use a ring buffer

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -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); }

linux/devices/startracker/ArcsecDatalinkLayer.h

@@ -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;
 

linux/devices/startracker/StrHelper.cpp

@@ -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);