Merge branch 'development' into mueller/local-pool-update-remove-ignore-fault-arg
This commit is contained in:
commit
68223869d5
@ -122,6 +122,7 @@ if(UNIX)
|
||||
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
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OFF)
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option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
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option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
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endif()
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# Optional sources
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||||
|
@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
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find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
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find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
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find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
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find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
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find_program( GCOVR_PATH gcovr )
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find_program( CPPFILT_PATH NAMES c++filt )
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if(NOT GCOV_PATH)
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|
@ -4,7 +4,6 @@
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/events/EventManager.h>
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#include <fsfw/health/HealthTable.h>
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#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include <fsfw/internalerror/InternalErrorReporter.h>
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@ -41,13 +40,9 @@ void Factory::setStaticFrameworkObjectIds() {
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CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
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CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
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VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
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DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
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DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
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DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
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TmPacketBase::timeStamperId = objects::NO_OBJECT;
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}
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|
@ -20,15 +20,19 @@ class FixedArrayList : public ArrayList<T, count_t> {
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FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}
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FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
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memcpy(this->data, other.data, sizeof(this->data));
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this->entries = data;
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this->size = other.size;
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for (size_t idx = 0; idx < this->size; idx++) {
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data[idx] = other.data[idx];
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}
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}
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FixedArrayList& operator=(FixedArrayList other) {
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memcpy(this->data, other.data, sizeof(this->data));
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this->entries = data;
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this->size = other.size;
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for (size_t idx = 0; idx < this->size; idx++) {
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data[idx] = other.data[idx];
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}
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return *this;
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}
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|
@ -1,8 +1,8 @@
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#include "fsfw/globalfunctions/timevalOperations.h"
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timeval& operator+=(timeval& lhs, const timeval& rhs) {
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int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
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sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
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int64_t sum = static_cast<int64_t>(lhs.tv_sec) * 1000000. + lhs.tv_usec;
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sum += static_cast<int64_t>(rhs.tv_sec) * 1000000. + rhs.tv_usec;
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lhs.tv_sec = sum / 1000000;
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lhs.tv_usec = sum - lhs.tv_sec * 1000000;
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return lhs;
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|
@ -1,6 +1,7 @@
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#include "fsfw/osal/common/TcpIpBase.h"
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#include "fsfw/platform.h"
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#include "fsfw/serviceinterface.h"
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#ifdef PLATFORM_UNIX
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#include <errno.h>
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|
@ -8,6 +8,7 @@
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#if defined(PLATFORM_WIN)
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#include <sysinfoapi.h>
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#define timegm _mkgmtime
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#elif defined(PLATFORM_UNIX)
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#include <fstream>
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#endif
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|
@ -1,5 +1,7 @@
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#include "fsfw/osal/windows/winTaskHelpers.h"
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#include <windows.h>
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#include <mutex>
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TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {
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|
@ -1,10 +1,12 @@
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#include <map>
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#include <thread>
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#include "../../tasks/TaskFactory.h"
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#include "fsfw/tasks/TaskFactory.h"
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#ifdef _WIN32
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#include <minwindef.h>
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namespace tasks {
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enum PriorityClass : uint16_t {
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|
@ -3,7 +3,6 @@
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||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
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||||
#include <cinttypes>
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||||
#include <cstring>
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||||
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||||
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
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|
@ -61,10 +61,16 @@ ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t*
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if (result != returnvalue::OK) {
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||||
return result;
|
||||
}
|
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MutexGuard helper(timeMutex);
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// gmtime writes its output in a global buffer which is not Thread Safe
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||||
// Therefore we have to use a Mutex here
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MutexGuard helper(timeMutex);
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#ifdef PLATFORM_WIN
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time_t time;
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time = from->tv_sec;
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timeInfo = gmtime(&time);
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#else
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timeInfo = gmtime(&from->tv_sec);
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#endif
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to->year = timeInfo->tm_year + 1900;
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to->month = timeInfo->tm_mon + 1;
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to->day = timeInfo->tm_mday;
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|
@ -1,8 +1,16 @@
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#ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H
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#define FSFW_TIMEMANAGER_TIMEREADERIF_H
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#include <cstdio>
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#include <cstdlib>
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#include "fsfw/platform.h"
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#ifdef PLATFORM_WIN
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// wtf? Required for timeval!
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#include <winsock.h>
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#endif
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|
||||
#include "TimeStampIF.h"
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||||
#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw/serialize/SerializeIF.h"
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|
@ -5,6 +5,14 @@
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||||
#include <string>
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||||
#include <unordered_map>
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||||
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||||
#ifdef PLATFORM_WIN
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// Defined in Windows header for whatever reason, and leads to nameclash issues with
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||||
// class enums which have entries of the same name.
