eive/eive-obsw
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added basic unittests for hdlc encoder
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This commit is contained in:
Robin Müller
2023-02-15 19:58:32 +01:00
parent 655e01c2d1
commit 9fdb41506b
8 changed files with 95 additions and 63 deletions
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53
linux/devices/RwPollingTask.cpp
View File

@ -190,7 +190,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
return rws::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
if (byteRead != rws::FRAME_DELIMITER) {
sif::error << "Invalid data, expected start marker" << std::endl;
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
@ -198,7 +198,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
}
if (byteRead != FLAG_BYTE) {
if (byteRead != rws::FRAME_DELIMITER) {
break;
}
@ -228,7 +228,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
}
if (byteRead == FLAG_BYTE) {
if (byteRead == rws::FRAME_DELIMITER) {
// Reached end of frame
break;
} else if (byteRead == 0x7D) {
@ -268,9 +268,9 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead != FLAG_BYTE) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
<< std::endl;
if (byteRead != rws::FRAME_DELIMITER) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign "
<< static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
decodedFrameLen--;
result = rws::MISSING_END_SIGN;
break;
@ -353,23 +353,6 @@ size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx,
}
}
void RwPollingTask::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen) {
encodedBuffer[0] = FLAG_BYTE;
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++] = FLAG_BYTE;
}
// This closes the SPI
void RwPollingTask::closeSpi(int fd) {
// This will perform the function to close the SPI
@ -385,31 +368,9 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
return returnvalue::FAILED;
}
pullCsLow(gpioId, spiLock, gpioIF);
/*
//Encoding and sending command
size_t idx = 0;
while (idx < dataLen) {
switch (*(data + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
writeSize = 2;
break;
case 0x7D:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5D;
writeSize = 2;
break;
default:
writeBuffer[0] = *(data + idx);
writeSize = 1;
break;
}
}
*/
// Add datalinklayer like specified in the datasheet.
size_t lenToSend = 0;
encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
pullCsHigh(gpioId, gpioIF);

3
linux/devices/RwPollingTask.h
View File

@ -48,8 +48,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
size_t writeLen = 0;
//! This is the end and start marker of the frame datalinklayer
static constexpr uint8_t FLAG_BYTE = 0x7E;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t TIMEOUT_MS = 20;
static constexpr uint8_t MAX_RETRIES_REPLY = 5;
@ -75,7 +73,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
void closeSpi(int);