From 57cc77e19750b508823b8578cd47c34de61670c2 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 15 Apr 2022 01:39:47 +0200 Subject: [PATCH] fixed some tiny bugs --- linux/boardtest/UartTestClass.cpp | 538 +++++++++++++++--------------- linux/devices/ScexUartReader.cpp | 31 +- mission/devices/IMTQHandler.cpp | 2 +- tmtc | 2 +- 4 files changed, 289 insertions(+), 284 deletions(-) diff --git a/linux/boardtest/UartTestClass.cpp b/linux/boardtest/UartTestClass.cpp index 28d92c40..7723dc86 100644 --- a/linux/boardtest/UartTestClass.cpp +++ b/linux/boardtest/UartTestClass.cpp @@ -21,331 +21,333 @@ #endif UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader) -: TestTask(objectId), reader(reader) { - mode = TestModes::SCEX; - scexMode = ScexModes::SIMPLE; - currCmd = scex::ScexCmds::FRAM; - if (scexMode == ScexModes::SIMPLE) { - auto encodingBuf = new std::array; - DleParser::BufPair encodingBufPair {encodingBuf->data(), encodingBuf->size()}; - auto decodedBuf = new std::array; - DleParser::BufPair decodingBufPair {decodedBuf->data(), decodedBuf->size()}; - dleParser = - new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair, decodingBufPair, &foundDlePacketHandler, this); - } + : TestTask(objectId), reader(reader) { + mode = TestModes::SCEX; + scexMode = ScexModes::READER_TASK; + currCmd = scex::ScexCmds::PING; + if (scexMode == ScexModes::SIMPLE) { + auto encodingBuf = new std::array; + DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()}; + auto decodedBuf = new std::array; + DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()}; + dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair, + decodingBufPair, &foundDlePacketHandler, this); + } } ReturnValue_t UartTestClass::initialize() { - if (mode == TestModes::GPS) { - gpsInit(); - } else if (mode == TestModes::SCEX) { - scexInit(); - } - return HasReturnvaluesIF::RETURN_OK; + if (mode == TestModes::GPS) { + gpsInit(); + } else if (mode == TestModes::SCEX) { + scexInit(); + } + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t UartTestClass::performPeriodicAction() { - if (mode == TestModes::GPS) { - gpsPeriodic(); - } else if (mode == TestModes::SCEX) { - scexPeriodic(); - } - return HasReturnvaluesIF::RETURN_OK; + if (mode == TestModes::GPS) { + gpsPeriodic(); + } else if (mode == TestModes::SCEX) { + scexPeriodic(); + } + return HasReturnvaluesIF::RETURN_OK; } void UartTestClass::gpsInit() { #if RPI_TEST_GPS_HANDLER == 1 - int result = lwgps_init(&gpsData); - if (result == 0) { - sif::warning << "lwgps_init error: " << result << std::endl; - } + int result = lwgps_init(&gpsData); + if (result == 0) { + sif::warning << "lwgps_init error: " << result << std::endl; + } - /* Get file descriptor */ - serialPort = open("/dev/serial0", O_RDWR); - if (serialPort < 0) { - sif::warning << "open call failed with error [" << errno << ", " << strerror(errno) - << std::endl; - } - /* Setting up UART parameters */ - tty.c_cflag &= ~PARENB; // Clear parity bit - tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication - tty.c_cflag &= ~CSIZE; // Clear all the size bits - tty.c_cflag |= CS8; // 8 bits per byte - tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1) - // Use canonical mode for GPS device - tty.c_lflag |= ICANON; - tty.c_lflag &= ~ECHO; // Disable echo - tty.c_lflag &= ~ECHOE; // Disable erasure - tty.c_lflag &= ~ECHONL; // Disable new-line echo - tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP - tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl - tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | - ICRNL); // Disable any special handling of received bytes - 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 + /* Get file descriptor */ + serialPort = open("/dev/serial0", O_RDWR); + if (serialPort < 0) { + sif::warning << "open call failed with error [" << errno << ", " << strerror(errno) + << std::endl; + } + /* Setting up UART parameters */ + tty.c_cflag &= ~PARENB; // Clear parity bit + tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication + tty.c_cflag &= ~CSIZE; // Clear all the size bits + tty.c_cflag |= CS8; // 8 bits per byte + tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control + tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1) + // Use canonical mode for GPS device + tty.c_lflag |= ICANON; + tty.c_lflag &= ~ECHO; // Disable echo + tty.c_lflag &= ~ECHOE; // Disable erasure + tty.c_lflag &= ~ECHONL; // Disable new-line echo + tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP + tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl + tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | + ICRNL); // Disable any special handling of received bytes + 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 - // Non-blocking mode - tty.c_cc[VTIME] = 0; - tty.c_cc[VMIN] = 0; + // Non-blocking mode + tty.c_cc[VTIME] = 0; + tty.c_cc[VMIN] = 0; - cfsetispeed(&tty, B9600); - cfsetospeed(&tty, B9600); - if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { - sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno) - << std::endl; - ; - } - // Flush received and unread data. Those are old NMEA strings which are not relevant anymore - tcflush(serialPort, TCIFLUSH); + cfsetispeed(&tty, B9600); + cfsetospeed(&tty, B9600); + if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { + sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno) + << std::endl; + ; + } + // Flush received and unread data. Those are old NMEA strings which are not relevant anymore + tcflush(serialPort, TCIFLUSH); #endif } void UartTestClass::gpsPeriodic() { #if RPI_TEST_GPS_HANDLER == 1 - int bytesRead = 0; - do { - bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), - static_cast(recBuf.size())); - if (bytesRead < 0) { - sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno - << ", " << strerror(errno) << "]" << std::endl; - break; - } else if (bytesRead >= static_cast(recBuf.size())) { - sif::debug << "UartTestClass::performPeriodicAction: " - "recv buffer might not be large enough" - << std::endl; - } else if (bytesRead > 0) { - // pass data to lwgps for processing + int bytesRead = 0; + do { + bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), + static_cast(recBuf.size())); + if (bytesRead < 0) { + sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno + << ", " << strerror(errno) << "]" << std::endl; + break; + } else if (bytesRead >= static_cast(recBuf.size())) { + sif::debug << "UartTestClass::performPeriodicAction: " + "recv buffer might not be large enough" + << std::endl; + } else if (bytesRead > 0) { + // pass data to lwgps for processing #if GPS_REPLY_WIRETAPPING == 1 - sif::info << recBuf.data() << std::endl; + sif::info << recBuf.data() << std::endl; #endif - int result = lwgps_process(&gpsData, recBuf.data(), bytesRead); - if (result == 0) { - sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl; - } - recvCnt++; - if (recvCnt == 6) { - recvCnt = 0; - sif::info << "GPS Data" << std::endl; - // Print messages - printf("Valid status: %d\n", gpsData.is_valid); - printf("Latitude: %f degrees\n", gpsData.latitude); - printf("Longitude: %f degrees\n", gpsData.longitude); - printf("Altitude: %f meters\n", gpsData.altitude); - } - } - } while (bytesRead > 0); + int result = lwgps_process(&gpsData, recBuf.data(), bytesRead); + if (result == 0) { + sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl; + } + recvCnt++; + if (recvCnt == 6) { + recvCnt = 0; + sif::info << "GPS Data" << std::endl; + // Print messages + printf("Valid status: %d\n", gpsData.is_valid); + printf("Latitude: %f degrees\n", gpsData.latitude); + printf("Longitude: %f degrees\n", gpsData.longitude); + printf("Altitude: %f meters\n", gpsData.altitude); + } + } + } while (bytesRead > 0); #endif } void UartTestClass::scexInit() { - if (reader == nullptr) { - sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl; - return; - } - if (scexMode == ScexModes::SIMPLE) { - scexSimpleInit(); - } else { + if (reader == nullptr) { + sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl; + return; + } + if (scexMode == ScexModes::SIMPLE) { + scexSimpleInit(); + } else { #if defined(RASPBERRY_PI) - std::string devname = "/dev/serial0"; + std::string devname = "/dev/serial0"; #else - std::string devname = "/dev/ul-scex"; + std::string devname = "/dev/ul-scex"; #endif - uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096); - reader->setDebugMode(true); - ReturnValue_t result = reader->initializeInterface(uartCookie); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader " - "UART IF failed" - << std::endl; - } - } + uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096); + reader->setDebugMode(true); + ReturnValue_t result = reader->initializeInterface(uartCookie); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader " + "UART IF failed" + << std::endl; + } + } } void UartTestClass::scexPeriodic() { - using namespace std; - if (reader == nullptr) { - return; - } + using namespace std; + if (reader == nullptr) { + return; + } - if (scexMode == ScexModes::SIMPLE) { - scexSimplePeriodic(); - } else { - if (not cmdSent){ - size_t len = 0; - prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len); - reader->sendMessage(uartCookie, cmdBuf.data(), len); - cmdSent = true; - cmdDone = false; - } - if (cmdSent and not cmdDone){ - uint8_t* decodedPacket = nullptr; - size_t len = 0; - ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len); + if (scexMode == ScexModes::SIMPLE) { + scexSimplePeriodic(); + } else { + if (not cmdSent) { + size_t len = 0; + prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len); + reader->sendMessage(uartCookie, cmdBuf.data(), len); + cmdSent = true; + cmdDone = false; + } + if (cmdSent and not cmdDone) { + uint8_t* decodedPacket = nullptr; + size_t len = 0; + ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len); - if(len > 0){ - sif::info<<"CmdByte: "<<(int)decodedPacket[0]<((decodedPacket[0] >> 1) & 0b11111); - size_t packetCounter = decodedPacket[1]; - sif::info<<"PacketCounter: "<finish(); - sif::info<<"Reader is finished" << endl; - cmdDone = true; - if(cmd == scex::ScexCmds::PING){ - cmdSent = false; - } - } - - } - } - - } + if (len > 0) { + sif::info << "CmdByte: " << std::setw(2) << std::setfill('0') << std::hex + << (int)decodedPacket[0] << std::dec << endl; + scex::ScexCmds cmd = static_cast((decodedPacket[0] >> 1) & 0b11111); + sif::info << "Command: 0x" << std::setw(2) << std::setfill('0') << std::hex + << static_cast(cmd) << std::dec << std::endl; + size_t packetCounter = decodedPacket[1]; + sif::info << "PacketCounter: " << packetCounter << endl; + size_t totalPacketCounter = decodedPacket[2]; + sif::info << "TotalPacketCount: " << totalPacketCounter << endl; + uint16_t packetLen = (decodedPacket[3] << 8) | (decodedPacket[4]); + sif::info << "PacketLength: " << packetLen << endl; + uint16_t expectedPacketLen = packetLen + 7; + sif::info << "ExpectedPacketLength: " << packetLen + 7 << endl; + if (expectedPacketLen != len) { + sif::warning << "ExpectedPacketLength " << expectedPacketLen << " is not Length" << len + << endl; + } + if (CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0) { + sif::warning << "CRC invalid" << endl; + } else { + sif::info << "CRC valid" << endl; + } + if (packetCounter == totalPacketCounter) { + reader->finish(); + sif::info << "Reader is finished" << endl; + cmdDone = true; + // TODO: Bug in firmware, other command will be returned + cmdSent = false; + // if (cmd == scex::ScexCmds::PING) { + // cmdSent = false; + // } + } + } + } + } } void UartTestClass::scexSimpleInit() { #if defined(RASPBERRY_PI) - std::string devname = "/dev/serial0"; + std::string devname = "/dev/serial0"; #else - std::string devname = "/dev/ul-scex"; + std::string devname = "/dev/ul-scex"; #endif - /* Get file descriptor */ - serialPort = open(devname.c_str(), O_RDWR); - if (serialPort < 0) { - sif::warning << "open call failed with error [" << errno << ", " << strerror(errno) - << std::endl; - return; - } - // Setting up UART parameters - tty.c_cflag &= ~PARENB; // Clear parity bit - tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication - tty.c_cflag &= ~CSIZE; // Clear all the size bits - tty.c_cflag |= CS8; // 8 bits per byte - tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1) + /* Get file descriptor */ + serialPort = open(devname.c_str(), O_RDWR); + if (serialPort < 0) { + sif::warning << "open call failed with error [" << errno << ", " << strerror(errno) + << std::endl; + return; + } + // Setting up UART parameters + tty.c_cflag &= ~PARENB; // Clear parity bit + tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication + tty.c_cflag &= ~CSIZE; // Clear all the size bits + tty.c_cflag |= CS8; // 8 bits per byte + tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control + tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1) - // Use non-canonical mode and clear echo flag - tty.c_lflag &= ~(ICANON | ECHO); + // Use non-canonical mode and clear echo flag + tty.c_lflag &= ~(ICANON | ECHO); - // Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are - // received in one go - tty.c_cc[VTIME] = 10; // In units of 0.1 seconds - tty.c_cc[VMIN] = 255; // Read up to 255 bytes + // Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are + // received in one go + tty.c_cc[VTIME] = 0; // In units of 0.1 seconds + tty.c_cc[VMIN] = 0; // Read up to 255 bytes - // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here. + // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here. #if !defined(XIPHOS_Q7S) - if (cfsetispeed(&tty, B57600) != 0) { - sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl; - } + if (cfsetispeed(&tty, B57600) != 0) { + sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl; + } #endif - if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { - sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno) - << std::endl; - } - // Flush received and unread data - tcflush(serialPort, TCIOFLUSH); + if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { + sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno) + << std::endl; + } + // Flush received and unread data + tcflush(serialPort, TCIOFLUSH); } void UartTestClass::scexSimplePeriodic() { - using namespace scex; - ReturnValue_t result = RETURN_OK; - if (not cmdSent) { - // Flush received and unread data - tcflush(serialPort, TCIFLUSH); - uint8_t tmpCmdBuf[32] = {}; - size_t len = 0; - sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl; - prepareScexCmd(currCmd, false, tmpCmdBuf, &len); - result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl; - return; - } - if (result != 0) { - return; - }; - size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen); - if (bytesWritten != encodedLen) { - sif::warning << "Sending command to solar experiment failed" << std::endl; - } - cmdSent = true; - cmdDone = false; - } - if (not cmdDone) { - // Read back reply immediately - int bytesRead = 0; - do { - bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), - static_cast(recBuf.size())); - if (bytesRead == 0) { - sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl; - } else if (bytesRead < 0) { - sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" - << errno << ", " << strerror(errno) << "]" << std::endl; - break; - } else if (bytesRead >= static_cast(recBuf.size())) { - sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough" - << std::endl; - } else if (bytesRead > 0) { - dleParser->passData(recBuf.data(), bytesRead); - if (currCmd == ScexCmds::PING) { - cmdDone = true; - cmdSent = false; - } - } - } while (bytesRead > 0); - } + using namespace scex; + ReturnValue_t result = RETURN_OK; + if (not cmdSent) { + // Flush received and unread data + tcflush(serialPort, TCIFLUSH); + uint8_t tmpCmdBuf[32] = {}; + size_t len = 0; + sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl; + prepareScexCmd(currCmd, false, tmpCmdBuf, &len); + result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl; + return; + } + if (result != 0) { + return; + }; + size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen); + if (bytesWritten != encodedLen) { + sif::warning << "Sending command to solar experiment failed" << std::endl; + } + cmdSent = true; + cmdDone = false; + } + if (not cmdDone) { + // Read back reply immediately + int bytesRead = 0; + do { + bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), + static_cast(recBuf.size())); + if (bytesRead == 0) { + sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl; + } else if (bytesRead < 0) { + sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" + << errno << ", " << strerror(errno) << "]" << std::endl; + break; + } else if (bytesRead >= static_cast(recBuf.size())) { + sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough" + << std::endl; + } else if (bytesRead > 0) { + dleParser->passData(recBuf.data(), bytesRead); + if (currCmd == ScexCmds::PING) { + cmdDone = true; + cmdSent = false; + } + } + } while (bytesRead > 0); + } } int UartTestClass::prepareScexCmd(scex::ScexCmds cmd, bool tempCheck, uint8_t* cmdBuf, - size_t* len) { - using namespace scex; - // Send ping command - cmdBuf[0] = scex::createCmdByte(cmd, false); - // These two fields are the packet counter and the total packet count. Those are 1 and 1 for each - // telecommand so far - cmdBuf[1] = 1; - cmdBuf[2] = 1; - uint16_t userDataLen = 0; - cmdBuf[3] = (userDataLen >> 8) & 0xff; - cmdBuf[4] = userDataLen & 0xff; - uint16_t crc = CRC::crc16ccitt(cmdBuf, 5); - cmdBuf[5] = (crc >> 8) & 0xff; - cmdBuf[6] = crc & 0xff; - *len = 7; - return 0; + size_t* len) { + using namespace scex; + // Send ping command + cmdBuf[0] = scex::createCmdByte(cmd, false); + // These two fields are the packet counter and the total packet count. Those are 1 and 1 for each + // telecommand so far + cmdBuf[1] = 1; + cmdBuf[2] = 1; + uint16_t userDataLen = 0; + cmdBuf[3] = (userDataLen >> 8) & 0xff; + cmdBuf[4] = userDataLen & 0xff; + uint16_t crc = CRC::crc16ccitt(cmdBuf, 5); + cmdBuf[5] = (crc >> 8) & 0xff; + cmdBuf[6] = crc & 0xff; + *len = 7; + return 