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#undef IN
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||||
#undef OUT
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||||
#undef CALLBACK
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||||
#endif
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using gpioId_t = uint16_t;
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||||
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namespace gpio {
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|
@ -1,5 +1,5 @@
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||||
#include <stdio.h>
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#include <stdbool.h>
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#include <stdio.h>
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||||
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||||
void __attribute__((weak)) printChar(const char* character, bool errStream) {
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if (errStream) {
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|
@ -5,11 +5,14 @@ endif()
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||||
target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
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||||
utility.cpp)
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||||
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
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||||
add_subdirectory(gpio)
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||||
endif()
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||||
if(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS)
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||||
add_subdirectory(serial)
|
||||
endif()
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||||
|
||||
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
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if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
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add_subdirectory(gpio)
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endif()
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||||
add_subdirectory(uart)
|
||||
# Adding those does not really make sense on Apple systems which are generally
|
||||
# host systems. It won't even compile as the headers are missing
|
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if(NOT APPLE)
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|
2
src/fsfw_hal/linux/serial/CMakeLists.txt
Normal file
2
src/fsfw_hal/linux/serial/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
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target_sources(${LIB_FSFW_NAME} PUBLIC SerialComIF.cpp SerialCookie.cpp
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helper.cpp)
|
@ -1,4 +1,4 @@
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#include "UartComIF.h"
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#include "SerialComIF.h"
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#include <errno.h>
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#include <fcntl.h>
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@ -11,19 +11,18 @@
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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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SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
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|
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UartComIF::~UartComIF() {}
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SerialComIF::~SerialComIF() {}
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|
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ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
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std::string deviceFile;
|
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UartDeviceMapIter uartDeviceMapIter;
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if (cookie == nullptr) {
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return NULLPOINTER;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(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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@ -33,7 +32,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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int fileDescriptor = configureUartPort(uartCookie);
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if (fileDescriptor < 0) {
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@ -60,7 +59,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
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return returnvalue::OK;
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}
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int UartComIF::configureUartPort(UartCookie* uartCookie) {
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int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
|
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struct termios options = {};
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||||
|
||||
std::string deviceFile = uartCookie->getDeviceFile();
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@ -89,11 +88,11 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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return fd;
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}
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setParityOptions(&options, uartCookie);
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uart::setParity(options, uartCookie->getParity());
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setStopBitOptions(&options, uartCookie);
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setDatasizeOptions(&options, uartCookie);
|
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setFixedOptions(&options);
|
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setUartMode(&options, *uartCookie);
|
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uart::setMode(options, uartCookie->getUartMode());
|
||||
if (uartCookie->getInputShouldBeFlushed()) {
|
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tcflush(fd, TCIFLUSH);
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}
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@ -102,7 +101,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
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||||
options.c_cc[VTIME] = 0;
|
||||
options.c_cc[VMIN] = 0;
|
||||
|
||||
configureBaudrate(&options, uartCookie);
|
||||
uart::setBaudrate(options, uartCookie->getBaudrate());
|
||||
|
||||
/* Save option settings */
|
||||
if (tcsetattr(fd, TCSANOW, &options) != 0) {
|
||||
@ -115,24 +114,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
|
||||
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) {
|
||||
void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* uartCookie) {
|
||||
/* Clear stop field. Sets stop bit to one bit */
|
||||
options->c_cflag &= ~CSTOPB;
|
||||
switch (uartCookie->getStopBits()) {
|
||||
@ -144,7 +126,7 @@ void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCooki
|
||||
}
|
||||
}
|
||||
|
||||
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
|
||||
void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uartCookie) {
|
||||
/* Clear size bits */
|
||||
options->c_cflag &= ~CSIZE;
|
||||
switch (uartCookie->getBitsPerWord()) {
|
||||
@ -168,7 +150,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
|
||||
}
|
||||
}
|
||||
|
||||
void UartComIF::setFixedOptions(struct termios* options) {
|
||||
void SerialComIF::setFixedOptions(struct termios* options) {
|
||||
/* Disable RTS/CTS hardware flow control */
|
||||
options->c_cflag &= ~CRTSCTS;
|
||||
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
|
||||
@ -191,142 +173,9 @@ void UartComIF::setFixedOptions(struct termios* options) {
|
||||
options->c_oflag &= ~ONLCR;
|
||||
}
|
||||
|
||||
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
|
||||
switch (uartCookie->getBaudrate()) {
|
||||
case UartBaudRate::RATE_50:
|
||||
cfsetispeed(options, B50);
|
||||
cfsetospeed(options, B50);
|
||||
break;
|
||||
case UartBaudRate::RATE_75:
|
||||
cfsetispeed(options, B75);
|
||||
cfsetospeed(options, B75);
|
||||
break;
|
||||
case UartBaudRate::RATE_110:
|
||||
cfsetispeed(options, B110);
|
||||
cfsetospeed(options, B110);
|
||||
break;
|
||||
case UartBaudRate::RATE_134:
|
||||
cfsetispeed(options, B134);
|
||||
cfsetospeed(options, B134);
|
||||
break;
|
||||
case UartBaudRate::RATE_150:
|
||||
cfsetispeed(options, B150);
|
||||
cfsetospeed(options, B150);
|
||||
break;
|
||||
case UartBaudRate::RATE_200:
|
||||
cfsetispeed(options, B200);
|
||||
cfsetospeed(options, B200);
|
||||
break;
|
||||
case UartBaudRate::RATE_300:
|
||||
cfsetispeed(options, B300);
|
||||
cfsetospeed(options, B300);
|
||||
break;
|
||||
case UartBaudRate::RATE_600:
|
||||
cfsetispeed(options, B600);
|
||||
cfsetospeed(options, B600);
|
||||
break;
|
||||
case UartBaudRate::RATE_1200:
|
||||
cfsetispeed(options, B1200);
|
||||
cfsetospeed(options, B1200);
|
||||
break;
|
||||
case UartBaudRate::RATE_1800:
|
||||
cfsetispeed(options, B1800);
|
||||
cfsetospeed(options, B1800);
|
||||
break;
|
||||
case UartBaudRate::RATE_2400:
|
||||
cfsetispeed(options, B2400);
|
||||
cfsetospeed(options, B2400);
|
||||
break;
|
||||
case UartBaudRate::RATE_4800:
|
||||
cfsetispeed(options, B4800);
|
||||
cfsetospeed(options, B4800);
|
||||
break;
|
||||
case UartBaudRate::RATE_9600:
|
||||
cfsetispeed(options, B9600);
|
||||
cfsetospeed(options, B9600);
|
||||
break;
|
||||
case UartBaudRate::RATE_19200:
|
||||
cfsetispeed(options, B19200);
|
||||
cfsetospeed(options, B19200);
|
||||
break;
|
||||
case UartBaudRate::RATE_38400:
|
||||
cfsetispeed(options, B38400);
|
||||
cfsetospeed(options, B38400);
|
||||
break;
|
||||
case UartBaudRate::RATE_57600:
|
||||
cfsetispeed(options, B57600);
|
||||
cfsetospeed(options, B57600);
|
||||
break;
|
||||
case UartBaudRate::RATE_115200:
|
||||
cfsetispeed(options, B115200);
|
||||
cfsetospeed(options, B115200);
|
||||
break;
|
||||
case UartBaudRate::RATE_230400:
|
||||
cfsetispeed(options, B230400);
|
||||
cfsetospeed(options, B230400);
|
||||
break;
|
||||
#ifndef __APPLE__
|
||||
case UartBaudRate::RATE_460800:
|
||||
cfsetispeed(options, B460800);
|
||||
cfsetospeed(options, B460800);
|
||||
break;
|
||||
case UartBaudRate::RATE_500000:
|
||||
cfsetispeed(options, B500000);
|
||||
cfsetospeed(options, B500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_576000:
|
||||
cfsetispeed(options, B576000);
|
||||
cfsetospeed(options, B576000);
|
||||
break;
|
||||
case UartBaudRate::RATE_921600:
|
||||
cfsetispeed(options, B921600);
|
||||
cfsetospeed(options, B921600);
|
||||
break;
|
||||
case UartBaudRate::RATE_1000000:
|
||||
cfsetispeed(options, B1000000);
|
||||
cfsetospeed(options, B1000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_1152000:
|
||||
cfsetispeed(options, B1152000);
|
||||
cfsetospeed(options, B1152000);
|
||||
break;
|
||||
case UartBaudRate::RATE_1500000:
|
||||
cfsetispeed(options, B1500000);
|
||||
cfsetospeed(options, B1500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_2000000:
|
||||
cfsetispeed(options, B2000000);
|
||||
cfsetospeed(options, B2000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_2500000:
|
||||
cfsetispeed(options, B2500000);
|
||||
cfsetospeed(options, B2500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_3000000:
|
||||
cfsetispeed(options, B3000000);
|
||||
cfsetospeed(options, B3000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_3500000:
|
||||
cfsetispeed(options, B3500000);
|
||||
cfsetospeed(options, B3500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_4000000:
