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WIP: SCEX Init #272

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muellerr wants to merge 62 commits from irini into develop
pull from: irini
merge into: eive:develop
Conversation 1 Commits 62 Files Changed 40 +289 -284
4 changed files with 289 additions and 284 deletions
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538
linux/boardtest/UartTestClass.cpp
View File

@ -21,331 +21,333 @@
#endif #endif
UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader) UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
: TestTask(objectId), reader(reader) { : TestTask(objectId), reader(reader) {
mode = TestModes::SCEX; mode = TestModes::SCEX;
scexMode = ScexModes::SIMPLE; scexMode = ScexModes::READER_TASK;
currCmd = scex::ScexCmds::FRAM; currCmd = scex::ScexCmds::PING;
if (scexMode == ScexModes::SIMPLE) { if (scexMode == ScexModes::SIMPLE) {
auto encodingBuf = new std::array<uint8_t, 4096>; auto encodingBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair encodingBufPair {encodingBuf->data(), encodingBuf->size()}; DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()};
auto decodedBuf = new std::array<uint8_t, 4096>; auto decodedBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair decodingBufPair {decodedBuf->data(), decodedBuf->size()}; DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()};
dleParser = dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair,
new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair, decodingBufPair, &foundDlePacketHandler, this); decodingBufPair, &foundDlePacketHandler, this);
} }
} }
ReturnValue_t UartTestClass::initialize() { ReturnValue_t UartTestClass::initialize() {
if (mode == TestModes::GPS) { if (mode == TestModes::GPS) {
gpsInit(); gpsInit();
} else if (mode == TestModes::SCEX) { } else if (mode == TestModes::SCEX) {
scexInit(); scexInit();
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t UartTestClass::performPeriodicAction() { ReturnValue_t UartTestClass::performPeriodicAction() {
if (mode == TestModes::GPS) { if (mode == TestModes::GPS) {
gpsPeriodic(); gpsPeriodic();
} else if (mode == TestModes::SCEX) { } else if (mode == TestModes::SCEX) {
scexPeriodic(); scexPeriodic();
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void UartTestClass::gpsInit() { void UartTestClass::gpsInit() {
#if RPI_TEST_GPS_HANDLER == 1 #if RPI_TEST_GPS_HANDLER == 1
int result = lwgps_init(&gpsData); int result = lwgps_init(&gpsData);
if (result == 0) { if (result == 0) {
sif::warning << "lwgps_init error: " << result << std::endl; sif::warning << "lwgps_init error: " << result << std::endl;
} }
/* Get file descriptor */ /* Get file descriptor */
serialPort = open("/dev/serial0", O_RDWR); serialPort = open("/dev/serial0", O_RDWR);
if (serialPort < 0) { if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno) sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl; << std::endl;
} }
/* Setting up UART parameters */ /* Setting up UART parameters */
tty.c_cflag &= ~PARENB; // Clear parity bit tty.c_cflag &= ~PARENB; // Clear parity bit
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag &= ~CSIZE; // Clear all the size bits tty.c_cflag &= ~CSIZE; // Clear all the size bits
tty.c_cflag |= CS8; // 8 bits per byte tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1) tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use canonical mode for GPS device // Use canonical mode for GPS device
tty.c_lflag |= ICANON; tty.c_lflag |= ICANON;
tty.c_lflag &= ~ECHO; // Disable echo tty.c_lflag &= ~ECHO; // Disable echo
tty.c_lflag &= ~ECHOE; // Disable erasure tty.c_lflag &= ~ECHOE; // Disable erasure
tty.c_lflag &= ~ECHONL; // Disable new-line echo tty.c_lflag &= ~ECHONL; // Disable new-line echo
tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
ICRNL); // Disable any special handling of received bytes ICRNL); // Disable any special handling of received bytes
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars) tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
// Non-blocking mode // Non-blocking mode
tty.c_cc[VTIME] = 0; tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0; tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600); cfsetispeed(&tty, B9600);
cfsetospeed(&tty, B9600); cfsetospeed(&tty, B9600);
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno) sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl; << std::endl;
; ;
} }
