added basic unittests for hdlc encoder
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@ -190,7 +190,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
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return rws::SPI_READ_FAILURE;
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}
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if (idx == 0) {
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if (byteRead != FLAG_BYTE) {
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if (byteRead != rws::FRAME_DELIMITER) {
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sif::error << "Invalid data, expected start marker" << std::endl;
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pullCsHigh(gpioId, gpioIF);
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closeSpi(fd);
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@ -198,7 +198,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
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}
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}
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if (byteRead != FLAG_BYTE) {
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if (byteRead != rws::FRAME_DELIMITER) {
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break;
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}
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@ -228,7 +228,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
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}
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}
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if (byteRead == FLAG_BYTE) {
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if (byteRead == rws::FRAME_DELIMITER) {
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// Reached end of frame
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break;
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} else if (byteRead == 0x7D) {
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@ -268,9 +268,9 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
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result = rws::SPI_READ_FAILURE;
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break;
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}
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if (byteRead != FLAG_BYTE) {
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sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
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<< std::endl;
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if (byteRead != rws::FRAME_DELIMITER) {
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sif::error << "rwSpiCallback::spiCallback: Missing end sign "
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<< static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
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decodedFrameLen--;
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result = rws::MISSING_END_SIGN;
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break;
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@ -353,23 +353,6 @@ size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx,
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}
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}
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void RwPollingTask::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen) {
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encodedBuffer[0] = FLAG_BYTE;
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encodedLen = 1;
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for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
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if (sourceBuf[sourceIdx] == 0x7E) {
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encodedBuffer[encodedLen++] = 0x7D;
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encodedBuffer[encodedLen++] = 0x5E;
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} else if (sourceBuf[sourceIdx] == 0x7D) {
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encodedBuffer[encodedLen++] = 0x7D;
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encodedBuffer[encodedLen++] = 0x5D;
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} else {
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encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
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}
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}
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encodedBuffer[encodedLen++] = FLAG_BYTE;
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}
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// This closes the SPI
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void RwPollingTask::closeSpi(int fd) {
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// This will perform the function to close the SPI
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@ -385,31 +368,9 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
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return returnvalue::FAILED;
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}
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pullCsLow(gpioId, spiLock, gpioIF);
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/*
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//Encoding and sending command
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size_t idx = 0;
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while (idx < dataLen) {
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switch (*(data + idx)) {
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case 0x7E:
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writeBuffer[0] = 0x7D;
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writeBuffer[1] = 0x5E;
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writeSize = 2;
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break;
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case 0x7D:
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writeBuffer[0] = 0x7D;
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writeBuffer[1] = 0x5D;
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writeSize = 2;
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break;
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default:
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writeBuffer[0] = *(data + idx);
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writeSize = 1;
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break;
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}
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}
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*/
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// Add datalinklayer like specified in the datasheet.
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size_t lenToSend = 0;
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encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
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rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
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if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
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sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
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pullCsHigh(gpioId, gpioIF);
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@ -48,8 +48,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
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std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
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size_t writeLen = 0;
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//! This is the end and start marker of the frame datalinklayer
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static constexpr uint8_t FLAG_BYTE = 0x7E;
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static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
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static constexpr uint32_t TIMEOUT_MS = 20;
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static constexpr uint8_t MAX_RETRIES_REPLY = 5;
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@ -75,7 +73,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
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ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
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size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
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void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
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void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
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void closeSpi(int);
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@ -57,7 +57,8 @@
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</toolChain>
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@ -119,7 +120,8 @@
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@ -187,7 +189,8 @@
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@ -255,7 +258,8 @@
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@ -418,7 +422,8 @@
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@ -580,7 +585,8 @@
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||||
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|
||||
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||||
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|
||||
@ -680,7 +686,7 @@
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1721137382" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2014131279" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
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||||
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||||
<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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||||
<builder arguments="--build . -j 10" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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||||
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||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
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||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
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||||
@ -750,7 +756,8 @@
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||||
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<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
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||||
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||||
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||||
@ -917,7 +924,8 @@
|
||||
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||||
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||||
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||||
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|
||||
<entry excluding="cmake-build-debug-q7s|cmake-build-release-q7s-em|cmake-build-release-q7s/_deps/etl-src/uml|cmake-build-release-q7s/_deps/etl-src/test|cmake-build-release-q7s/_deps/etl-src/temp|cmake-build-release-q7s/_deps/etl-src/support|cmake-build-release-q7s/_deps/etl-src/subprojects|cmake-build-release-q7s/_deps/etl-src/scripts|cmake-build-release-q7s/_deps/etl-src/images|cmake-build-release-q7s/_deps/etl-src/examples|cmake-build-release-q7s/_deps/etl-src/cmake|cmake-build-release-q7s/_deps/etl-src/arduino|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
|
||||
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@ -1084,7 +1092,7 @@
|
||||
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|
||||
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|
||||
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|
||||
<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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||||
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@ -1149,7 +1157,7 @@
|
||||
</toolChain>
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||||
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|
||||
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<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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||||
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@ -1317,7 +1325,8 @@
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||||
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||||
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||||
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||||
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|
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|
||||
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|
||||
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@ -1386,7 +1395,7 @@
|
||||
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|
||||
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|
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|
||||
<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s-em/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
|
||||
@ -1 +1 @@
|
||||
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp)
|
||||
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)
|
||||
|
||||
@ -3,4 +3,22 @@
|
||||
|
||||
#include "rwHelpers.h"
|
||||
|
||||
void rws::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
|
||||
size_t& encodedLen) {
|
||||
encodedBuffer[0] = rws::FRAME_DELIMITER;
|
||||
encodedLen = 1;
|
||||
for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
|
||||
if (sourceBuf[sourceIdx] == 0x7E) {
|
||||
encodedBuffer[encodedLen++] = 0x7D;
|
||||
encodedBuffer[encodedLen++] = 0x5E;
|
||||
} else if (sourceBuf[sourceIdx] == 0x7D) {
|
||||
encodedBuffer[encodedLen++] = 0x7D;
|
||||
encodedBuffer[encodedLen++] = 0x5D;
|
||||
} else {
|
||||
encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
|
||||
}
|
||||
}
|
||||
encodedBuffer[encodedLen++] = rws::FRAME_DELIMITER;
|
||||
}
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */
|
||||
|
||||
@ -5,11 +5,15 @@
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
|
||||
#include "eive/resultClassIds.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "objects/systemObjectList.h"
|
||||
|
||||
namespace rws {
|
||||
|
||||
void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
|
||||
size_t& encodedLen);
|
||||
|
||||
static const size_t SIZE_GET_RESET_STATUS = 5;
|
||||
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
|
||||
static const size_t SIZE_INIT_RW = 4;
|
||||
@ -19,6 +23,10 @@ static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
|
||||
/** Max size when requesting telemetry */
|
||||
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
|
||||
|
||||
//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
|
||||
//! in the NanoAvionics datasheet.
|
||||
static constexpr uint8_t FRAME_DELIMITER = 0x7E;
|
||||
|
||||
enum class SpecialRwRequest : uint8_t {
|
||||
REQUEST_NONE = 0,
|
||||
RESET_MCU = 1,
|
||||
|
||||
@ -4,5 +4,6 @@ add_subdirectory(mocks)
|
||||
target_sources(${UNITTEST_NAME} PRIVATE
|
||||
main.cpp
|
||||
testEnvironment.cpp
|
||||
hdlcEncodingRw.cpp
|
||||
printChar.cpp
|
||||
)
|
||||
38
unittest/hdlcEncodingRw.cpp
Normal file
38
unittest/hdlcEncodingRw.cpp
Normal file
@ -0,0 +1,38 @@
|
||||
|
||||
|
||||
#include <catch2/catch_test_macros.hpp>
|
||||
|
||||
#include "mission/devices/devicedefinitions/rwHelpers.h"
|
||||
|
||||
TEST_CASE("HDLC Encoding RW", "[acs]") {
|
||||
std::array<uint8_t, 256> encodedBuffer{};
|
||||
size_t encodedLen = 0;
|
||||
SECTION("Basic No Escaped Bytes") {
|
||||
std::array<uint8_t, 4> dummyNoEscaped = {1, 2, 3, 4};
|
||||
|
||||
rws::encodeHdlc(dummyNoEscaped.data(), dummyNoEscaped.size(), encodedBuffer.data(), encodedLen);
|
||||
REQUIRE(encodedLen == 6);
|
||||
REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
|
||||
REQUIRE(encodedBuffer[1] == 1);
|
||||
REQUIRE(encodedBuffer[2] == 2);
|
||||
REQUIRE(encodedBuffer[3] == 3);
|
||||
REQUIRE(encodedBuffer[4] == 4);
|
||||
REQUIRE(encodedBuffer[5] == rws::FRAME_DELIMITER);
|
||||
}
|
||||
|
||||
SECTION("Basic Some Escaped Bytes") {
|
||||
std::array<uint8_t, 4> dummySomeEscaped = {1, 0x7D, 0x7E, 4};
|
||||
|
||||
rws::encodeHdlc(dummySomeEscaped.data(), dummySomeEscaped.size(), encodedBuffer.data(),
|
||||
encodedLen);
|
||||
REQUIRE(encodedLen == 8);
|
||||
REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
|
||||
REQUIRE(encodedBuffer[1] == 1);
|
||||
REQUIRE(encodedBuffer[2] == 0x7D);
|
||||
REQUIRE(encodedBuffer[3] == 0x5D);
|
||||
REQUIRE(encodedBuffer[4] == 0x7D);
|
||||
REQUIRE(encodedBuffer[5] == 0x5E);
|
||||
REQUIRE(encodedBuffer[6] == 4);
|
||||
REQUIRE(encodedBuffer[7] == rws::FRAME_DELIMITER);
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user