0; } void UartTestClass::foundDlePacketHandler(const DleParser::Context& ctx) { - UartTestClass* obj = reinterpret_cast(ctx.userArgs); - if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) { - obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second); - } else { - DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second); - } + UartTestClass* obj = reinterpret_cast(ctx.userArgs); + if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) { + obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second); + } else { + DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second); + } } void UartTestClass::handleFoundDlePacket(uint8_t* packet, size_t len) { - sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl; + sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl; } diff --git a/linux/devices/ScexUartReader.cpp b/linux/devices/ScexUartReader.cpp index 657fb829..e0868b48 100644 --- a/linux/devices/ScexUartReader.cpp +++ b/linux/devices/ScexUartReader.cpp @@ -5,6 +5,7 @@ #include #include #include +#include #include #include #include // write(), read(), close() @@ -34,16 +35,17 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) { semaphore->acquire(); sif::info << "task was started" << std::endl; int bytesRead = 0; - while(true) { + while (true) { bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), static_cast(recBuf.size())); if (bytesRead == 0) { MutexGuard mg(lock); - States currentState = state; - if (currentState == States::FINISH) { + if (state == States::FINISH) { + sif::debug << "finish detected" << std::endl; state = States::IDLE; break; } + TaskFactory::delayTask(1000); } else if (bytesRead < 0) { sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno << ", " << strerror(errno) << "]" << std::endl; @@ -63,7 +65,7 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) { } }; // task block comes here - std::cout << "done" << std::endl; + sif::info << "task was stopped" << std::endl; } return RETURN_OK; } @@ -74,7 +76,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { return RETURN_FAILED; } std::string devname = uartCookie->getDeviceFile(); - sif::info << devname << std::endl; + sif::info << devname << std::endl; /* Get file descriptor */ serialPort = open(devname.c_str(), O_RDWR); if (serialPort < 0) { @@ -94,8 +96,8 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { tty.c_lflag &= ~(ICANON | ECHO); // Non-blocking mode, use polling - tty.c_cc[VTIME] = 10; // Read for up to 1 seconds - tty.c_cc[VMIN] = 255; // Read as much as there is available + tty.c_cc[VTIME] = 0; + tty.c_cc[VMIN] = 0; // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here. #if !defined(XIPHOS_Q7S) @@ -109,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { << std::endl; } // Flush received and unread data - tcflush(serialPort, TCIFLUSH); + tcflush(serialPort, TCIOFLUSH); return RETURN_OK; } @@ -172,13 +174,13 @@ void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) { sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl; MutexGuard mg(lock); ReturnValue_t result = ipcQueue.insert(len); - if(result != RETURN_OK){ - sif::warning<< "IPCQueue error" << std::endl; + if (result != RETURN_OK) { + sif::warning << "IPCQueue error" << std::endl; } result = ipcRingBuf.writeData(packet, len); - if(result != RETURN_OK){ - sif::warning<< "IPCRingBuf error" << std::endl; - } + if (result != RETURN_OK) { + sif::warning << "IPCRingBuf error" << std::endl; + } sif::info << "DLE handler done" << std::endl; } @@ -189,7 +191,8 @@ ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **bu *size = 0; return RETURN_OK; } - *size = ipcQueue.pop(); + sif::info << "returning data" << std::endl; + ipcQueue.retrieve(size); *buffer = ipcBuffer.data(); ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true); if (result != RETURN_OK) { diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index 645a8aa7..e9483d35 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -118,7 +118,7 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma case (IMTQ::START_ACTUATION_DIPOLE): { /* IMTQ expects low byte first */ commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE; - if(commandData == nullptr) { + if (commandData == nullptr) { return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; } commandBuffer[1] = commandData[1]; diff --git a/tmtc b/tmtc index ecb973c3..8a30f669 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit ecb973c37fe43954d0be1f19b0735b3546d2ef1b +Subproject commit 8a30f669f075c284494d7c1c6618e42e2aec8f15