|
||||
cfsetispeed(options, B4000000);
|
||||
cfsetospeed(options, B4000000);
|
||||
break;
|
||||
#endif // ! __APPLE__
|
||||
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) {
|
||||
ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
|
||||
int fd = 0;
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
if (sendLen == 0) {
|
||||
return returnvalue::OK;
|
||||
@ -339,7 +188,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
|
||||
@ -348,7 +197,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
|
||||
}
|
||||
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto 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"
|
||||
@ -370,13 +219,12 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
|
||||
ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
|
||||
|
||||
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
||||
ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
|
||||
@ -386,7 +234,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
|
||||
|
||||
UartModes uartMode = uartCookie->getUartMode();
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
|
||||
if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
|
||||
return returnvalue::OK;
|
||||
@ -409,8 +257,8 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
|
||||
size_t requestLen) {
|
||||
ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
|
||||
UartDeviceMap::iterator& iter, size_t requestLen) {
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
uint8_t maxReadCycles = uartCookie.getReadCycles();
|
||||
uint8_t currentReadCycles = 0;
|
||||
@ -467,8 +315,9 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
|
||||
size_t requestLen) {
|
||||
ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
|
||||
UartDeviceMap::iterator& iter,
|
||||
size_t requestLen) {
|
||||
int fd = iter->second.fileDescriptor;
|
||||
auto bufferPtr = iter->second.replyBuffer.data();
|
||||
// Size check to prevent buffer overflow
|
||||
@ -501,11 +350,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
|
||||
ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
|
||||
@ -514,7 +362,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
||||
}
|
||||
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto 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"
|
||||
@ -532,10 +380,9 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
|
||||
ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
|
||||
@ -543,7 +390,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIFLUSH);
|
||||
@ -552,10 +399,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
|
||||
ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
|
||||
@ -563,7 +409,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCOFLUSH);
|
||||
@ -572,10 +418,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
|
||||
return returnvalue::FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
|
||||
ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
|
||||
if (uartCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
|
||||
@ -583,7 +428,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if (uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIOFLUSH);
|
||||
@ -591,13 +436,3 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
|
||||
}
|
||||
return returnvalue::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;
|
||||
}
|
||||
}
|
@ -3,12 +3,12 @@
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw_hal/linux/serial/SerialCookie.h>
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
|
||||
#include "UartCookie.h"
|
||||
|
||||
/**
|
||||
* @brief This is the communication interface to access serial ports on linux based operating
|
||||
* systems.
|
||||
@ -18,7 +18,7 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
class SerialComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
|
||||
|
||||
@ -26,9 +26,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
|
||||
static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
|
||||
|
||||
UartComIF(object_id_t objectId);
|
||||
SerialComIF(object_id_t objectId);
|
||||
|
||||
virtual ~UartComIF();
|
||||
virtual ~SerialComIF();
|
||||
|
||||
ReturnValue_t initializeInterface(CookieIF* cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
|
||||
@ -62,7 +62,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
};
|
||||
|
||||
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
|
||||
using UartDeviceMapIter = UartDeviceMap::iterator;
|
||||
|
||||
/**
|
||||
* The uart devie map stores informations of initialized uart ports.
|
||||
@ -76,20 +75,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
* uart device file, baudrate, parity, stopbits etc.
|
||||
* @return The file descriptor of the configured uart.
|
||||
*/
|
||||
int configureUartPort(UartCookie* uartCookie);
|
||||
int configureUartPort(SerialCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This function adds the parity settings to the termios options struct.
|
||||
*
|
||||
* @param options Pointer to termios options struct which will be modified to enable or disable
|
||||
* parity checking.
|
||||
* @param uartCookie Pointer to uart cookie containing the information about the desired
|
||||
* parity settings.
|
||||
*
|
||||
*/
|
||||
void setParityOptions(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
|
||||
void setStopBitOptions(struct termios* options, SerialCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This function sets options which are not configurable by the uartCookie.
|
||||
@ -99,19 +87,11 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
/**
|
||||
* @brief With this function the datasize settings are added to the termios options struct.
|
||||
*/
|
||||
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
|
||||
void setDatasizeOptions(struct termios* options, SerialCookie* uartCookie);
|
||||
|
||||
/**
|
||||
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
|
||||
* struct.
