Make syrlinks COM more reliable

bsp_q7s/core/ObjectFactory.cpp

@@ -4,6 +4,7 @@
 #include <linux/devices/AcsBoardPolling.h>
 #include <linux/devices/ImtqPollingTask.h>
 #include <linux/devices/RwPollingTask.h>
+#include <linux/devices/SyrlinksComHandler.h>
 #include <linux/devices/startracker/StrComHandler.h>
 #include <mission/devices/GyrL3gCustomHandler.h>
 #include <mission/devices/MgmLis3CustomHandler.h>
@@ -596,12 +597,13 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
   auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
   syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
   auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
+                          syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
   syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1

common/config/eive/eventSubsystemIds.h

@@ -39,6 +39,7 @@ enum : uint8_t {
   TCS_CONTROLLER = 141,
   COM_SUBSYSTEM = 142,
   PERSISTENT_TM_STORE = 143,
+  SYRLINKS_COM = 144,
   COMMON_SUBSYSTEM_ID_END
 
 };

common/config/eive/objects.h

@@ -123,8 +123,7 @@ enum commonObjects : uint32_t {
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
   SYRLINKS_HANDLER = 0x445300A3,
-  // might be obsolete, was not used in Q7S FM SW
-  // CCSDS_IP_CORE_BRIDGE = 0x73500000,
+  SYRLINKS_COM_HANDLER = 0x445300A4,
 
   /* 0x49 ('I') for Communication Interfaces */
   ACS_BOARD_POLLING_TASK = 0x49060004,

fsfw

@@ -1 +1 @@
-Subproject commit f8a7c1d4ed621a3375db0da9b9e9f8d5484abbc1
+Subproject commit cf6150cc184656481eaeb2beff23cd8e92a6ada9

linux/devices/CMakeLists.txt

@@ -11,7 +11,8 @@ target_sources(
           ScexDleParser.cpp
           ScexHelper.cpp
           RwPollingTask.cpp
-          AcsBoardPolling.cpp)
+          AcsBoardPolling.cpp
+          SyrlinksComHandler.cpp)
 
 add_subdirectory(ploc)
 

linux/devices/SusPolling.cpp

@@ -77,7 +77,7 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
     susDevs[susIdx].mode = susReq->mode;
   }
   if (state == InternalState::IDLE) {
-    state = InternalState::BUSY;
+    state = InternalState::IS_BUSY;
     semaphore->release();
   }
   return OK;

linux/devices/SusPolling.h

@@ -18,7 +18,7 @@ class SusPolling : public SystemObject, public ExecutableObjectIF, public Device
   ReturnValue_t initialize() override;
 
  private:
-  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+  enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
 
   struct SusDev {
     SpiCookie* cookie = nullptr;

