eive/eive-obsw
eive/eive-obsw
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use a ring buffer
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Robin Müller 2023-03-21 18:47:42 +01:00
parent b9cf144c1f
commit 24fb8e34f2
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GPG Key ID: 11D4952C8CCEF814
3 changed files with 78 additions and 32 deletions
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62
linux/devices/startracker/ArcsecDatalinkLayer.cpp
View File

@ -1,9 +1,47 @@
#include "ArcsecDatalinkLayer.h"
ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); }
ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(4096, true) { slipInit(); }
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
size_t& frameLen) {
size_t currentLen = decodeRingBuf.getAvailableReadData();
decodeRingBuf.readData(decodedRxFrame, currentLen);
for (size_t idx = 0; idx < currentLen; idx++) {
enum arc_dec_result decResult =
arc_transport_decode_body(decodedRxFrame[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
switch (decResult) {
case ARC_DEC_INPROGRESS: {
break;
}
case ARC_DEC_ERROR_FRAME_SHORT: {
decodeRingBuf.deleteData(idx);
return REPLY_TOO_SHORT;
}
case ARC_DEC_ERROR_CHECKSUM:
decodeRingBuf.deleteData(idx);
return CRC_FAILURE;
case ARC_DEC_ASYNC:
case ARC_DEC_SYNC: {
// Reset length of SLIP struct for next frame
slipInfo.length = 0;
if (decodedFrame != nullptr) {
*decodedFrame = decodedRxFrame;
}
frameLen = rxFrameSize;
decodeRingBuf.deleteData(idx);
return returnvalue::OK;
}
default:
sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
break;
return returnvalue::FAILED;
}
}
return DEC_IN_PROGRESS;
}
void ArcsecDatalinkLayer::slipInit() {
slipInfo.buffer = rxBuffer;
slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
@ -17,7 +55,7 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
size_t bytePos = 0;
for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
enum arc_dec_result decResult =
arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize);
arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedRxFrame, &rxFrameSize);
*bytesLeft = rawDataSize - bytePos - 1;
switch (decResult) {
case ARC_DEC_INPROGRESS: {
@ -45,18 +83,18 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra
return returnvalue::FAILED;
}
uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; }
uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedRxFrame[0]; }
const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; }
const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedRxFrame[1]; }
void ArcsecDatalinkLayer::encodeFrame(const uinah uint32_t length) {
arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, uint8_t** txFrame,
size_t& size) {
arc_transport_encode_body(data, length, txEncoded, &size);
if (txFrame != nullptr) {
*txFrame = txEncoded;
}
}
uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; }
uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedRxFrame + STATUS_OFFSET); }
uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; }
uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); }
uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); }
uint8_t ArcsecDatalinkLayer::getId() { return *(decodedRxFrame + ID_OFFSET); }

40
linux/devices/startracker/ArcsecDatalinkLayer.h
View File

@ -1,6 +1,8 @@
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
@ -28,9 +30,19 @@ class ArcsecDatalinkLayer {
ArcsecDatalinkLayer();
virtual ~ArcsecDatalinkLayer();
/**
* Feed received data to the internal ring buffer.
* @param rawData
* @param rawDataLen
* @return
*/
ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
/**
* @brief Applies decoding to data referenced by rawData pointer
*
* TODO: To be deleted soon, replaced by proper buffering.
* @param rawData Pointer to raw data received from star tracker
* @param rawDataSize Size of raw data stream
* @param remainingBytes Number of bytes left
@ -43,7 +55,7 @@ class ArcsecDatalinkLayer {
* @param data Pointer to data to encode
* @param length Length of buffer to encode
*/
void encodeFrame(const uint8_t* data, uint32_t length);
void encodeFrame(const uint8_t* data, size_t length, uint8_t** txFrame, size_t& frameLen);
/**
* @brief Returns the frame type field of a decoded frame.
@ -55,16 +67,6 @@ class ArcsecDatalinkLayer {
*/
const uint8_t* getReply();
/**
* @brief Returns size of encoded frame
*/
uint32_t getEncodedLength();
/**
* @brief Returns pointer to encoded frame
*/
uint8_t* getEncodedFrame();
/**
* @brief Returns status of reply
*/
@ -81,15 +83,19 @@ class ArcsecDatalinkLayer {
// Used by arcsec slip decoding function process received data
uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
SimpleRingBuffer decodeRingBuf;
uint8_t rxAnalysisBuffer[4096];
// Decoded frame will be copied to this buffer
uint8_t decodedFrame[startracker::MAX_FRAME_SIZE];
uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
// Size of decoded frame
uint32_t rxFrameSize = 0;
// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
// reply
uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2];
// Size of decoded frame
uint32_t decFrameSize = 0;
uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2];
// Size of encoded frame
uint32_t encFrameSize = 0;
uint32_t txFrameSize = 0;
slip_decode_state slipInfo;

8
linux/devices/startracker/StrHelper.cpp
View File

@ -491,9 +491,11 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t d
uint8_t* receivedData = nullptr;
size_t bytesLeft = 0;
uint32_t missedReplies = 0;
datalinkLayer.encodeFrame(commandBuffer, size);
result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
datalinkLayer.getEncodedLength());
uint8_t* sendData;
size_t txFrameLen = 0;
datalinkLayer.encodeFrame(commandBuffer, size, &sendData, txFrameLen);
result = uartComIF->sendMessage(comCookie, sendData, txFrameLen);
if (result != returnvalue::OK) {
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);