcode 0x%" PRIx32 " dispatched to port %" PRIi32 "";
#else
      const char* _formatString =
        "%s: Opcode 0x%" PRIx32 " dispatched to port %" PRIi32 "";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "OpCodeDispatched ",
        Opcode,
        port
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::COMMAND,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_COMMAND_OpCodeCompleted(FwOpcodeType Opcode) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_OPCODECOMPLETED;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(1));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::COMMAND,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Opcode 0x%" PRIx32 " completed";
#else
      const char* _formatString =
        "%s: Opcode 0x%" PRIx32 " completed";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "OpCodeCompleted ",
        Opcode
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::COMMAND,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_COMMAND_OpCodeError(
        FwOpcodeType Opcode,
        const Fw::CmdResponse& error
    ) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_OPCODEERROR;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(2));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(Fw::CmdResponse::SERIALIZED_SIZE)
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(error);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::COMMAND,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Opcode 0x%" PRIx32 " completed with error %s";
#else
      const char* _formatString =
        "%s: Opcode 0x%" PRIx32 " completed with error %s";
#endif

      Fw::String errorStr;
      error.toString(errorStr);

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "OpCodeError ",
        Opcode,
        errorStr.toChar()
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::COMMAND,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_WARNING_HI_MalformedCommand(const Fw::DeserialStatus& Status) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_MALFORMEDCOMMAND;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(1));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(Fw::DeserialStatus::SERIALIZED_SIZE)
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Status);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Received malformed command packet. Status: %s";
#else
      const char* _formatString =
        "%s: Received malformed command packet. Status: %s";
#endif

      Fw::String StatusStr;
      Status.toString(StatusStr);

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "MalformedCommand ",
        StatusStr.toChar()
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_WARNING_HI_InvalidCommand(FwOpcodeType Opcode) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_INVALIDCOMMAND;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(1));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Invalid opcode 0x%" PRIx32 " received";
#else
      const char* _formatString =
        "%s: Invalid opcode 0x%" PRIx32 " received";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "InvalidCommand ",
        Opcode
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_WARNING_HI_TooManyCommands(FwOpcodeType Opcode) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_TOOMANYCOMMANDS;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(1));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Too many outstanding commands. opcode=0x%" PRIx32 "";
#else
      const char* _formatString =
        "%s: Too many outstanding commands. opcode=0x%" PRIx32 "";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "TooManyCommands ",
        Opcode
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_ACTIVITY_HI_NoOpReceived() const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_NOOPRECEIVED;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;

#if FW_AMPCS_COMPATIBLE
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(0));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::ACTIVITY_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Received a NO-OP command";
#else
      const char* _formatString =
        "%s: Received a NO-OP command";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "NoOpReceived "
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::ACTIVITY_HI,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_ACTIVITY_HI_NoOpStringReceived(const Fw::StringBase& message) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_NOOPSTRINGRECEIVED;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(1));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

      _status = message.serializeTo(
        _logBuff,
        FW_MIN(static_cast<FwSizeType>(FW_LOG_STRING_MAX_SIZE), 40)
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::ACTIVITY_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Received a NO-OP string=%s";
#else
      const char* _formatString =
        "%s: Received a NO-OP string=%s";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "NoOpStringReceived ",
        message.toChar()
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::ACTIVITY_HI,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_ACTIVITY_HI_TestCmd1Args(
        I32 arg1,
        F32 arg2,
        U8 arg3
    ) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_TESTCMD1ARGS;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(3));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(I32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(arg1);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(F32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(arg2);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(U8))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(arg3);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::ACTIVITY_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: TEST_CMD_1 args: I32: %" PRIi32 ", F32: %f, U8: %" PRIu8 "";
#else
      const char* _formatString =
        "%s: TEST_CMD_1 args: I32: %" PRIi32 ", F32: %f, U8: %" PRIu8 "";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "TestCmd1Args ",
        arg1,
        static_cast<F64>(arg2),
        arg3
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::ACTIVITY_HI,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_DIAGNOSTIC_OpCodeReregistered(
        FwOpcodeType Opcode,
        I32 port
    ) const
  {
    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_OPCODEREREGISTERED;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(2));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Opcode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(I32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(port);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::DIAGNOSTIC,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Opcode 0x%" PRIx32 " is already registered to port %" PRIi32 "";
#else
      const char* _formatString =
        "%s: Opcode 0x%" PRIx32 " is already registered to port %" PRIi32 "";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "OpCodeReregistered ",
        Opcode,
        port
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::DIAGNOSTIC,
        _logString
      );
    }
#endif
  }

  void CommandDispatcherComponentBase ::
    log_WARNING_HI_CommandDroppedQueueOverflow(
        FwOpcodeType OpCode,
        U32 Context
    )
  {
    // Check throttle value
    if (this->m_CommandDroppedQueueOverflowThrottle >= EVENTID_COMMANDDROPPEDQUEUEOVERFLOW_THROTTLE) {
      return;
    }
    else {
      this->m_CommandDroppedQueueOverflowThrottle++;
    }

    // Get the time
    Fw::Time _logTime;
    if (this->isConnected_Time_OutputPort(0)) {
      this->Time_out(0, _logTime);
    }

    const FwEventIdType _id = this->getIdBase() + EVENTID_COMMANDDROPPEDQUEUEOVERFLOW;

    // Emit the event on the log port
    if (this->isConnected_Log_OutputPort(0)) {
      Fw::LogBuffer _logBuff;
      Fw::SerializeStatus _status = Fw::FW_SERIALIZE_OK;

#if FW_AMPCS_COMPATIBLE
      // Serialize the number of arguments
      _status = _logBuff.serializeFrom(static_cast<U8>(2));
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(FwOpcodeType))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(OpCode);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

#if FW_AMPCS_COMPATIBLE
      // Serialize the argument size
      _status = _logBuff.serializeFrom(
        static_cast<U8>(sizeof(U32))
      );
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );
#endif
      _status = _logBuff.serializeFrom(Context);
      FW_ASSERT(
        _status == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_status)
      );

      this->Log_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logBuff
      );
    }

    // Emit the event on the text log port
#if FW_ENABLE_TEXT_LOGGING
    if (this->isConnected_LogText_OutputPort(0)) {
#if FW_OBJECT_NAMES == 1
      const char* _formatString =
        "(%s) %s: Opcode 0x%" PRIx32 " was dropped due to buffer overflow and not processed. Context %" PRIu32 "";
#else
      const char* _formatString =
        "%s: Opcode 0x%" PRIx32 " was dropped due to buffer overflow and not processed. Context %" PRIu32 "";
#endif

      Fw::TextLogString _logString;
      (void) _logString.format(
        _formatString,
#if FW_OBJECT_NAMES == 1
        this->m_objName.toChar(),
#endif
        "CommandDroppedQueueOverflow ",
        OpCode,
        Context
      );

      this->LogText_out(
        0,
        _id,
        _logTime,
        Fw::LogSeverity::WARNING_HI,
        _logString
      );
    }
#endif
  }

  // ----------------------------------------------------------------------
  // Event throttle reset functions
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    log_WARNING_HI_CommandDroppedQueueOverflow_ThrottleClear()
  {
    // Reset throttle counter
    this->m_CommandDroppedQueueOverflowThrottle = 0;
  }

  // ----------------------------------------------------------------------
  // Telemetry serialized write
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    tlmWrite(
        FwChanIdType id,
        Fw::TlmBuffer& _tlmBuff,
        Fw::Time _tlmTime
    ) const
  {
    if (this->isConnected_Tlm_OutputPort(0)) {
      if (
        this->isConnected_Time_OutputPort(0) &&
        (_tlmTime ==  Fw::ZERO_TIME)
      ) {
        this->Time_out(0, _tlmTime);
      }

      FwChanIdType _id;
      _id = this->getIdBase() + id;

      this->Tlm_out(
        0,
        _id,
        _tlmTime,
        _tlmBuff
      );
    }
  }

  // ----------------------------------------------------------------------
  // Telemetry write functions
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    tlmWrite_CommandsDispatched(
        U32 arg,
        Fw::Time _tlmTime
    )
  {
    // Check to see if it is the first time
    if (not this->m_first_update_CommandsDispatched) {
      // Check to see if value has changed. If not, don't write it.
      if (arg == this->m_last_CommandsDispatched) {
        return;
      }
      else {
        this->m_last_CommandsDispatched = arg;
      }
    }
    else {
      this->m_first_update_CommandsDispatched = false;
      this->m_last_CommandsDispatched = arg;
    }

    if (this->isConnected_Tlm_OutputPort(0)) {
      Fw::TlmBuffer _tlmBuff;
      Fw::SerializeStatus _stat = _tlmBuff.serializeFrom(arg);
      FW_ASSERT(
        _stat == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_stat)
      );

      this->tlmWrite(
        CHANNELID_COMMANDSDISPATCHED,
        _tlmBuff,
        _tlmTime
      );
    }
  }

  void CommandDispatcherComponentBase ::
    tlmWrite_CommandErrors(
        U32 arg,
        Fw::Time _tlmTime
    )
  {
    // Check to see if it is the first time
    if (not this->m_first_update_CommandErrors) {
      // Check to see if value has changed. If not, don't write it.
      if (arg == this->m_last_CommandErrors) {
        return;
      }
      else {
        this->m_last_CommandErrors = arg;
      }
    }
    else {
      this->m_first_update_CommandErrors = false;
      this->m_last_CommandErrors = arg;
    }

    if (this->isConnected_Tlm_OutputPort(0)) {
      Fw::TlmBuffer _tlmBuff;
      Fw::SerializeStatus _stat = _tlmBuff.serializeFrom(arg);
      FW_ASSERT(
        _stat == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_stat)
      );

      this->tlmWrite(
        CHANNELID_COMMANDERRORS,
        _tlmBuff,
        _tlmTime
      );
    }
  }

  void CommandDispatcherComponentBase ::
    tlmWrite_CommandsDropped(
        U32 arg,
        Fw::Time _tlmTime
    )
  {
    // Check to see if it is the first time
    if (not this->m_first_update_CommandsDropped) {
      // Check to see if value has changed. If not, don't write it.
      if (arg == this->m_last_CommandsDropped) {
        return;
      }
      else {
        this->m_last_CommandsDropped = arg;
      }
    }
    else {
      this->m_first_update_CommandsDropped = false;
      this->m_last_CommandsDropped = arg;
    }

    if (this->isConnected_Tlm_OutputPort(0)) {
      Fw::TlmBuffer _tlmBuff;
      Fw::SerializeStatus _stat = _tlmBuff.serializeFrom(arg);
      FW_ASSERT(
        _stat == Fw::FW_SERIALIZE_OK,
        static_cast<FwAssertArgType>(_stat)
      );

      this->tlmWrite(
        CHANNELID_COMMANDSDROPPED,
        _tlmBuff,
        _tlmTime
      );
    }
  }

  // ----------------------------------------------------------------------
  // Time
  // ----------------------------------------------------------------------

  Fw::Time CommandDispatcherComponentBase ::
    getTime() const
  {
    if (this->isConnected_Time_OutputPort(0)) {
      Fw::Time _time;
      this->Time_out(0, _time);
      return _time;
    }
    else {
      return Fw::Time(TimeBase::TB_NONE, 0, 0);
    }
  }

  // ----------------------------------------------------------------------
  // Mutex operations for guarded ports
  //
  // You can override these operations to provide more sophisticated
  // synchronization
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    lock()
  {
    this->m_guardedPortMutex.lock();
  }

  void CommandDispatcherComponentBase ::
    unLock()
  {
    this->m_guardedPortMutex.unLock();
  }

  // ----------------------------------------------------------------------
  // Message dispatch functions
  // ----------------------------------------------------------------------

  Fw::QueuedComponentBase::MsgDispatchStatus CommandDispatcherComponentBase ::
    doDispatch()
  {
    ComponentIpcSerializableBuffer _msg;
    FwQueuePriorityType _priority = 0;

    Os::Queue::Status _msgStatus = this->m_queue.receive(
      _msg,
      Os::Queue::BLOCKING,
      _priority
    );
    FW_ASSERT(
      _msgStatus == Os::Queue::OP_OK,
      static_cast<FwAssertArgType>(_msgStatus)
    );

    // Reset to beginning of buffer
    _msg.resetDeser();

    FwEnumStoreType _desMsg = 0;
    Fw::SerializeStatus _deserStatus = _msg.deserializeTo(_desMsg);
    FW_ASSERT(
      _deserStatus == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_deserStatus)
    );

    MsgTypeEnum _msgType = static_cast<MsgTypeEnum>(_desMsg);

    if (_msgType == COMMANDDISPATCHER_COMPONENT_EXIT) {
      return MSG_DISPATCH_EXIT;
    }

