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Make syrlinks COM more reliable

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This commit is contained in:
Robin Müller
2023-03-24 00:59:41 +01:00
parent 7f36bd365f
commit a9efedfc86
12 changed files with 280 additions and 20 deletions
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3
linux/devices/CMakeLists.txt
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@ -11,7 +11,8 @@ target_sources(
ScexDleParser.cpp
ScexHelper.cpp
RwPollingTask.cpp
AcsBoardPolling.cpp)
AcsBoardPolling.cpp
SyrlinksComHandler.cpp)
add_subdirectory(ploc)

2
linux/devices/SusPolling.cpp
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@ -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;

2
linux/devices/SusPolling.h
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@ -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;

206
linux/devices/SyrlinksComHandler.cpp Normal file
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@ -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;
}

52
linux/devices/SyrlinksComHandler.h Normal file
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@ -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_ */

3
linux/devices/startracker/ArcsecDatalinkLayer.cpp
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@ -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 =

19
linux/devices/startracker/StrComHandler.cpp
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@ -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;

1
linux/devices/startracker/StrComHandler.h
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@ -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