|
||||
*/
|
||||
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
|
||||
|
||||
void setUartMode(struct termios* options, UartCookie& uartCookie);
|
||||
|
||||
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
|
||||
ReturnValue_t handleCanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
|
||||
size_t requestLen);
|
||||
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
|
||||
ReturnValue_t handleNoncanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
|
||||
size_t requestLen);
|
||||
};
|
||||
|
51
src/fsfw_hal/linux/serial/SerialCookie.cpp
Normal file
51
src/fsfw_hal/linux/serial/SerialCookie.cpp
Normal file
@ -0,0 +1,51 @@
|
||||
#include "SerialCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface.h>
|
||||
|
||||
SerialCookie::SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
|
||||
size_t maxReplyLen, UartModes uartMode)
|
||||
: handlerId(handlerId),
|
||||
deviceFile(deviceFile),
|
||||
uartMode(uartMode),
|
||||
baudrate(baudrate),
|
||||
maxReplyLen(maxReplyLen) {}
|
||||
|
||||
SerialCookie::~SerialCookie() {}
|
||||
|
||||
UartBaudRate SerialCookie::getBaudrate() const { return baudrate; }
|
||||
|
||||
size_t SerialCookie::getMaxReplyLen() const { return maxReplyLen; }
|
||||
|
||||
std::string SerialCookie::getDeviceFile() const { return deviceFile; }
|
||||
|
||||
void SerialCookie::setParityOdd() { parity = Parity::ODD; }
|
||||
|
||||
void SerialCookie::setParityEven() { parity = Parity::EVEN; }
|
||||
|
||||
Parity SerialCookie::getParity() const { return parity; }
|
||||
|
||||
void SerialCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
|
||||
|
||||
BitsPerWord SerialCookie::getBitsPerWord() const { return bitsPerWord; }
|
||||
|
||||
StopBits SerialCookie::getStopBits() const { return stopBits; }
|
||||
|
||||
void SerialCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
|
||||
|
||||
void SerialCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
|
||||
|
||||
UartModes SerialCookie::getUartMode() const { return uartMode; }
|
||||
|
||||
void SerialCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
|
||||
|
||||
void SerialCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
|
||||
|
||||
uint8_t SerialCookie::getReadCycles() const { return readCycles; }
|
||||
|
||||
bool SerialCookie::getInputShouldBeFlushed() { return this->flushInput; }
|
||||
|
||||
object_id_t SerialCookie::getHandlerId() const { return this->handlerId; }
|
||||
|
||||
void SerialCookie::setNoFixedSizeReply() { replySizeFixed = false; }
|
||||
|
||||
bool SerialCookie::isReplySizeFixed() { return replySizeFixed; }
|
@ -3,50 +3,10 @@
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
enum class Parity { NONE, EVEN, ODD };
|
||||
|
||||
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
|
||||
|
||||
enum class UartModes { CANONICAL, NON_CANONICAL };
|
||||
|
||||
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
|
||||
|
||||
enum class UartBaudRate {
|
||||
RATE_50,
|
||||
RATE_75,
|
||||
RATE_110,
|
||||
RATE_134,
|
||||
RATE_150,
|
||||
RATE_200,
|
||||
RATE_300,
|
||||
RATE_600,
|
||||
RATE_1200,
|
||||
RATE_1800,
|
||||
RATE_2400,
|
||||
RATE_4800,
|
||||
RATE_9600,
|
||||
RATE_19200,
|
||||
RATE_38400,
|
||||
RATE_57600,
|
||||
RATE_115200,
|
||||
RATE_230400,
|
||||
RATE_460800,
|
||||
RATE_500000,
|
||||
RATE_576000,
|
||||
RATE_921600,
|
||||
RATE_1000000,
|
||||
RATE_1152000,
|
||||
RATE_1500000,
|
||||
RATE_2000000,
|
||||
RATE_2500000,
|
||||
RATE_3000000,
|
||||
RATE_3500000,
|
||||
RATE_4000000
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
|
||||
* The constructor only requests for common options like the baudrate. Other options can
|
||||
@ -54,7 +14,7 @@ enum class UartBaudRate {
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class UartCookie : public CookieIF {
|
||||
class SerialCookie : public CookieIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor for the uart cookie.
|
||||
@ -69,10 +29,10 @@ class UartCookie : public CookieIF {
|
||||
* 8 databits (number of bits transfered with one uart frame)
|
||||
* One stop bit
|
||||
*/
|
||||
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen);
|
||||
SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
|
||||
size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
|
||||
|
||||
virtual ~UartCookie();
|
||||
virtual ~SerialCookie();
|
||||
|
||||
UartBaudRate getBaudrate() const;
|
||||
size_t getMaxReplyLen() const;
|
163
src/fsfw_hal/linux/serial/helper.cpp
Normal file
163
src/fsfw_hal/linux/serial/helper.cpp
Normal file
@ -0,0 +1,163 @@
|
||||
#include <fsfw_hal/linux/serial/helper.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
void uart::setMode(struct termios& options, UartModes mode) {
|
||||
if (mode == UartModes::NON_CANONICAL) {
|
||||
/* Disable canonical mode */
|
||||
options.c_lflag &= ~ICANON;
|
||||
} else if (mode == UartModes::CANONICAL) {
|
||||
options.c_lflag |= ICANON;
|
||||
}
|
||||
}
|
||||
|
||||
void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
|
||||
switch (baud) {
|
||||
case UartBaudRate::RATE_50:
|
||||
cfsetspeed(&options, B50);
|
||||
break;
|
||||
case UartBaudRate::RATE_75:
|
||||
cfsetspeed(&options, B75);
|
||||
break;
|
||||
case UartBaudRate::RATE_110:
|
||||
cfsetspeed(&options, B110);
|
||||
break;
|
||||
case UartBaudRate::RATE_134:
|
||||
cfsetspeed(&options, B134);
|
||||
break;
|
||||
case UartBaudRate::RATE_150:
|
||||
cfsetspeed(&options, B150);
|
||||
break;
|
||||
case UartBaudRate::RATE_200:
|
||||
cfsetspeed(&options, B200);
|
||||
break;
|
||||
case UartBaudRate::RATE_300:
|
||||
cfsetspeed(&options, B300);
|
||||
break;
|
||||
case UartBaudRate::RATE_600:
|
||||
cfsetspeed(&options, B600);
|
||||
break;
|
||||
case UartBaudRate::RATE_1200:
|
||||
cfsetspeed(&options, B1200);
|
||||
break;
|
||||
case UartBaudRate::RATE_1800:
|
||||
cfsetspeed(&options, B1800);
|
||||
break;
|
||||
case UartBaudRate::RATE_2400:
|
||||
cfsetspeed(&options, B2400);
|
||||
break;
|
||||
case UartBaudRate::RATE_4800:
|
||||
cfsetspeed(&options, B4800);
|
||||
break;
|
||||
case UartBaudRate::RATE_9600:
|
||||
cfsetspeed(&options, B9600);
|
||||
break;
|
||||
case UartBaudRate::RATE_19200:
|
||||
cfsetspeed(&options, B19200);
|
||||
break;
|
||||
case UartBaudRate::RATE_38400:
|
||||
cfsetspeed(&options, B38400);
|
||||
break;
|
||||
case UartBaudRate::RATE_57600:
|
||||
cfsetspeed(&options, B57600);
|
||||
break;
|
||||
case UartBaudRate::RATE_115200:
|
||||
cfsetspeed(&options, B115200);
|
||||
break;
|
||||
case UartBaudRate::RATE_230400:
|
||||
cfsetspeed(&options, B230400);
|
||||
break;
|
||||
#ifndef __APPLE__
|
||||
case UartBaudRate::RATE_460800:
|
||||
cfsetspeed(&options, B460800);
|
||||
break;
|
||||
case UartBaudRate::RATE_500000:
|
||||
cfsetspeed(&options, B500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_576000:
|
||||
cfsetspeed(&options, B576000);
|
||||
break;
|
||||
case UartBaudRate::RATE_921600:
|
||||
cfsetspeed(&options, B921600);
|
||||
break;
|
||||
case UartBaudRate::RATE_1000000:
|
||||
cfsetspeed(&options, B1000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_1152000:
|
||||
cfsetspeed(&options, B1152000);
|
||||
break;
|
||||
case UartBaudRate::RATE_1500000:
|
||||
cfsetspeed(&options, B1500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_2000000:
|
||||
cfsetspeed(&options, B2000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_2500000:
|
||||
cfsetspeed(&options, B2500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_3000000:
|
||||
cfsetspeed(&options, B3000000);
|
||||
break;
|
||||
case UartBaudRate::RATE_3500000:
|
||||
cfsetspeed(&options, B3500000);
|
||||
break;
|
||||
case UartBaudRate::RATE_4000000:
|
||||
cfsetspeed(&options, B4000000);
|
||||
break;
|
||||
#endif // ! __APPLE__
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
|
||||
options.c_cflag &= ~CSIZE; // Clear all the size bits
|
||||
if (bits == BitsPerWord::BITS_5) {
|
||||
options.c_cflag |= CS5;
|
||||
} else if (bits == BitsPerWord::BITS_6) {
|
||||
options.c_cflag |= CS6;
|
||||
} else if (bits == BitsPerWord::BITS_7) {
|
||||
options.c_cflag |= CS7;
|
||||
} else if (bits == BitsPerWord::BITS_8) {
|
||||
options.c_cflag |= CS8;
|
||||
}
|
||||
}
|
||||
|
||||
void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
|
||||
|
||||
void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
|
||||
|
||||
void uart::setParity(struct termios& options, Parity parity) {
|
||||
/* Clear parity bit */
|
||||
options.c_cflag &= ~PARENB;
|
||||
switch (parity) {
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
|
||||
return ioctl(serialPort, TIOCGICOUNT, &icounter);
|
||||
}
|
||||
|
||||
void uart::setStopbits(struct termios& options, StopBits bits) {
|
||||
if (bits == StopBits::TWO_STOP_BITS) {
|
||||
// Use two stop bits
|
||||
options.c_cflag |= CSTOPB;
|
||||
} else {
|
||||
// Clear stop field, only one stop bit used in communication
|
||||
options.c_cflag &= ~CSTOPB;
|
||||
}
|
||||
}
|
71
src/fsfw_hal/linux/serial/helper.h
Normal file
71
src/fsfw_hal/linux/serial/helper.h
Normal file
@ -0,0 +1,71 @@
|
||||
#ifndef FSFW_HAL_LINUX_UART_HELPER_H_
|
||||
#define FSFW_HAL_LINUX_UART_HELPER_H_
|
||||
|
||||
#include <linux/serial.h>
|
||||
#include <termios.h>
|
||||
|
||||
enum class Parity { NONE, EVEN, ODD };
|
||||
|
||||
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
|
||||
|
||||
enum class UartModes { CANONICAL, NON_CANONICAL };
|
||||
|
||||
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
|
||||
|
||||
enum class UartBaudRate {
|
||||
RATE_50,
|
||||
RATE_75,
|
||||
RATE_110,
|
||||
RATE_134,
|
||||
RATE_150,
|
||||
RATE_200,
|
||||
RATE_300,
|
||||
RATE_600,
|
||||
RATE_1200,
|
||||
RATE_1800,
|
||||
RATE_2400,
|
||||
RATE_4800,
|
||||
RATE_9600,
|
||||
RATE_19200,
|
||||
RATE_38400,
|
||||
RATE_57600,
|
||||
RATE_115200,
|
||||
RATE_230400,
|
||||
RATE_460800,
|
||||
RATE_500000,
|
||||
RATE_576000,
|
||||
RATE_921600,
|
||||
RATE_1000000,
|
||||
RATE_1152000,
|
||||
RATE_1500000,
|
||||
RATE_2000000,
|
||||
RATE_2500000,
|
||||
RATE_3000000,
|
||||
RATE_3500000,
|
||||
RATE_4000000
|
||||
};
|
||||
|
||||
namespace uart {
|
||||
|
||||
void setMode(struct termios& options, UartModes mode);
|
||||
/**
|
||||
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
|
||||
* struct.
|
||||
*/
|
||||
void setBaudrate(struct termios& options, UartBaudRate baud);
|
||||
|
||||
void setStopbits(struct termios& options, StopBits bits);
|
||||
|
||||
void setBitsPerWord(struct termios& options, BitsPerWord bits);
|
||||
|
||||
void enableRead(struct termios& options);
|
||||
|
||||
void setParity(struct termios& options, Parity parity);
|
||||
|
||||
void ignoreCtrlLines(struct termios& options);
|
||||
|
||||
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
|
||||
|
||||
} // namespace uart
|
||||
|
||||
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */
|
@ -1 +0,0 @@
|
||||
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)
|
@ -1,51 +0,0 @@
|
||||
#include "UartCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface.h>
|
||||
|
||||
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
|
||||
UartBaudRate baudrate, size_t maxReplyLen)
|
||||
: handlerId(handlerId),
|
||||
deviceFile(deviceFile),
|
||||
uartMode(uartMode),
|
||||
baudrate(baudrate),
|
||||
maxReplyLen(maxReplyLen) {}
|
||||
|
||||
UartCookie::~UartCookie() {}
|
||||
|
||||
UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
|
||||
|
||||
size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
|
||||
|
||||
std::string UartCookie::getDeviceFile() const { return deviceFile; }
|
||||
|
||||
void UartCookie::setParityOdd() { parity = Parity::ODD; }
|
||||
|
||||
void UartCookie::setParityEven() { parity = Parity::EVEN; }
|
||||
|
||||
Parity UartCookie::getParity() const { return parity; }
|
||||
|
||||
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
|
||||
|
||||
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
|
||||
|
||||
StopBits UartCookie::getStopBits() const { return stopBits; }
|
||||
|
||||
void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
|
||||
|
||||
void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
|
||||
|
||||
UartModes UartCookie::getUartMode() const { return uartMode; }
|
||||
|
||||
void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
|
||||
|
||||
void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
|
||||
|
||||
uint8_t UartCookie::getReadCycles() const { return readCycles; }
|
||||
|
||||
bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
|
||||
|
||||
object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
|
||||
|
||||
void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
|
||||
|
||||
bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
|
@ -56,61 +56,65 @@ TEST_CASE("TimevalTest", "[timevalOperations]") {
|
||||
}
|
||||
SECTION("Operators") {
|
||||
timeval t1;
|
||||
t1.tv_sec = 1648227422;
|
||||
t1.tv_usec = 123456;
|
||||
timeval t2;
|
||||
t2.tv_sec = 1648227422;
|
||||
t2.tv_usec = 123456;
|
||||
timeval t3 = t1 - t2;
|
||||
REQUIRE(t3.tv_sec == 0);
|
||||
REQUIRE(t3.tv_usec == 0);
|
||||
timeval t4 = t1 - t3;
|
||||
REQUIRE(t4.tv_sec == 1648227422);
|
||||
REQUIRE(t4.tv_usec == 123456);
|
||||
timeval t5 = t3 - t1;
|
||||
REQUIRE(t5.tv_sec == -1648227422);
|
||||
REQUIRE(t5.tv_usec == -123456);
|
||||
if (sizeof(t1.tv_sec) == 8) {
|
||||
t1.tv_sec = 1648227422;
|
||||
t1.tv_usec = 123456;
|
||||
timeval t2;
|
||||
t2.tv_sec = 1648227422;
|
||||
t2.tv_usec = 123456;
|
||||
timeval t3 = t1 - t2;
|
||||
REQUIRE(t3.tv_sec == 0);
|
||||