    FwIndexType portNum = 0;
    _deserStatus = _msg.deserializeTo(portNum);
    FW_ASSERT(
      _deserStatus == Fw::FW_SERIALIZE_OK,
      static_cast<FwAssertArgType>(_deserStatus)
    );

    switch (_msgType) {
      // Handle async input port compCmdStat
      case COMPCMDSTAT_CMDRESPONSE: {
        // Deserialize argument opCode
        FwOpcodeType opCode;
        _deserStatus = _msg.deserializeTo(opCode);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize argument cmdSeq
        U32 cmdSeq;
        _deserStatus = _msg.deserializeTo(cmdSeq);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize argument response
        Fw::CmdResponse response;
        _deserStatus = _msg.deserializeTo(response);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );
        // Call handler function
        this->compCmdStat_handler(
          portNum,
          opCode,
          cmdSeq,
          response
        );

        break;
      }

      // Handle async input port pingIn
      case PINGIN_PING: {
        // Deserialize argument key
        U32 key;
        _deserStatus = _msg.deserializeTo(key);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );
        // Call handler function
        this->pingIn_handler(
          portNum,
          key
        );

        break;
      }

      // Handle async input port run
      case RUN_SCHED: {
        // Deserialize argument context
        U32 context;
        _deserStatus = _msg.deserializeTo(context);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );
        // Call handler function
        this->run_handler(
          portNum,
          context
        );

        break;
      }

      // Handle async input port seqCmdBuff
      case SEQCMDBUFF_COM: {
        // Deserialize argument data
        Fw::ComBuffer data;
        _deserStatus = _msg.deserializeTo(data);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize argument context
        U32 context;
        _deserStatus = _msg.deserializeTo(context);
        FW_ASSERT(
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );
        // Call handler function
        this->seqCmdBuff_handler(
          portNum,
          data,
          context
        );

        break;
      }

      // Handle command CMD_NO_OP
      case CMD_CMD_NO_OP: {
        // Deserialize opcode
        FwOpcodeType _opCode = 0;
        _deserStatus = _msg.deserializeTo(_opCode);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command sequence
        U32 _cmdSeq = 0;
        _deserStatus = _msg.deserializeTo(_cmdSeq);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command argument buffer
        Fw::CmdArgBuffer args;
        _deserStatus = _msg.deserializeTo(args);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Reset buffer
        args.resetDeser();

        // Make sure there was no data left over.
        // That means the argument buffer size was incorrect.
#if FW_CMD_CHECK_RESIDUAL
        if (args.getDeserializeSizeLeft() != 0) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(_opCode, _cmdSeq, Fw::CmdResponse::FORMAT_ERROR);
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }
#endif

        // Call handler function
        this->CMD_NO_OP_cmdHandler(_opCode, _cmdSeq);

        break;
      }

      // Handle command CMD_NO_OP_STRING
      case CMD_CMD_NO_OP_STRING: {
        // Deserialize opcode
        FwOpcodeType _opCode = 0;
        _deserStatus = _msg.deserializeTo(_opCode);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command sequence
        U32 _cmdSeq = 0;
        _deserStatus = _msg.deserializeTo(_cmdSeq);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command argument buffer
        Fw::CmdArgBuffer args;
        _deserStatus = _msg.deserializeTo(args);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Reset buffer
        args.resetDeser();

        // Deserialize argument arg1
        Fw::CmdStringArg arg1;
        _deserStatus = args.deserializeTo(arg1);
        if (_deserStatus != Fw::FW_SERIALIZE_OK) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(
                _opCode,
                _cmdSeq,
                Fw::CmdResponse::FORMAT_ERROR
            );
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }

        // Make sure there was no data left over.
        // That means the argument buffer size was incorrect.
#if FW_CMD_CHECK_RESIDUAL
        if (args.getDeserializeSizeLeft() != 0) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(_opCode, _cmdSeq, Fw::CmdResponse::FORMAT_ERROR);
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }
#endif

