fsfw/hal/src/fsfw_hal/linux/uart/UartComIF.cpp

#include "UartComIF.h"
#include "fsfw/FSFW.h"

#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface.h"

#include <cstring>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <unistd.h>

UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
}

UartComIF::~UartComIF() {}

ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {

    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;

    if(cookie == nullptr) {
        return NULLPOINTER;
    }

    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }

    deviceFile = uartCookie->getDeviceFile();

    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
    if(uartDeviceMapIter == uartDeviceMap.end()) {
        int fileDescriptor = configureUartPort(uartCookie);
        if (fileDescriptor < 0) {
            return RETURN_FAILED;
        }
        size_t maxReplyLen = uartCookie->getMaxReplyLen();
        UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
        auto status = uartDeviceMap.emplace(deviceFile, uartElements);
        if (status.second == false) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
                    deviceFile << "to UART device map" << std::endl;
#endif
            return RETURN_FAILED;
        }
    }
    else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
                " already in use" << std::endl;
#endif
        return RETURN_FAILED;
    }

    return RETURN_OK;
}

int UartComIF::configureUartPort(UartCookie* uartCookie) {

    struct termios options = {};

    std::string deviceFile = uartCookie->getDeviceFile();
    int flags = O_RDWR;
    if(uartCookie->getUartMode() == UartModes::CANONICAL) {
        // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
        // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
        flags |= O_NONBLOCK;
    }
    int fd = open(deviceFile.c_str(), flags);

    if (fd < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
                "with error code " << errno << strerror(errno) << std::endl;
#endif
        return fd;
    }

    /* Read in existing settings */
    if(tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
                << strerror(errno) << std::endl;
#endif
        return fd;
    }

    setParityOptions(&options, uartCookie);
    setStopBitOptions(&options, uartCookie);
    setDatasizeOptions(&options, uartCookie);
    setFixedOptions(&options);
    setUartMode(&options, *uartCookie);
    if(uartCookie->getInputShouldBeFlushed()) {
        tcflush(fd, TCIFLUSH);
    }

    /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
    options.c_cc[VTIME] = 0;
    options.c_cc[VMIN] = 0;

    configureBaudrate(&options, uartCookie);

    /* Save option settings */
    if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
                errno << ": " << strerror(errno);
#endif
        return fd;
    }
    return fd;
}

void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
    /* Clear parity bit */
    options->c_cflag &= ~PARENB;
    switch (uartCookie->getParity()) {
    case Parity::EVEN:
        options->c_cflag |= PARENB;
        options->c_cflag &= ~PARODD;
        break;
    case Parity::ODD:
        options->c_cflag |= PARENB;
        options->c_cflag |= PARODD;
        break;
    default:
        break;
    }
}

void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
    /* Clear stop field. Sets stop bit to one bit */
    options->c_cflag &= ~CSTOPB;
    switch (uartCookie->getStopBits()) {
    case StopBits::TWO_STOP_BITS:
        options->c_cflag |= CSTOPB;
        break;
    default:
        break;
    }
}

void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
    /* Clear size bits */
    options->c_cflag &= ~CSIZE;
    switch (uartCookie->getBitsPerWord()) {
    case 5:
        options->c_cflag |= CS5;
        break;
    case 6:
        options->c_cflag |= CS6;
        break;
    case 7:
        options->c_cflag |= CS7;
        break;
    case 8:
        options->c_cflag |= CS8;
        break;
    default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
#endif
        break;
    }
}

void UartComIF::setFixedOptions(struct termios* options) {
    /* Disable RTS/CTS hardware flow control */
    options->c_cflag &= ~CRTSCTS;
    /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
    options->c_cflag |= CREAD | CLOCAL;
    /* Disable echo */
    options->c_lflag &= ~ECHO;
    /* Disable erasure */
    options->c_lflag &= ~ECHOE;
    /* Disable new-line echo */
    options->c_lflag &= ~ECHONL;
    /* Disable interpretation of INTR, QUIT and SUSP */
    options->c_lflag &= ~ISIG;
    /* Turn off s/w flow ctrl */
    options->c_iflag &= ~(IXON | IXOFF | IXANY);
    /* Disable any special handling of received bytes */
    options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
    /* Prevent special interpretation of output bytes (e.g. newline chars) */
    options->c_oflag &= ~OPOST;
    /* Prevent conversion of newline to carriage return/line feed */
    options->c_oflag &= ~ONLCR;
}

void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
    switch (uartCookie->getBaudrate()) {
    case 50:
        cfsetispeed(options, B50);
        cfsetospeed(options, B50);
        break;
    case 75:
        cfsetispeed(options, B75);
        cfsetospeed(options, B75);
        break;
    case 110:
        cfsetispeed(options, B110);
        cfsetospeed(options, B110);
        break;
    case 134:
        cfsetispeed(options, B134);
        cfsetospeed(options, B134);
        break;
    case 150:
        cfsetispeed(options, B150);
        cfsetospeed(options, B150);
        break;
    case 200:
        cfsetispeed(options, B200);
        cfsetospeed(options, B200);
        break;
    case 300:
        cfsetispeed(options, B300);
        cfsetospeed(options, B300);
        break;
    case 600:
        cfsetispeed(options, B600);
        cfsetospeed(options, B600);
        break;
    case 1200:
        cfsetispeed(options, B1200);
        cfsetospeed(options, B1200);
        break;
    case 1800:
        cfsetispeed(options, B1800);
        cfsetospeed(options, B1800);
        break;
    case 2400:
        cfsetispeed(options, B2400);
        cfsetospeed(options, B2400);
        break;
    case 4800:
        cfsetispeed(options, B4800);
        cfsetospeed(options, B4800);
        break;
    case 9600:
        cfsetispeed(options, B9600);
        cfsetospeed(options, B9600);
        break;
    case 19200:
        cfsetispeed(options, B19200);
        cfsetospeed(options, B19200);
        break;
    case 38400:
        cfsetispeed(options, B38400);
        cfsetospeed(options, B38400);
        break;
    case 57600:
        cfsetispeed(options, B57600);
        cfsetospeed(options, B57600);
        break;
    case 115200:
        cfsetispeed(options, B115200);
        cfsetospeed(options, B115200);
        break;
    case 230400:
        cfsetispeed(options, B230400);
        cfsetospeed(options, B230400);
        break;
    case 460800:
        cfsetispeed(options, B460800);
        cfsetospeed(options, B460800);
        break;
    default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
        break;
    }
}

ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
        const uint8_t *sendData, size_t sendLen) {
    int fd = 0;
    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;

    if(sendLen == 0) {
        return RETURN_OK;
    }

    if(sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
        return RETURN_FAILED;
    }

    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }

    deviceFile = uartCookie->getDeviceFile();
    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
    if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
                "not in UART map" << std::endl;
#endif
        return RETURN_FAILED;
    }

    fd = uartDeviceMapIter->second.fileDescriptor;

    if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
                errno << ": Error description: " << strerror(errno) << std::endl;
#endif
        return RETURN_FAILED;
    }

    return RETURN_OK;
}

ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
    return RETURN_OK;
}

ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;

    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }

    UartModes uartMode = uartCookie->getUartMode();
    deviceFile = uartCookie->getDeviceFile();
    uartDeviceMapIter = uartDeviceMap.find(deviceFile);

    if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
        return RETURN_OK;
    }

    if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                << " not in uart map" << std::endl;
#endif
        return RETURN_FAILED;
    }

    if (uartMode == UartModes::CANONICAL) {
        return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
    }
    else if (uartMode == UartModes::NON_CANONICAL) {
        return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
    }
    else {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
}

ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
        size_t requestLen) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    uint8_t maxReadCycles = uartCookie.getReadCycles();
    uint8_t currentReadCycles = 0;
    int bytesRead = 0;
    size_t currentBytesRead = 0;
    size_t maxReplySize = uartCookie.getMaxReplyLen();
    int fd = iter->second.fileDescriptor;
    auto bufferPtr = iter->second.replyBuffer.data();
    iter->second.replyLen = 0;
    do {
        size_t allowedReadSize = 0;
        if(currentBytesRead >= maxReplySize) {
            // Overflow risk. Emit warning, trigger event and break. If this happens,
            // the reception buffer is not large enough or data is not polled often enough.
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                    << std::endl;
#else
            sif::printWarning("UartComIF::requestReceiveMessage: "
                    "Next read would cause overflow!");
#endif
#endif
            result = UART_RX_BUFFER_TOO_SMALL;
            break;
        }
        else {
            allowedReadSize = maxReplySize - currentBytesRead;
        }

        bytesRead = read(fd, bufferPtr, allowedReadSize);
        if (bytesRead < 0) {
            // EAGAIN: No data available in non-blocking mode
            if(errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
                        errno << ": " << strerror(errno) << std::endl;
#else
                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
                        errno, strerror(errno));
#endif
#endif
                return RETURN_FAILED;
            }

        }
        else if(bytesRead > 0) {
            iter->second.replyLen += bytesRead;
            bufferPtr += bytesRead;
            currentBytesRead += bytesRead;
        }
        currentReadCycles++;
    } while(bytesRead > 0 and currentReadCycles < maxReadCycles);
    return result;
}

ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
        size_t requestLen) {
    int fd = iter->second.fileDescriptor;
    auto bufferPtr = iter->second.replyBuffer.data();
    // Size check to prevent buffer overflow
    if(requestLen > uartCookie.getMaxReplyLen()) {
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                << std::endl;
#else
        sif::printWarning("UartComIF::requestReceiveMessage: "
                "Next read would cause overflow!");
#endif
#endif
        return UART_RX_BUFFER_TOO_SMALL;
    }
    int bytesRead = read(fd, bufferPtr, requestLen);
    if (bytesRead < 0) {
        return RETURN_FAILED;
    }
    else if (bytesRead != static_cast<int>(requestLen)) {
        if(uartCookie.isReplySizeFixed()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
                    " of " << requestLen << " bytes" << std::endl;
#endif
            return RETURN_FAILED;
        }
    }
    iter->second.replyLen = bytesRead;
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
        uint8_t **buffer, size_t* size) {

    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;

    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }

    deviceFile = uartCookie->getDeviceFile();
    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
    if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
                " not in uart map" << std::endl;
#endif
        return RETURN_FAILED;
    }

    *buffer = uartDeviceMapIter->second.replyBuffer.data();
    *size = uartDeviceMapIter->second.replyLen;

    /* Length is reset to 0 to prevent reading the same data twice */
    uartDeviceMapIter->second.replyLen = 0;

    return RETURN_OK;
}

ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;
    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }
    deviceFile = uartCookie->getDeviceFile();
    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
    if(uartDeviceMapIter != uartDeviceMap.end()) {
        int fd = uartDeviceMapIter->second.fileDescriptor;
        tcflush(fd, TCIFLUSH);
        return RETURN_OK;
    }
    return RETURN_FAILED;
}

ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;
    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }
    deviceFile = uartCookie->getDeviceFile();
    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
    if(uartDeviceMapIter != uartDeviceMap.end()) {
        int fd = uartDeviceMapIter->second.fileDescriptor;
        tcflush(fd, TCOFLUSH);
        return RETURN_OK;
    }
    return RETURN_FAILED;
}

ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;
    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
#endif
        return NULLPOINTER;
    }
    deviceFile = uartCookie->getDeviceFile();
    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
    if(uartDeviceMapIter != uartDeviceMap.end()) {
        int fd = uartDeviceMapIter->second.fileDescriptor;
        tcflush(fd, TCIOFLUSH);
        return RETURN_OK;
    }
    return RETURN_FAILED;
}

void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
    UartModes uartMode = uartCookie.getUartMode();
    if(uartMode == UartModes::NON_CANONICAL) {
        /* Disable canonical mode */
        options->c_lflag &= ~ICANON;
    }
    else if(uartMode == UartModes::CANONICAL) {
        options->c_lflag |= ICANON;
    }
}