linux/devices/SyrlinksComHandler.cpp

@@ -0,0 +1,206 @@
+#include "SyrlinksComHandler.h"
+
+#include <fcntl.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/serial/helper.h>
+#include <unistd.h>
+
+using namespace returnvalue;
+
+SyrlinksComHandler::SyrlinksComHandler(object_id_t objectId)
+    : SystemObject(objectId), ringBuf(2048, true) {
+  lock = MutexFactory::instance()->createMutex();
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+}
+
+ReturnValue_t SyrlinksComHandler::performOperation(uint8_t opCode) {
+  while (true) {
+    lock->lockMutex();
+    state = State::SLEEPING;
+    lock->unlockMutex();
+    readOneReply();
+    semaphore->acquire();
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::initializeInterface(CookieIF *cookie) {
+  if (cookie == nullptr) {
+    return returnvalue::FAILED;
+  }
+  SerialCookie *serCookie = dynamic_cast<SerialCookie *>(cookie);
+  if (serCookie == nullptr) {
+    return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
+  }
+  // comCookie = serCookie;
+  std::string devname = serCookie->getDeviceFile();
+  /* Get file descriptor */
+  serialPort = open(devname.c_str(), O_RDWR);
+  if (serialPort < 0) {
+    sif::warning << "SyrlinksComHandler: open call failed with error [" << errno << ", "
+                 << strerror(errno) << std::endl;
+    return returnvalue::FAILED;
+  }
+  // Setting up UART parameters
+  serial::setStopbits(tty, serCookie->getStopBits());
+  serial::setParity(tty, serCookie->getParity());
+  serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  serial::enableRead(tty);
+  serial::ignoreCtrlLines(tty);
+
+  // 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;
+
+  serial::setBaudrate(tty, serCookie->getBaudrate());
+  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 returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                              size_t sendLen) {
+  {
+    MutexGuard mg(lock);
+    if (state != State::SLEEPING) {
+      return BUSY;
+    }
+  }
+  serial::flushRxBuf(serialPort);
+
+  ssize_t writtenBytes = write(serialPort, sendData, sendLen);
+  if (writtenBytes != static_cast<ssize_t>(sendLen)) {
+    sif::warning << "StrComHandler: Sending packet failed" << std::endl;
+    return returnvalue::FAILED;
+  }
+  {
+    MutexGuard mg(lock);
+    state = State::ACTIVE;
+  }
+  semaphore->release();
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+
+ReturnValue_t SyrlinksComHandler::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::handleSerialReception() {
+  ssize_t bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
+                           static_cast<unsigned int>(recBuf.size()));
+  if (bytesRead == 0) {
+    return NO_SERIAL_DATA_READ;
+  } else if (bytesRead < 0) {
+    sif::warning << "SyrlinksComHandler: read call failed with error [" << errno << ", "
+                 << strerror(errno) << "]" << std::endl;
+    return FAILED;
+  } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+    sif::error << "SyrlinksComHandler: Receive buffer too small for " << bytesRead << " bytes"
+               << std::endl;
+    return FAILED;
+  } else if (bytesRead > 0) {
+    // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
+    // arrayprinter::print(recBuf.data(), bytesRead);
+    ringBuf.writeData(recBuf.data(), bytesRead);
+  }
+  return OK;
+}
+
+ReturnValue_t SyrlinksComHandler::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                                      size_t *size) {
+  MutexGuard mg(lock);
+  if (replyResult != returnvalue::OK) {
+    ReturnValue_t tmp = replyResult;
+    replyResult = returnvalue::OK;
+    return tmp;
+  }
+  if (replyLen == 0) {
+    *size = 0;
+    return returnvalue::OK;
+  }
+  *buffer = ipcBuf.data();
+  *size = replyLen;
+  replyLen = 0;
+  return returnvalue::OK;
+}
+
+ReturnValue_t SyrlinksComHandler::readOneReply() {
+  ReturnValue_t result;
+  uint32_t nextDelayMs = 1;
+  replyTimeout.resetTimer();
+  while (true) {
+    handleSerialReception();
+    result = tryReadingOneSyrlinksReply();
+    if (result == returnvalue::OK) {
+      return returnvalue::OK;
+    }
+    if (replyTimeout.hasTimedOut()) {
+      {
+        MutexGuard mg(lock);
+        replyResult = DeviceCommunicationIF::NO_REPLY_RECEIVED;
+      }
+      return returnvalue::FAILED;
+    }
+    TaskFactory::delayTask(nextDelayMs);
+    if (nextDelayMs < 32) {
+      nextDelayMs *= 2;
+    }
+  }
+}
+ReturnValue_t SyrlinksComHandler::tryReadingOneSyrlinksReply() {
+  size_t bytesToRead = ringBuf.getAvailableReadData();
+  if (bytesToRead == 0) {
+    return returnvalue::OK;
+  }
+  bool startMarkerFound = false;
+  size_t startIdx = 0;
+  ringBuf.readData(recBuf.data(), bytesToRead);
+  for (size_t idx = 0; idx < bytesToRead; idx++) {
+    if (recBuf[idx] == START_MARKER) {
+      if (startMarkerFound) {
+        // Probably lost a packet. Discard broken packet.
+        sif::warning << "SyrlinksComHandler: Detected 2 consecutive start markers" << std::endl;
+        ringBuf.deleteData(idx);
+      } else {
+        startMarkerFound = true;
+        startIdx = idx;
+      }
+    }
+    if (recBuf[idx] == END_MARKER) {
+      if (startMarkerFound) {
+        {
+          MutexGuard mg(lock);
+          replyLen = idx - startIdx;
+        }
+        // Copy detected packet to IPC buffer so it can be passed back to the device handler.
+        if (replyLen > ipcBuf.size()) {
+          sif::error << "SyrlinksComHandler: Detected reply too large" << std::endl;
+          ringBuf.deleteData(idx);
+          return returnvalue::FAILED;
+        }
+        std::memcpy(ipcBuf.data(), recBuf.data() + startIdx, replyLen);
+        ringBuf.deleteData(idx);
+        return returnvalue::OK;
+      } else {
+        // Probably lost a packet. Discard broken packet.
+        sif::warning << "SyrlinksComHandler: Detected 2 consecutive end markers" << std::endl;
+        ringBuf.deleteData(idx);
+      }
+    }
+  }
+  return NO_PACKET_FOUND;
+}