// Flush received and unread data. Those are old NMEA strings which are not relevant anymore // Flush received and unread data. Those are old NMEA strings which are not relevant anymore
tcflush(serialPort, TCIFLUSH); tcflush(serialPort, TCIFLUSH);
#endif #endif
} }
void UartTestClass::gpsPeriodic() { void UartTestClass::gpsPeriodic() {
#if RPI_TEST_GPS_HANDLER == 1 #if RPI_TEST_GPS_HANDLER == 1
int bytesRead = 0; int bytesRead = 0;
do { do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()), bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size())); static_cast<unsigned int>(recBuf.size()));
if (bytesRead < 0) { if (bytesRead < 0) {
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl; << ", " << strerror(errno) << "]" << std::endl;
break; break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) { } else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::performPeriodicAction: " sif::debug << "UartTestClass::performPeriodicAction: "
"recv buffer might not be large enough" "recv buffer might not be large enough"
<< std::endl; << std::endl;
} else if (bytesRead > 0) { } else if (bytesRead > 0) {
// pass data to lwgps for processing // pass data to lwgps for processing
#if GPS_REPLY_WIRETAPPING == 1 #if GPS_REPLY_WIRETAPPING == 1
sif::info << recBuf.data() << std::endl; sif::info << recBuf.data() << std::endl;
#endif #endif
int result = lwgps_process(&gpsData, recBuf.data(), bytesRead); int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
if (result == 0) { if (result == 0) {
sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl; sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl;
} }
recvCnt++; recvCnt++;
if (recvCnt == 6) { if (recvCnt == 6) {
recvCnt = 0; recvCnt = 0;
sif::info << "GPS Data" << std::endl; sif::info << "GPS Data" << std::endl;
// Print messages // Print messages
printf("Valid status: %d\n", gpsData.is_valid); printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude); printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude); printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude); printf("Altitude: %f meters\n", gpsData.altitude);
} }
} }
} while (bytesRead > 0); } while (bytesRead > 0);
#endif #endif
} }
void UartTestClass::scexInit() { void UartTestClass::scexInit() {
if (reader == nullptr) { if (reader == nullptr) {
sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl; sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl;
return; return;
} }
if (scexMode == ScexModes::SIMPLE) { if (scexMode == ScexModes::SIMPLE) {
scexSimpleInit(); scexSimpleInit();
} else { } else {
#if defined(RASPBERRY_PI) #if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0"; std::string devname = "/dev/serial0";
#else #else
std::string devname = "/dev/ul-scex"; std::string devname = "/dev/ul-scex";
#endif #endif
uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096); uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
reader->setDebugMode(true); reader->setDebugMode(true);
ReturnValue_t result = reader->initializeInterface(uartCookie); ReturnValue_t result = reader->initializeInterface(uartCookie);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader " sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader "
"UART IF failed" "UART IF failed"
<< std::endl; << std::endl;
} }
} }
} }
void UartTestClass::scexPeriodic() { void UartTestClass::scexPeriodic() {
using namespace std; using namespace std;
if (reader == nullptr) { if (reader == nullptr) {
return; return;
} }
if (scexMode == ScexModes::SIMPLE) { if (scexMode == ScexModes::SIMPLE) {
scexSimplePeriodic(); scexSimplePeriodic();
} else { } else {
if (not cmdSent){ if (not cmdSent) {
size_t len = 0; size_t len = 0;
prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len); prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len); reader->sendMessage(uartCookie, cmdBuf.data(), len);
cmdSent = true; cmdSent = true;
cmdDone = false; cmdDone = false;
} }
if (cmdSent and not cmdDone){ if (cmdSent and not cmdDone) {
uint8_t* decodedPacket = nullptr; uint8_t* decodedPacket = nullptr;
size_t len = 0; size_t len = 0;
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len); ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if(len > 0){ if (len > 0) {
sif::info<<"CmdByte: "<<(int)decodedPacket[0]<<endl; sif::info << "CmdByte: " << std::setw(2) << std::setfill('0') << std::hex
scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111); << (int)decodedPacket[0] << std::dec << endl;
size_t packetCounter = decodedPacket[1]; scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111);
sif::info<<"PacketCounter: "<<packetCounter<<endl; sif::info << "Command: 0x" << std::setw(2) << std::setfill('0') << std::hex
size_t totalPacketCounter = decodedPacket[2]; << static_cast<int>(cmd) << std::dec << std::endl;
sif::info<<"TotalPacketCount: "<<totalPacketCounter<<endl; size_t packetCounter = decodedPacket[1];
uint16_t packetLen = (decodedPacket[3]<< 8) | (decodedPacket[4]); sif::info << "PacketCounter: " << packetCounter << endl;
sif::info<<"PacketLength: "<< packetLen <<endl; size_t totalPacketCounter = decodedPacket[2];
uint16_t expectedPacketLen = packetLen + 7; sif::info << "TotalPacketCount: " << totalPacketCounter << endl;
uint16_t packetLen = (decodedPacket[3] << 8) | (decodedPacket[4]);
sif::info<<"ExpectedPacketLength: "<< packetLen+7 <<endl; sif::info << "PacketLength: " << packetLen << endl;
if(expectedPacketLen != len){ uint16_t expectedPacketLen = packetLen + 7;
sif::warning<<"ExpectedPacketLength " << expectedPacketLen <<" is not Length"<< len<<endl;
}
if(CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0){
sif::warning<<"CRC invalid"<<endl;
}else{
sif::info<<"CRC valid"<<endl;
}
if(packetCounter == totalPacketCounter){
reader->finish();
sif::info<<"Reader is finished" << endl;
cmdDone = true;
if(cmd == scex::ScexCmds::PING){
cmdSent = false;
}
}
}
}
}
sif::info << "ExpectedPacketLength: " << packetLen + 7 << endl;
if (expectedPacketLen != len) {
sif::warning << "ExpectedPacketLength " << expectedPacketLen << " is not Length" << len
<< endl;
}
if (CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0) {
sif::warning << "CRC invalid" << endl;
} else {
sif::info << "CRC valid" << endl;
}
if (packetCounter == totalPacketCounter) {
reader->finish();
sif::info << "Reader is finished" << endl;
cmdDone = true;
// TODO: Bug in firmware, other command will be returned
cmdSent = false;
// if (cmd == scex::ScexCmds::PING) {
// cmdSent = false;
// }
}
}
}
}
} }
void UartTestClass::scexSimpleInit() { void UartTestClass::scexSimpleInit() {
#if defined(RASPBERRY_PI) #if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0"; std::string devname = "/dev/serial0";
#else #else
std::string devname = "/dev/ul-scex"; std::string devname = "/dev/ul-scex";
#endif #endif
/* Get file descriptor */ /* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR); serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) { if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno) sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl; << std::endl;
return; return;
} }
// Setting up UART parameters // Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit tty.c_cflag &= ~PARENB; // Clear parity bit
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag &= ~CSIZE; // Clear all the size bits tty.c_cflag &= ~CSIZE; // Clear all the size bits
tty.c_cflag |= CS8; // 8 bits per byte tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1) tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use non-canonical mode and clear echo flag // Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO); tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are // Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
// received in one go // received in one go
tty.c_cc[VTIME] = 10; // In units of 0.1 seconds tty.c_cc[VTIME] = 0; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes tty.c_cc[VMIN] = 0; // Read up to 255 bytes
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here. // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S) #if !defined(XIPHOS_Q7S)
if (cfsetispeed(&tty, B57600) != 0) { if (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl; sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
} }
#endif #endif
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno) sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl; << std::endl;
} }
// Flush received and unread data // Flush received and unread data
tcflush(serialPort, TCIOFLUSH); tcflush(serialPort, TCIOFLUSH);
} }
void UartTestClass::scexSimplePeriodic() { void UartTestClass::scexSimplePeriodic() {
using namespace scex; using namespace scex;
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
if (not cmdSent) { if (not cmdSent) {
// Flush received and unread data // Flush received and unread data
tcflush(serialPort, TCIFLUSH); tcflush(serialPort, TCIFLUSH);
uint8_t tmpCmdBuf[32] = {}; uint8_t tmpCmdBuf[32] = {};
size_t len = 0; size_t len = 0;
sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl; sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl;
prepareScexCmd(currCmd, false, tmpCmdBuf, &len); prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true); result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl; sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
return; return;
} }
if (result != 0) { if (result != 0) {
return; return;
}; };
size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen); size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
if (bytesWritten != encodedLen) { if (bytesWritten != encodedLen) {
sif::warning << "Sending command to solar experiment failed" << std::endl; sif::warning << "Sending command to solar experiment failed" << std::endl;
} }
cmdSent = true; cmdSent = true;
cmdDone = false; cmdDone = false;
} }
if (not cmdDone) { if (not cmdDone) {
// Read back reply immediately // Read back reply immediately
int bytesRead = 0; int bytesRead = 0;
do { do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()), bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size())); static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) { if (bytesRead == 0) {
sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl; sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl;
} else if (bytesRead < 0) { } else if (bytesRead < 0) {
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" sif::warning << "UartTestClass::performPeriodicAction: read call failed with error ["
<< errno << ", " << strerror(errno) << "]" << std::endl; << errno << ", " << strerror(errno) << "]" << std::endl;
break; break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) { } else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough" sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
<< std::endl; << std::endl;
} else if (bytesRead > 0) { } else if (bytesRead > 0) {
dleParser->passData(recBuf.data(), bytesRead); dleParser->passData(recBuf.data(), bytesRead);
if (currCmd == ScexCmds::PING) { if (currCmd == ScexCmds::PING) {
cmdDone = true; cmdDone = true;
cmdSent = false; cmdSent = false;
} }
} }
} while (bytesRead > 0); } while (bytesRead > 0);
} }
} }
int UartTestClass::prepareScexCmd(scex::ScexCmds cmd, bool tempCheck, uint8_t* cmdBuf, int UartTestClass::prepareScexCmd(scex::ScexCmds cmd, bool tempCheck, uint8_t* cmdBuf,
size_t* len) { size_t* len) {
using namespace scex; using namespace scex;
// Send ping command // Send ping command
cmdBuf[0] = scex::createCmdByte(cmd, false); cmdBuf[0] = scex::createCmdByte(cmd, false);
// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each // These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
// telecommand so far // telecommand so far
cmdBuf[1] = 1; cmdBuf[1] = 1;
cmdBuf[2] = 1; cmdBuf[2] = 1;
uint16_t userDataLen = 0; uint16_t userDataLen = 0;
cmdBuf[3] = (userDataLen >> 8) & 0xff; cmdBuf[3] = (userDataLen >> 8) & 0xff;
cmdBuf[4] = userDataLen & 0xff; cmdBuf[4] = userDataLen & 0xff;
uint16_t crc = CRC::crc16ccitt(cmdBuf, 5); uint16_t crc = CRC::crc16ccitt(cmdBuf, 5);
cmdBuf[5] = (crc >> 8) & 0xff; cmdBuf[5] = (crc >> 8) & 0xff;
cmdBuf[6] = crc & 0xff; cmdBuf[6] = crc & 0xff;
*len = 7; *len = 7;
return 0; return 0;
} }
void UartTestClass::foundDlePacketHandler(const DleParser::Context& ctx) { void UartTestClass::foundDlePacketHandler(const DleParser::Context& ctx) {
UartTestClass* obj = reinterpret_cast<UartTestClass*>(ctx.userArgs); UartTestClass* obj = reinterpret_cast<UartTestClass*>(ctx.userArgs);
if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) { if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) {
obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second); obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second);
} else { } else {
DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second); DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second);
} }
} }
void UartTestClass::handleFoundDlePacket(uint8_t* packet, size_t len) { void UartTestClass::handleFoundDlePacket(uint8_t* packet, size_t len) {
sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl; sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
} }

31
linux/devices/ScexUartReader.cpp
View File

@ -5,6 +5,7 @@
#include <fsfw/ipc/MutexFactory.h> #include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h> #include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h> #include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uart/UartCookie.h> #include <fsfw_hal/linux/uart/UartCookie.h>