REQUIRE(t3.tv_usec == 0);
|
||||
timeval t4 = t1 - t3;
|
||||
REQUIRE(t4.tv_sec == 1648227422);
|
||||
REQUIRE(t4.tv_usec == 123456);
|
||||
timeval t5 = t3 - t1;
|
||||
REQUIRE(t5.tv_sec == -1648227422);
|
||||
REQUIRE(t5.tv_usec == -123456);
|
||||
|
||||
timeval t6;
|
||||
t6.tv_sec = 1648227400;
|
||||
t6.tv_usec = 999999;
|
||||
timeval t6;
|
||||
t6.tv_sec = 1648227400;
|
||||
t6.tv_usec = 999999;
|
||||
|
||||
timeval t7 = t6 + t1;
|
||||
REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull));
|
||||
REQUIRE(t7.tv_usec == 123455);
|
||||
timeval t7 = t6 + t1;
|
||||
// Overflow test
|
||||
REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull));
|
||||
|
||||
timeval t8 = t1 - t6;
|
||||
REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
|
||||
REQUIRE(t8.tv_usec == 123457);
|
||||
REQUIRE(t7.tv_usec == 123455);
|
||||
|
||||
double scalar = 2;
|
||||
timeval t9 = t1 * scalar;
|
||||
REQUIRE(t9.tv_sec == 3296454844);
|
||||
REQUIRE(t9.tv_usec == 246912);
|
||||
timeval t10 = scalar * t1;
|
||||
REQUIRE(t10.tv_sec == 3296454844);
|
||||
REQUIRE(t10.tv_usec == 246912);
|
||||
timeval t11 = t6 * scalar;
|
||||
REQUIRE(t11.tv_sec == (3296454800 + 1));
|
||||
REQUIRE(t11.tv_usec == 999998);
|
||||
timeval t8 = t1 - t6;
|
||||
REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
|
||||
REQUIRE(t8.tv_usec == 123457);
|
||||
|
||||
timeval t12 = t1 / scalar;
|
||||
REQUIRE(t12.tv_sec == 824113711);
|
||||
REQUIRE(t12.tv_usec == 61728);
|
||||
double scalar = 2;
|
||||
timeval t9 = t1 * scalar;
|
||||
REQUIRE(t9.tv_sec == 3296454844);
|
||||
REQUIRE(t9.tv_usec == 246912);
|
||||
timeval t10 = scalar * t1;
|
||||
REQUIRE(t10.tv_sec == 3296454844);
|
||||
REQUIRE(t10.tv_usec == 246912);
|
||||
timeval t11 = t6 * scalar;
|
||||
REQUIRE(t11.tv_sec == (3296454800 + 1));
|
||||
REQUIRE(t11.tv_usec == 999998);
|
||||
|
||||
timeval t13 = t6 / scalar;
|
||||
REQUIRE(t13.tv_sec == 824113700);
|
||||
// Rounding issue
|
||||
REQUIRE(t13.tv_usec == 499999);
|
||||
timeval t12 = t1 / scalar;
|
||||
REQUIRE(t12.tv_sec == 824113711);
|
||||
REQUIRE(t12.tv_usec == 61728);
|
||||
|
||||
double scalar2 = t9 / t1;
|
||||
REQUIRE(scalar2 == Catch::Approx(2.0));
|
||||
double scalar3 = t1 / t6;
|
||||
REQUIRE(scalar3 == Catch::Approx(1.000000013));
|
||||
double scalar4 = t3 / t1;
|
||||
REQUIRE(scalar4 == Catch::Approx(0));
|
||||
double scalar5 = t12 / t1;
|
||||
REQUIRE(scalar5 == Catch::Approx(0.5));
|
||||
timeval t13 = t6 / scalar;
|
||||
REQUIRE(t13.tv_sec == 824113700);
|
||||
// Rounding issue
|
||||
REQUIRE(t13.tv_usec == 499999);
|
||||
|
||||
double scalar2 = t9 / t1;
|
||||
REQUIRE(scalar2 == Catch::Approx(2.0));
|
||||
double scalar3 = t1 / t6;
|
||||
REQUIRE(scalar3 == Catch::Approx(1.000000013));
|
||||
double scalar4 = t3 / t1;
|
||||
REQUIRE(scalar4 == Catch::Approx(0));
|
||||
double scalar5 = t12 / t1;
|
||||
REQUIRE(scalar5 == Catch::Approx(0.5));
|
||||
}
|
||||
}
|
||||
|
||||
SECTION("timevalOperations::toTimeval") {
|
||||
|
@ -1,3 +1,5 @@
|
||||
target_sources(${FSFW_TEST_TGT} PRIVATE
|
||||
testCommandExecutor.cpp
|
||||
)
|
||||
if(UNIX)
|
||||
target_sources(${FSFW_TEST_TGT} PRIVATE
|
||||
testCommandExecutor.cpp
|
||||
)
|
||||
endif()
|
||||
|
Loading…
Reference in New Issue
Block a user