linux/devices/SyrlinksComHandler.h

@@ -0,0 +1,52 @@
+#ifndef LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
+#define LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
+
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <termios.h>
+
+class SyrlinksComHandler : public DeviceCommunicationIF,
+                           public ExecutableObjectIF,
+                           public SystemObject {
+ public:
+  SyrlinksComHandler(object_id_t objectId);
+
+ private:
+  static constexpr char START_MARKER = '<';
+  static constexpr char END_MARKER = '>';
+
+  //! [EXPORT] : [SKIP]
+  static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0);
+  static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1);
+
+  enum class State { SLEEPING, ACTIVE } state = State::SLEEPING;
+
+  MutexIF *lock;
+  SemaphoreIF *semaphore;
+  int serialPort = 0;
+  struct termios tty {};
+  Countdown replyTimeout{};
+  std::array<uint8_t, 2048> recBuf{};
+  SimpleRingBuffer ringBuf;
+  std::array<uint8_t, 1024> ipcBuf{};
+  size_t replyLen = 0;
+  ReturnValue_t replyResult = returnvalue::OK;
+
+  ReturnValue_t handleSerialReception();
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+  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;
+
+  ReturnValue_t readOneReply();
+  ReturnValue_t tryReadingOneSyrlinksReply();
+};
+
+#endif /* LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ */

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -7,6 +7,9 @@ ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
 ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
                                                         size_t& frameLen) {
   size_t currentLen = decodeRingBuf.getAvailableReadData();
+  if (currentLen == 0) {
+    return returnvalue::OK;
+  }
   decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
   for (size_t idx = 0; idx < currentLen; idx++) {
     enum arc_dec_result decResult =

linux/devices/startracker/StrComHandler.cpp

@@ -155,9 +155,7 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) {
   return returnvalue::OK;
 }
 
-void StrComHandler::stopProcess() {
-  terminate = true;
-}
+void StrComHandler::stopProcess() { terminate = true; }
 
 void StrComHandler::setDownloadImageName(std::string filename) {
   downloadImage.filename = filename;
@@ -652,10 +650,9 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
   const uint8_t* txFrame;
   size_t frameLen;
   datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
-  size_t bytesWritten = write(serialPort, txFrame, frameLen);
-  if (bytesWritten != frameLen) {
-    sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
-                 << std::endl;
+  ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
+  if (bytesWritten != static_cast<ssize_t>(frameLen)) {
+    sif::warning << "StrComHandler: Sending packet failed" << std::endl;
     return returnvalue::FAILED;
   }
   // Hacky, but the alternatives look bleak. The raw data contains the information we need
@@ -746,12 +743,12 @@ ReturnValue_t StrComHandler::handleSerialReception() {
   if (bytesRead == 0) {
     return NO_SERIAL_DATA_READ;
   } else if (bytesRead < 0) {
-    sif::warning << "PlocSupvHelper::performOperation: read call failed with error [" << errno
-                 << ", " << strerror(errno) << "]" << std::endl;
+    sif::warning << "StrComHandler: read call failed with error [" << errno << ", "
+                 << strerror(errno) << "]" << std::endl;
     return FAILED;
   } else if (bytesRead >= static_cast<int>(recBuf.size())) {
-    sif::error << "PlocSupvHelper::performOperation: Receive buffer too small for " << bytesRead
-               << " bytes" << std::endl;
+    sif::error << "StrComHandler: Receive buffer too small for " << bytesRead << " bytes"
+               << std::endl;
     return FAILED;
   } else if (bytesRead > 0) {
     // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;

linux/devices/startracker/StrComHandler.h

@@ -28,7 +28,6 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
  public:
   static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
 
-  static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0);
   //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
   static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
   //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem