Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

linux/devices/CMakeLists.txt

@@ -2,7 +2,9 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
   target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
 endif()
 
-target_sources(${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp)
+target_sources(
+  ${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp ScexUartReader.cpp
+                       ScexDleParser.cpp ScexHelper.cpp)
 
 add_subdirectory(ploc)
 add_subdirectory(startracker)

linux/devices/ScexDleParser.cpp

@@ -0,0 +1,7 @@
+#include "ScexDleParser.h"
+
+ScexDleParser::ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder,
+                             BufPair encodedBuf, BufPair decodedBuf)
+    : DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf){};
+
+ScexDleParser::~ScexDleParser(){};

linux/devices/ScexDleParser.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include <fsfw/globalfunctions/DleParser.h>
+
+class ScexDleParser : public DleParser {
+ public:
+  ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder, BufPair encodedBuf,
+                BufPair decodedBuf);
+
+  virtual ~ScexDleParser();
+
+ private:
+};

linux/devices/ScexHelper.cpp

@@ -0,0 +1,86 @@
+#include "ScexHelper.h"
+
+#include <fsfw/globalfunctions/CRC.h>
+
+#include "fsfw/serviceinterface.h"
+
+using namespace returnvalue;
+
+ScexHelper::ScexHelper() {}
+
+ReturnValue_t ScexHelper::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                    Endianness streamEndianness) const {
+  return FAILED;
+}
+
+size_t ScexHelper::getSerializedSize() const { return totalPacketLen; }
+
+ReturnValue_t ScexHelper::deSerialize(const uint8_t** buffer, size_t* size,
+                                      Endianness streamEndianness) {
+  if (buffer == nullptr or size == nullptr) {
+    return FAILED;
+  }
+  if (*size < 7) {
+    return STREAM_TOO_SHORT;
+  }
+  start = *buffer;
+  cmdByteRaw = **buffer;
+  cmd = static_cast<scex::Cmds>((cmdByteRaw >> 1) & 0b11111);
+
+  *buffer += 1;
+  packetCounter = **buffer;
+
+  *buffer += 1;
+  totalPacketCounter = **buffer;
+
+  *buffer += 1;
+  payloadLen = (**buffer << 8) | *(*buffer + 1);
+
+  *buffer += 2;
+  payloadStart = *buffer;
+  totalPacketLen = payloadLen + scex::HEADER_LEN + scex::CRC_LEN;
+  if (totalPacketLen >= *size) {
+    return STREAM_TOO_SHORT;
+  }
+  *buffer += payloadLen;
+  crc = (**buffer << 8) | *(*buffer + 1);
+  if (CRC::crc16ccitt(start, totalPacketLen) != 0) {
+    return INVALID_CRC;
+  }
+  return OK;
+}
+
+scex::Cmds ScexHelper::getCmd() const { return cmd; }
+
+uint8_t ScexHelper::getCmdByteRaw() const { return cmdByteRaw; }
+
+uint16_t ScexHelper::getCrc() const { return crc; }
+
+size_t ScexHelper::getExpectedPacketLen() const { return totalPacketLen; }
+
+uint8_t ScexHelper::getPacketCounter() const { return packetCounter; }
+
+uint16_t ScexHelper::getPayloadLen() const { return payloadLen; }
+
+const uint8_t* ScexHelper::getStart() const { return start; }
+
+uint8_t ScexHelper::getTotalPacketCounter() const { return totalPacketCounter; }
+
+std::ostream& operator<<(std::ostream& os, const ScexHelper& h) {
+  using namespace std;
+  sif::info << "Command Byte Raw: 0x" << std::setw(2) << std::setfill('0') << std::hex
+            << (int)h.cmdByteRaw << " | Command: 0x" << std::setw(2) << std::setfill('0')
+            << std::hex << static_cast<int>(h.cmd) << std::dec << std::endl;
+  sif::info << "PacketCounter: " << h.packetCounter << endl;
+  sif::info << "TotalPacketCount: " << h.totalPacketCounter << endl;
+  sif::info << "PayloadLength: " << h.payloadLen << endl;
+  sif::info << "TotalPacketLength: " << h.totalPacketLen;
+
+  return os;
+}
+
+std::ofstream& operator<<(std::ofstream& of, const ScexHelper& h) {
+  of.write(reinterpret_cast<const char*>(h.start), h.getSerializedSize());
+
+  return of;
+}

linux/devices/ScexHelper.h

@@ -0,0 +1,46 @@
+#ifndef LINUX_DEVICES_SCEXHELPER_H_
+#define LINUX_DEVICES_SCEXHELPER_H_
+#include <fsfw/serialize/SerializeIF.h>
+#include <mission/devices/devicedefinitions/ScexDefinitions.h>
+
+#include <cstddef>
+#include <cstdint>
+#include <fstream>
+#include <iostream>
+
+class ScexHelper : public SerializeIF {
+ public:
+  static const ReturnValue_t INVALID_CRC = returnvalue::makeCode(0, 2);
+
+  ScexHelper();
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override;
+
+  size_t getSerializedSize() const override;
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness = Endianness::BIG) override;
+  friend std::ostream &operator<<(std::ostream &os, const ScexHelper &h);
+  friend std::ofstream &operator<<(std::ofstream &os, const ScexHelper &h);
+
+  scex::Cmds getCmd() const;
+  uint8_t getCmdByteRaw() const;
+  uint16_t getCrc() const;
+  size_t getExpectedPacketLen() const;
+  uint8_t getPacketCounter() const;
+  uint16_t getPayloadLen() const;
+  const uint8_t *getStart() const;
+  uint8_t getTotalPacketCounter() const;
+
+ private:
+  const uint8_t *start = nullptr;
+  uint16_t crc = 0;
+  uint8_t cmdByteRaw = 0;
+  scex::Cmds cmd = scex::Cmds::INVALID;
+  int packetCounter = 0;
+  int totalPacketCounter = 0;
+  uint16_t payloadLen = 0;
+  const uint8_t *payloadStart = 0;
+  size_t totalPacketLen = 0;
+};
+
+#endif /* LINUX_DEVICES_SCEXHELPER_H_ */

linux/devices/ScexUartReader.cpp

@@ -0,0 +1,236 @@
+#include "ScexUartReader.h"
+
+#include <fcntl.h>  // Contains file controls like O_RDWR
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <unistd.h>  // write(), read(), close()
+
+#include <cerrno>  // Error integer and strerror() function
+#include <iostream>
+
+#include "OBSWConfig.h"
+
+using namespace returnvalue;
+
+ScexUartReader::ScexUartReader(object_id_t objectId)
+    : SystemObject(objectId),
+      decodeRingBuf(4096, true),
+      ipcRingBuf(200 * 2048, true),
+      ipcQueue(200),
+      dleParser(decodeRingBuf, dleEncoder, {encodedBuf.data(), encodedBuf.size()},
+                {decodedBuf.data(), decodedBuf.size()}) {
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+  lock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
+  lock->lockMutex();
+  state = States::IDLE;
+  lock->unlockMutex();
+  while (true) {
+    semaphore->acquire();
+    int bytesRead = 0;
+    // debugMode = true;
+    while (true) {
+      bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
+                       static_cast<unsigned int>(recBuf.size()));
+      if (bytesRead == 0) {
+        {
+          MutexGuard mg(lock);
+          if (state == States::FINISH) {
+            dleParser.reset();
+            // Flush received and unread data
+            tcflush(serialPort, TCIOFLUSH);
+            state = States::IDLE;
+            break;
+          }
+        }
+        ReturnValue_t result = returnvalue::OK;
+        // Can be used to read frame, parity and overrun errors
+        // serial_icounter_struct icounter{};
+        // uart::readCountersAndErrors(serialPort, icounter);
+        while (result != DleParser::NO_PACKET_FOUND) {
+          result = tryDleParsing();
+        }
+
+        TaskFactory::delayTask(400);
+      } else if (bytesRead < 0) {
+        sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
+                     << ", " << strerror(errno) << "]" << std::endl;
+        break;
+      } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+        sif::error << "ScexUartReader::performOperation: Receive buffer too small for " << bytesRead
+                   << " bytes" << std::endl;
+      } else if (bytesRead > 0) {
+        if (debugMode) {
+          sif::info << "Received " << bytesRead
+                    << " bytes from the Solar Cell Experiment:" << std::endl;
+        }
+        ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead);
+        if (result != OK) {
+          sif::warning << "ScexUartReader::performOperation: Passing data to DLE parser failed"
+                       << std::endl;
+        }
+        result = tryDleParsing();
+      }
+    };
+  }
+  return OK;
+}
+
+ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
+  UartCookie *uartCookie = dynamic_cast<UartCookie *>(cookie);
+  if (uartCookie == nullptr) {
+    return FAILED;
+  }
+  std::string devname = uartCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "ScexUartReader::initializeInterface: open call failed with error [" << errno
+                 << ", " << strerror(errno) << std::endl;
+    return FAILED;
+  }
+  // Setting up UART parameters
+  tty.c_cflag &= ~PARENB;  // Clear parity bit
+  if (uartCookie->getStopBits() == StopBits::TWO_STOP_BITS) {
+    // Use two stop bits
+    tty.c_cflag |= CSTOPB;
+  } else {
+    // Clear stop field, only one stop bit used in communication
+    tty.c_cflag &= ~CSTOPB;
+  }
+
+  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, use polling
+  tty.c_cc[VTIME] = 0;
+  tty.c_cc[VMIN] = 0;
+
+  // The SCEX experiment has a fixed baud rate.
+  if (cfsetispeed(&tty, B38400) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: Setting baud rate failed" << std::endl;
+  }
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
+                 << errno << ", " << strerror(errno) << std::endl;
+  }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
+  return OK;
+}
+
+ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                          size_t sendLen) {
+  ReturnValue_t result;
+  if (sendData == nullptr or sendLen == 0) {
+    return FAILED;
+  }
+  lock->lockMutex();
+  if (state == States::NOT_READY or state == States::RUNNING) {
+    lock->unlockMutex();
+    return FAILED;
+  }
+  tcflush(serialPort, TCIFLUSH);
+  state = States::RUNNING;
+  lock->unlockMutex();
+
+  result = semaphore->release();
+  if (result != OK) {
+    std::cout << "ScexUartReader::sendMessage: Releasing semaphore failed" << std::endl;
+  }
+  size_t encodedLen = 0;
+  result = dleEncoder.encode(sendData, sendLen, cmdbuf.data(), cmdbuf.size(), &encodedLen, true);
+  if (result != OK) {
+    sif::warning << "ScexUartReader::sendMessage: Encoding failed" << std::endl;
+    return FAILED;
+  }
+  size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen);
+  if (bytesWritten != encodedLen) {
+    sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
+                 << std::endl;
+    return FAILED;
+  }
+
+  return OK;
+}
+
+ReturnValue_t ScexUartReader::getSendSuccess(CookieIF *cookie) { return OK; }
+
+ReturnValue_t ScexUartReader::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return OK;
+}
+
+void ScexUartReader::setDebugMode(bool enable) { this->debugMode = enable; }
+
+ReturnValue_t ScexUartReader::finish() {
+  MutexGuard mg(lock);
+  if (state == States::IDLE) {
+    return FAILED;
+  }
+  state = States::FINISH;
+  return OK;
+}
+
+void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
+  MutexGuard mg(lock);
+  ReturnValue_t result = ipcQueue.insert(len);
+  if (result != OK) {
+    sif::warning << "ScexUartReader::handleFoundDlePacket: IPCQueue error" << std::endl;
+  }
+  result = ipcRingBuf.writeData(packet, len);
+  if (result != OK) {
+    sif::warning << "ScexUartReader::handleFoundDlePacket: IPCRingBuf error" << std::endl;
+  }
+}
+
+ReturnValue_t ScexUartReader::tryDleParsing() {
+  size_t bytesRead = 0;
+  ReturnValue_t result = dleParser.parseRingBuf(bytesRead);
+  if (result == returnvalue::OK) {
+    // Packet found, advance read pointer.
+    auto &decodedPacket = dleParser.getContext().decodedPacket;
+    handleFoundDlePacket(decodedPacket.first, decodedPacket.second);
+    dleParser.confirmBytesRead(bytesRead);
+  } else if (result != DleParser::NO_PACKET_FOUND) {
+    sif::warning << "ScexUartReader::performOperation: Possible packet loss" << std::endl;
+    // Markers found at wrong place
+    // which might be a hint for a possibly lost packet.
+    dleParser.defaultErrorHandler();
+    dleParser.confirmBytesRead(bytesRead);
+  }
+  return result;
+}
+
+void ScexUartReader::reset() {
+  lock->lockMutex();
+  state = States::FINISH;
+  lock->unlockMutex();
+}
+
+ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                  size_t *size) {
+  MutexGuard mg(lock);
+  if (ipcQueue.empty()) {
+    *size = 0;
+    return OK;
+  }
+  ipcQueue.retrieve(size);
+  *buffer = ipcBuffer.data();
+  ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
+  if (result != OK) {
+    sif::warning << "ScexUartReader::readReceivedMessage: Reading RingBuffer failed" << std::endl;
+  }
+  return OK;
+}

linux/devices/ScexUartReader.h

@@ -0,0 +1,61 @@
+#pragma once
+
+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/globalfunctions/DleEncoder.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/timemanager/Countdown.h>
+#include <linux/devices/ScexDleParser.h>
+#include <termios.h>  // Contains POSIX terminal control definitions
+
+class SemaphoreIF;
+class MutexIF;
+
+class ScexUartReader : public SystemObject,
+                       public ExecutableObjectIF,
+                       public DeviceCommunicationIF {
+  friend class UartTestClass;
+
+ public:
+  enum class States { NOT_READY, IDLE, RUNNING, FINISH };
+  ScexUartReader(object_id_t objectId);
+
+  void reset();
+  ReturnValue_t finish();
+  void setDebugMode(bool enable);
+
+ private:
+  SemaphoreIF *semaphore;
+  bool debugMode = false;
+  MutexIF *lock;
+  int serialPort = 0;
+  States state = States::IDLE;
+  struct termios tty = {};
+  bool doFinish = false;
+  DleEncoder dleEncoder = DleEncoder();
+  SimpleRingBuffer decodeRingBuf;
+
+  std::array<uint8_t, 256> cmdbuf = {};
+  std::array<uint8_t, 4096> recBuf = {};
+  std::array<uint8_t, 4096> encodedBuf = {};
+  std::array<uint8_t, 4096> decodedBuf = {};
+  std::array<uint8_t, 4096> ipcBuffer = {};
+  SimpleRingBuffer ipcRingBuf;
+  DynamicFIFO<size_t> ipcQueue;
+  ScexDleParser dleParser;
+
+  static void foundDlePacketHandler(const DleParser::Context &ctx);
+  void handleFoundDlePacket(uint8_t *packet, size_t len);
+  ReturnValue_t tryDleParsing();
+
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+  // DeviceCommunicationIF implementation
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+};