eive-obsw/bsp_linux/comIF/ArduinoComIF.cpp

//#include "cookies/ArduinoCookie.h"
//#include "ArduinoComIF.h"
//
//#include <fsfw/globalfunctions/DleEncoder.h>
//#include <stdio.h>
//#include <string.h>
//#include <unistd.h>
//#include <fcntl.h>
//#include <errno.h>
//#include <fsfw/globalfunctions/CRC.h>
//
//#include <termios.h>
//
//ArduinoCommInterface::ArduinoCommInterface(object_id_t setObjectId,
//        const char *serialDevice) :
//		spiMap(MAX_NUMBER_OF_SPI_DEVICES), rxBuffer(
//				MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true), SystemObject(setObjectId) {
//	initialized = false;
//	serialPort = ::open("/dev/ttyUSB0", O_RDWR);
//
//	if (serialPort < 0) {
//		//configuration error
//		printf("Error %i from open: %s\n", errno, strerror(errno));
//		return;
//	}
//
//	struct termios tty;
//	memset(&tty, 0, sizeof tty);
//
//	// Read in existing settings, and handle any error
//	if (tcgetattr(serialPort, &tty) != 0) {
//		printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
//		return;
//	}
//
//	tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
//	tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
//	tty.c_cflag |= CS8; // 8 bits per byte
//	tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
//	tty.c_lflag &= ~ICANON; //Disable Canonical Mode
//	tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
//	tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
//	tty.c_cc[VTIME] = 0;    // Non Blocking
//	tty.c_cc[VMIN] = 0;
//
//	cfsetispeed(&tty, B9600); //Baudrate
//
//	if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
//		//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
//		return;
//	}
//
//	initialized = true;
//
//}
//
//ArduinoCommInterface::~ArduinoCommInterface() {
//	::close(serialPort);
//}
//
//ReturnValue_t ArduinoCommInterface::open(Cookie **cookie, uint32_t address,
//		uint32_t maxReplyLen) {
//	//This is a hack, will be gone with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
//	switch ((address >> 8) & 0xff) {
//	case 0:
//		*cookie = new ArduinoCookie(ArduinoCookie::SPI, address, maxReplyLen);
//		spiMap.insert(address, (ArduinoCookie*) *cookie); //Yes, I *do* know that it is an ArduinoSpiCookie, I just new'd it
//		break;
//	default:
//		return HasReturnvaluesIF::RETURN_FAILED;
//	}
//	return HasReturnvaluesIF::RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::reOpen(Cookie *cookie, uint32_t address,
//		uint32_t maxReplyLen) {
//	//too lazy right now will be irrelevant with https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/19
//	return HasReturnvaluesIF::RETURN_FAILED;
//}
//
//void ArduinoCommInterface::close(Cookie *cookie) {
//	//too lazy as well, find the correct Map, delete it there, then the cookie...
//}
//
//ReturnValue_t ArduinoCommInterface::sendMessage(Cookie *cookie, uint8_t *data,
//		uint32_t len) {
//	ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
//	if (arduinoCookie == NULL) {
//		return INVALID_COOKIE_TYPE;
//	}
//
//	return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
//			len);
//}
//
//ReturnValue_t ArduinoCommInterface::getSendSuccess(Cookie *cookie) {
//	return RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::requestReceiveMessage(Cookie *cookie) {
//	return RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::readReceivedMessage(Cookie *cookie,
//		uint8_t **buffer, uint32_t *size) {
//
//	handleSerialPortRx();
//
//	ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
//	if (arduinoCookie == NULL) {
//		return INVALID_COOKIE_TYPE;
//	}
//
//	*buffer = arduinoCookie->replyBuffer;
//	*size = arduinoCookie->receivedDataLen;
//	return HasReturnvaluesIF::RETURN_OK;
//}
//
//ReturnValue_t ArduinoCommInterface::setAddress(Cookie *cookie,
//		uint32_t address) {
//	//not implemented
//	return RETURN_FAILED;
//}
//
//uint32_t ArduinoCommInterface::getAddress(Cookie *cookie) {
//	//not implemented
//	return 0;
//}
//
//ReturnValue_t ArduinoCommInterface::setParameter(Cookie *cookie,
//		uint32_t parameter) {
//	//not implemented
//	return RETURN_FAILED;
//}
//
//uint32_t ArduinoCommInterface::getParameter(Cookie *cookie) {
//	//not implemented
//	return 0;
//}
//
//ReturnValue_t ArduinoCommInterface::sendMessage(uint8_t command,
//		uint8_t address, const uint8_t *data, size_t dataLen) {
//	if (dataLen > UINT16_MAX) {
//		return TOO_MUCH_DATA;
//	}
//
//	//being conservative here
//	uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
//
//	sendBuffer[0] = DleEncoder::STX;
//
//	uint8_t *currentPosition = sendBuffer + 1;
//	size_t remainingLen = sizeof(sendBuffer) - 1;
//	uint32_t encodedLen;
//
//	ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
//			remainingLen, &encodedLen, false);
//	if (result != RETURN_OK) {
//		return result;
//	}
//	currentPosition += encodedLen;
//	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
//	result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
//			&encodedLen, false);
//	if (result != RETURN_OK) {
//		return result;
//	}
//	currentPosition += encodedLen;
//	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
//	uint8_t temporaryBuffer[2];
//
//	//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
//	temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
//	temporaryBuffer[1] = dataLen;
//
//	result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
//			remainingLen, &encodedLen, false);
//	if (result != RETURN_OK) {
//		return result;
//	}
//	currentPosition += encodedLen;
//	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
//	//encoding the actual data
//	result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
//			&encodedLen, false);
//	if (result != RETURN_OK) {
//		return result;
//	}
//	currentPosition += encodedLen;
//	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
//	uint16_t crc = CRC::crc16ccitt(&command, 1);
//	crc = CRC::crc16ccitt(&address, 1, crc);
//	//fortunately the length is still there
//	crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
//	crc = CRC::crc16ccitt(data, dataLen, crc);
//
//	temporaryBuffer[0] = crc >> 8;
//	temporaryBuffer[1] = crc;
//
//	result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
//			remainingLen, &encodedLen, false);
//	if (result != RETURN_OK) {
//		return result;
//	}
//	currentPosition += encodedLen;
//	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
//
//	if (remainingLen > 0) {
//		*currentPosition = DleEncoder::ETX;
//	}
//	remainingLen -= 1;
//
//	encodedLen = sizeof(sendBuffer) - remainingLen;
//
//	ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
//	if (writtenlen < 0) {
//		//we could try to find out what happened...
//		return RETURN_FAILED;
//	}
//	if (writtenlen != encodedLen) {
//		//the OS failed us, we do not try to block until everything is written, as
//		//we can not block the whole system here
//		return RETURN_FAILED;
//	}
//	return RETURN_OK;
//}
//
//void ArduinoCommInterface::handleSerialPortRx() {
//	uint32_t availableSpace = rxBuffer.availableWriteSpace();
//
//	uint8_t dataFromSerial[availableSpace];
//
//	ssize_t bytesRead = read(serialPort, dataFromSerial,
//			sizeof(dataFromSerial));
//
//	if (bytesRead < 0) {
//		return;
//	}
//
//	rxBuffer.writeData(dataFromSerial, bytesRead);
//
//	uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
//
//	uint32_t dataLenReceivedSoFar = 0;
//
//	rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
//			&dataLenReceivedSoFar);
//
//	//look for STX
//	size_t firstSTXinRawData = 0;
//	while ((firstSTXinRawData < dataLenReceivedSoFar)
//			&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
//		firstSTXinRawData++;
//	}
//
//	if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
//		//there is no STX in our data, throw it away...
//		rxBuffer.deleteData(dataLenReceivedSoFar);
//		return;
//	}
//
//	uint8_t packet[MAX_PACKET_SIZE];
//	uint32_t packetLen;
//
//	uint32_t readSize;
//
//	ReturnValue_t result = DleEncoder::decode(
//			dataReceivedSoFar + firstSTXinRawData,
//			dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
//			sizeof(packet), &packetLen);
//
//	size_t toDelete = firstSTXinRawData;
//	if (result == HasReturnvaluesIF::RETURN_OK) {
//		handlePacket(packet, packetLen);
//
//		//after handling the packet, we can delete it from the raw stream, it has been copied to packet
//		toDelete += readSize;
//	}
//
//	//remove Data which was processed
//	rxBuffer.deleteData(toDelete);
//}
//
//void ArduinoCommInterface::handlePacket(uint8_t *packet, size_t packetLen) {
//	uint16_t crc = CRC::crc16ccitt(packet, packetLen);
//	if (crc != 0) {
//		//CRC error
//		return;
//	}
//
//	uint8_t command = packet[0];
//	uint8_t address = packet[1];
//
//	uint16_t size = (packet[2] << 8) + packet[3];
//
//	if (size != packetLen - 6) {
//		//Invalid Length
//		return;
//	}
//
//	switch (command) {
//	case ArduinoCookie::SPI: {
//		ArduinoCookie **itsComplicated;
//		ReturnValue_t result = spiMap.find(address, &itsComplicated);
//		if (result != RETURN_OK) {
//			//we do no know this address
//			return;
//		}
//		ArduinoCookie *theActualCookie = *itsComplicated;
//		if (packetLen > theActualCookie->maxReplySize + 6) {
//			packetLen = theActualCookie->maxReplySize + 6;
//		}
//		memcpy(theActualCookie->replyBuffer, packet + 4, packetLen - 6);
//		theActualCookie->receivedDataLen = packetLen - 6;
//	}
//		break;
//	default:
//		return;
//	}
//}