adapt to develop
This commit is contained in:
Jakob Meier
parent
c0648a789b
commit
018d814f29
@ -7,8 +7,8 @@
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#include <cstring>
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#include "OBSWConfig.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/utility.h"
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UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
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@ -25,7 +25,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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@ -41,13 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
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auto status = uartDeviceMap.emplace(deviceFile, uartElements);
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if (status.second == false) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
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<< "to UART device map" << std::endl;
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#endif
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return RETURN_FAILED;
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}
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} else {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
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<< " already in use" << std::endl;
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#endif
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return RETURN_FAILED;
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}
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@ -67,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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int fd = open(deviceFile.c_str(), flags);
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if (fd < 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
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<< "with error code " << errno << strerror(errno) << std::endl;
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#endif
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return fd;
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}
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/* Read in existing settings */
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if (tcgetattr(fd, &options) != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Error " << errno
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<< "from tcgetattr: " << strerror(errno) << std::endl;
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#endif
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return fd;
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}
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@ -96,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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/* Save option settings */
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
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<< ": " << strerror(errno);
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#endif
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return fd;
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}
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return fd;
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@ -149,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
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options->c_cflag |= CS8;
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break;
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
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#endif
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break;
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}
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}
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@ -300,7 +314,9 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
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cfsetospeed(options, B4000000);
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break;
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
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#endif
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break;
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}
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}
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@ -315,29 +331,37 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
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}
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if (sendData == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
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#endif
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return RETURN_FAILED;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
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<< std::endl;
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#endif
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return RETURN_FAILED;
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}
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fd = uartDeviceMapIter->second.fileDescriptor;
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
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<< ": Error description: " << strerror(errno) << std::endl;
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#endif
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return RETURN_FAILED;
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}
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@ -352,7 +376,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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@ -365,8 +391,10 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
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}
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
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<< " not in uart map" << std::endl;
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#endif
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return RETURN_FAILED;
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}
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@ -460,8 +488,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
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return RETURN_FAILED;
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} else if (bytesRead != static_cast<int>(requestLen)) {
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if (uartCookie.isReplySizeFixed()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
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<< requestLen << " bytes" << std::endl;
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#endif
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return RETURN_FAILED;
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}
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}
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@ -475,15 +505,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
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<< std::endl;
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#endif
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return RETURN_FAILED;
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}
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@ -501,7 +535,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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@ -519,7 +555,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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@ -537,7 +575,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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