#include <linux/devices/ScexDleParser.h> #include <linux/devices/ScexDleParser.h>
#include <unistd.h> // write(), read(), close() #include <unistd.h> // write(), read(), close()
@ -34,16 +35,17 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
semaphore->acquire(); semaphore->acquire();
sif::info << "task was started" << std::endl; sif::info << "task was started" << std::endl;
int bytesRead = 0; int bytesRead = 0;
while(true) { while (true) {
bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()), bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size())); static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) { if (bytesRead == 0) {
MutexGuard mg(lock); MutexGuard mg(lock);
States currentState = state; if (state == States::FINISH) {
if (currentState == States::FINISH) { sif::debug << "finish detected" << std::endl;
state = States::IDLE; state = States::IDLE;
break; break;
} }
TaskFactory::delayTask(1000);
} else if (bytesRead < 0) { } else if (bytesRead < 0) {
sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl; << ", " << strerror(errno) << "]" << std::endl;
@ -63,7 +65,7 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
} }
}; };
// task block comes here // task block comes here
std::cout << "done" << std::endl; sif::info << "task was stopped" << std::endl;
} }
return RETURN_OK; return RETURN_OK;
} }
@ -74,7 +76,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string devname = uartCookie->getDeviceFile(); std::string devname = uartCookie->getDeviceFile();
sif::info << devname << std::endl; sif::info << devname << std::endl;
/* Get file descriptor */ /* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR); serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) { if (serialPort < 0) {
@ -94,8 +96,8 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
tty.c_lflag &= ~(ICANON | ECHO); tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling // Non-blocking mode, use polling
tty.c_cc[VTIME] = 10; // Read for up to 1 seconds tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 255; // Read as much as there is available tty.c_cc[VMIN] = 0;
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here. // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S) #if !defined(XIPHOS_Q7S)
@ -109,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
<< std::endl; << std::endl;
} }
// Flush received and unread data // Flush received and unread data
tcflush(serialPort, TCIFLUSH); tcflush(serialPort, TCIOFLUSH);
return RETURN_OK; return RETURN_OK;
} }
@ -172,13 +174,13 @@ void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl; sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
MutexGuard mg(lock); MutexGuard mg(lock);
ReturnValue_t result = ipcQueue.insert(len); ReturnValue_t result = ipcQueue.insert(len);
if(result != RETURN_OK){ if (result != RETURN_OK) {
sif::warning<< "IPCQueue error" << std::endl; sif::warning << "IPCQueue error" << std::endl;
} }
result = ipcRingBuf.writeData(packet, len); result = ipcRingBuf.writeData(packet, len);
if(result != RETURN_OK){ if (result != RETURN_OK) {
sif::warning<< "IPCRingBuf error" << std::endl; sif::warning << "IPCRingBuf error" << std::endl;
} }
sif::info << "DLE handler done" << std::endl; sif::info << "DLE handler done" << std::endl;
} }
@ -189,7 +191,8 @@ ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **bu
*size = 0; *size = 0;
return RETURN_OK; return RETURN_OK;
} }
*size = ipcQueue.pop(); sif::info << "returning data" << std::endl;
ipcQueue.retrieve(size);
*buffer = ipcBuffer.data(); *buffer = ipcBuffer.data();
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true); ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
if (result != RETURN_OK) { if (result != RETURN_OK) {

2
mission/devices/IMTQHandler.cpp
View File

@ -118,7 +118,7 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
case (IMTQ::START_ACTUATION_DIPOLE): { case (IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */ /* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE; commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
if(commandData == nullptr) { if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
commandBuffer[1] = commandData[1]; commandBuffer[1] = commandData[1];

2
tmtc

@ -1 +1 @@
Subproject commit ecb973c37fe43954d0be1f19b0735b3546d2ef1b Subproject commit 8a30f669f075c284494d7c1c6618e42e2aec8f15