        // Call handler function
        this->CMD_NO_OP_STRING_cmdHandler(
          _opCode, _cmdSeq,
          arg1
        );

        break;
      }

      // Handle command CMD_TEST_CMD_1
      case CMD_CMD_TEST_CMD_1: {
        // Deserialize opcode
        FwOpcodeType _opCode = 0;
        _deserStatus = _msg.deserializeTo(_opCode);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command sequence
        U32 _cmdSeq = 0;
        _deserStatus = _msg.deserializeTo(_cmdSeq);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command argument buffer
        Fw::CmdArgBuffer args;
        _deserStatus = _msg.deserializeTo(args);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Reset buffer
        args.resetDeser();

        // Deserialize argument arg1
        I32 arg1;
        _deserStatus = args.deserializeTo(arg1);
        if (_deserStatus != Fw::FW_SERIALIZE_OK) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(
                _opCode,
                _cmdSeq,
                Fw::CmdResponse::FORMAT_ERROR
            );
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }

        // Deserialize argument arg2
        F32 arg2;
        _deserStatus = args.deserializeTo(arg2);
        if (_deserStatus != Fw::FW_SERIALIZE_OK) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(
                _opCode,
                _cmdSeq,
                Fw::CmdResponse::FORMAT_ERROR
            );
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }

        // Deserialize argument arg3
        U8 arg3;
        _deserStatus = args.deserializeTo(arg3);
        if (_deserStatus != Fw::FW_SERIALIZE_OK) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(
                _opCode,
                _cmdSeq,
                Fw::CmdResponse::FORMAT_ERROR
            );
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }

        // Make sure there was no data left over.
        // That means the argument buffer size was incorrect.
#if FW_CMD_CHECK_RESIDUAL
        if (args.getDeserializeSizeLeft() != 0) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(_opCode, _cmdSeq, Fw::CmdResponse::FORMAT_ERROR);
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }
#endif

        // Call handler function
        this->CMD_TEST_CMD_1_cmdHandler(
          _opCode, _cmdSeq,
          arg1,
          arg2,
          arg3
        );

        break;
      }

      // Handle command CMD_CLEAR_TRACKING
      case CMD_CMD_CLEAR_TRACKING: {
        // Deserialize opcode
        FwOpcodeType _opCode = 0;
        _deserStatus = _msg.deserializeTo(_opCode);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command sequence
        U32 _cmdSeq = 0;
        _deserStatus = _msg.deserializeTo(_cmdSeq);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Deserialize command argument buffer
        Fw::CmdArgBuffer args;
        _deserStatus = _msg.deserializeTo(args);
        FW_ASSERT (
          _deserStatus == Fw::FW_SERIALIZE_OK,
          static_cast<FwAssertArgType>(_deserStatus)
        );

        // Reset buffer
        args.resetDeser();

        // Make sure there was no data left over.
        // That means the argument buffer size was incorrect.
#if FW_CMD_CHECK_RESIDUAL
        if (args.getDeserializeSizeLeft() != 0) {
          if (this->isConnected_CmdStatus_OutputPort(0)) {
            this->cmdResponse_out(_opCode, _cmdSeq, Fw::CmdResponse::FORMAT_ERROR);
          }
          // Don't crash the task if bad arguments were passed from the ground
          break;
        }
#endif

        // Call handler function
        this->CMD_CLEAR_TRACKING_cmdHandler(_opCode, _cmdSeq);

        break;
      }

      default:
        return MSG_DISPATCH_ERROR;
    }

    return MSG_DISPATCH_OK;
  }

  // ----------------------------------------------------------------------
  // Calls for messages received on special input ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    m_p_CmdDisp_in(
        Fw::PassiveComponentBase* callComp,
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        Fw::CmdArgBuffer& args
    )
  {
    FW_ASSERT(callComp != nullptr);
    CommandDispatcherComponentBase* compPtr = static_cast<CommandDispatcherComponentBase*>(callComp);
    compPtr->CmdDisp_handlerBase(
      portNum,
      opCode,
      cmdSeq,
      args
    );
  }

  // ----------------------------------------------------------------------
  // Calls for messages received on typed input ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    m_p_compCmdReg_in(
        Fw::PassiveComponentBase* callComp,
        FwIndexType portNum,
        FwOpcodeType opCode
    )
  {
    FW_ASSERT(callComp != nullptr);
    CommandDispatcherComponentBase* compPtr = static_cast<CommandDispatcherComponentBase*>(callComp);
    compPtr->compCmdReg_handlerBase(
      portNum,
      opCode
    );
  }

  void CommandDispatcherComponentBase ::
    m_p_compCmdStat_in(
        Fw::PassiveComponentBase* callComp,
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        const Fw::CmdResponse& response
    )
  {
    FW_ASSERT(callComp != nullptr);
    CommandDispatcherComponentBase* compPtr = static_cast<CommandDispatcherComponentBase*>(callComp);
    compPtr->compCmdStat_handlerBase(
      portNum,
      opCode,
      cmdSeq,
      response
    );
  }

  void CommandDispatcherComponentBase ::
    m_p_pingIn_in(
        Fw::PassiveComponentBase* callComp,
        FwIndexType portNum,
        U32 key
    )
  {
    FW_ASSERT(callComp != nullptr);
    CommandDispatcherComponentBase* compPtr = static_cast<CommandDispatcherComponentBase*>(callComp);
    compPtr->pingIn_handlerBase(
      portNum,
      key
    );
  }

  void CommandDispatcherComponentBase ::
    m_p_run_in(
        Fw::PassiveComponentBase* callComp,
        FwIndexType portNum,
        U32 context
    )
  {
    FW_ASSERT(callComp != nullptr);
    CommandDispatcherComponentBase* compPtr = static_cast<CommandDispatcherComponentBase*>(callComp);
    compPtr->run_handlerBase(
      portNum,
      context
    );
  }

  void CommandDispatcherComponentBase ::
    m_p_seqCmdBuff_in(
        Fw::PassiveComponentBase* callComp,
        FwIndexType portNum,
        Fw::ComBuffer& data,
        U32 context
    )
  {
    FW_ASSERT(callComp != nullptr);
    CommandDispatcherComponentBase* compPtr = static_cast<CommandDispatcherComponentBase*>(callComp);
    compPtr->seqCmdBuff_handlerBase(
      portNum,
      data,
      context
    );
  }

#if !FW_DIRECT_PORT_CALLS

  // ----------------------------------------------------------------------
  // Invocation functions for special output ports
  // ----------------------------------------------------------------------

  void CommandDispatcherComponentBase ::
    CmdReg_out(
        FwIndexType portNum,
        FwOpcodeType opCode
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdReg_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_CmdReg_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_CmdReg_OutputPort[portNum].invoke(
      opCode
    );
  }

  void CommandDispatcherComponentBase ::
    CmdStatus_out(
        FwIndexType portNum,
        FwOpcodeType opCode,
        U32 cmdSeq,
        const Fw::CmdResponse& response
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_CmdStatus_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_CmdStatus_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_CmdStatus_OutputPort[portNum].invoke(
      opCode,
      cmdSeq,
      response
    );
  }

  void CommandDispatcherComponentBase ::
    Log_out(
        FwIndexType portNum,
        FwEventIdType id,
        Fw::Time& timeTag,
        const Fw::LogSeverity& severity,
        Fw::LogBuffer& args
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Log_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_Log_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_Log_OutputPort[portNum].invoke(
      id,
      timeTag,
      severity,
      args
    );
  }

#if FW_ENABLE_TEXT_LOGGING

  void CommandDispatcherComponentBase ::
    LogText_out(
        FwIndexType portNum,
        FwEventIdType id,
        Fw::Time& timeTag,
        const Fw::LogSeverity& severity,
        Fw::TextLogString& text
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_LogText_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_LogText_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_LogText_OutputPort[portNum].invoke(
      id,
      timeTag,
      severity,
      text
    );
  }

#endif

  void CommandDispatcherComponentBase ::
    Time_out(
        FwIndexType portNum,
        Fw::Time& time
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Time_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_Time_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_Time_OutputPort[portNum].invoke(
      time
    );
  }

  void CommandDispatcherComponentBase ::
    Tlm_out(
        FwIndexType portNum,
        FwChanIdType id,
        Fw::Time& timeTag,
        Fw::TlmBuffer& val
    ) const
  {
    FW_ASSERT(
      (0 <= portNum) && (portNum < this->getNum_Tlm_OutputPorts()),
      static_cast<FwAssertArgType>(portNum)
    );

    FW_ASSERT(
      this->m_Tlm_OutputPort[portNum].isConnected(),
      static_cast<FwAssertArgType>(portNum)
    );
    this->m_Tlm_OutputPort[portNum].invoke(
      id,
      timeTag,
      val
    );
  }

#endif

}