From 6071e34771af2d62e48b2c7a1f47eafb1b07dd6c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 8 Apr 2022 21:16:02 +0200 Subject: [PATCH] some refactoring --- linux/boardtest/UartTestClass.cpp | 174 ++++++++++--------- linux/boardtest/UartTestClass.h | 4 + linux/devices/GPSHyperionLinuxController.cpp | 1 - mission/devices/P60DockHandler.cpp | 2 +- tmtc | 2 +- 5 files changed, 100 insertions(+), 83 deletions(-) diff --git a/linux/boardtest/UartTestClass.cpp b/linux/boardtest/UartTestClass.cpp index 0941e423..6ca8ef9a 100644 --- a/linux/boardtest/UartTestClass.cpp +++ b/linux/boardtest/UartTestClass.cpp @@ -23,7 +23,7 @@ UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader) : TestTask(objectId), reader(reader) { mode = TestModes::SCEX; - scexMode = ScexModes::READER_TASK; + scexMode = ScexModes::SIMPLE; } ReturnValue_t UartTestClass::initialize() { @@ -138,47 +138,7 @@ void UartTestClass::scexInit() { return; } if (scexMode == ScexModes::SIMPLE) { -#if defined(RASPBERRY_PI) - std::string devname = "/dev/serial0"; -#else - 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) - - // 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] = 1; // In units of 0.1 seconds - tty.c_cc[VMIN] = 255; // Read up to 255 bytes - - // 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; - } -#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, TCIFLUSH); + scexSimpleInit(); } else { #if defined(RASPBERRY_PI) std::string devname = "/dev/serial0"; @@ -189,6 +149,11 @@ void UartTestClass::scexInit() { new UartCookie(this->getObjectId(), devname, UartModes::NON_CANONICAL, 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; + } } } @@ -198,44 +163,7 @@ void UartTestClass::scexPeriodic() { } if (scexMode == ScexModes::SIMPLE) { - sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl; - // reader->sendMessage(nullptr, nullptr, 0); - uint8_t tmpCmdBuf[32] = {}; - size_t len = 0; - prepareScexPing(tmpCmdBuf, &len); - ReturnValue_t 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 ping command to solar experiment failed" << std::endl; - } - - // Read back reply immediately - 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) { - sif::info << "Received " << bytesRead - << " bytes from the Solar Cell Experiment:" << std::endl; - arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false); - break; - } - } while (bytesRead > 0); + scexSimplePeriodic(); } else { size_t len = 0; prepareScexPing(cmdBuf.data(), &len); @@ -259,3 +187,89 @@ int UartTestClass::prepareScexPing(uint8_t* cmdBuf, size_t* len) { *len = 7; return 0; } + +void UartTestClass::scexSimplePeriodic() { + sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl; + uint8_t tmpCmdBuf[32] = {}; + size_t len = 0; + prepareScexPing(tmpCmdBuf, &len); + ReturnValue_t 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 ping command to solar experiment failed" << std::endl; + } + + // 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 occured after 0.5 seconds" << 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) { + sif::info << "Received " << bytesRead + << " bytes from the Solar Cell Experiment:" << std::endl; + arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false); + break; + } + } while (bytesRead > 0); +} + +void UartTestClass::scexSimpleInit() { +#if defined(RASPBERRY_PI) + std::string devname = "/dev/serial0"; +#else + 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) + + // 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] = 5; // In units of 0.1 seconds + tty.c_cc[VMIN] = 1; // Read up to 255 bytes + + // 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; + } +#endif + + // 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; + } +} diff --git a/linux/boardtest/UartTestClass.h b/linux/boardtest/UartTestClass.h index 17fdca59..7c046931 100644 --- a/linux/boardtest/UartTestClass.h +++ b/linux/boardtest/UartTestClass.h @@ -35,6 +35,10 @@ class UartTestClass : public TestTask { void scexInit(); void scexPeriodic(); int prepareScexPing(uint8_t* cmdBuf, size_t* len); + + void scexSimplePeriodic(); + void scexSimpleInit(); + TestModes mode = TestModes::GPS; DleEncoder dleEncoder = DleEncoder(); UartCookie* uartCookie = nullptr; diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp index d1ef7d1b..20860211 100644 --- a/linux/devices/GPSHyperionLinuxController.cpp +++ b/linux/devices/GPSHyperionLinuxController.cpp @@ -3,7 +3,6 @@ #include "OBSWConfig.h" #include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/timemanager/Clock.h" - #include "linux/utility/utility.h" #include "mission/utility/compileTime.h" diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp index d37673fc..508471d2 100644 --- a/mission/devices/P60DockHandler.cpp +++ b/mission/devices/P60DockHandler.cpp @@ -111,7 +111,7 @@ void P60DockHandler::parseHkTableReply(const uint8_t *packet) { dataOffset += 6; coreHk.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3); - if(firstHk) { + if (firstHk) { triggerEvent(P60_BOOT_COUNT, coreHk.bootCount.value); } dataOffset += 6; diff --git a/tmtc b/tmtc index 3a1c7c62..091cf2dd 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 3a1c7c62887eb377c498bd9cdac47b93f40c85ba +Subproject commit 091cf2dd632c71a0fa8000312bb11e84f1a755db