eive/eive-obsw
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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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66
linux/boardtest/UartTestClass.cpp
View File

@ -21,17 +21,17 @@
#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);
} }
} }
@ -174,53 +174,55 @@ void UartTestClass::scexPeriodic() {
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
<< (int)decodedPacket[0] << std::dec << endl;
scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111); scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111);
sif::info << "Command: 0x" << std::setw(2) << std::setfill('0') << std::hex
<< static_cast<int>(cmd) << std::dec << std::endl;
size_t packetCounter = decodedPacket[1]; size_t packetCounter = decodedPacket[1];
sif::info<<"PacketCounter: "<<packetCounter<<endl; sif::info << "PacketCounter: " << packetCounter << endl;
size_t totalPacketCounter = decodedPacket[2]; size_t totalPacketCounter = decodedPacket[2];
sif::info<<"TotalPacketCount: "<<totalPacketCounter<<endl; sif::info << "TotalPacketCount: " << totalPacketCounter << endl;
uint16_t packetLen = (decodedPacket[3]<< 8) | (decodedPacket[4]); uint16_t packetLen = (decodedPacket[3] << 8) | (decodedPacket[4]);
sif::info<<"PacketLength: "<< packetLen <<endl; sif::info << "PacketLength: " << packetLen << endl;
uint16_t expectedPacketLen = packetLen + 7; uint16_t expectedPacketLen = packetLen + 7;
sif::info<<"ExpectedPacketLength: "<< packetLen+7 <<endl; sif::info << "ExpectedPacketLength: " << packetLen + 7 << endl;
if(expectedPacketLen != len){ if (expectedPacketLen != len) {
sif::warning<<"ExpectedPacketLength " << expectedPacketLen <<" is not Length"<< len<<endl; sif::warning << "ExpectedPacketLength " << expectedPacketLen << " is not Length" << len
<< endl;
} }
if(CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0){ if (CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0) {
sif::warning<<"CRC invalid"<<endl; sif::warning << "CRC invalid" << endl;
}else{ } else {
sif::info<<"CRC valid"<<endl; sif::info << "CRC valid" << endl;
} }
if(packetCounter == totalPacketCounter){ if (packetCounter == totalPacketCounter) {
reader->finish(); reader->finish();
sif::info<<"Reader is finished" << endl; sif::info << "Reader is finished" << endl;
cmdDone = true; cmdDone = true;
if(cmd == scex::ScexCmds::PING){ // TODO: Bug in firmware, other command will be returned
cmdSent = false; cmdSent = false;
// if (cmd == scex::ScexCmds::PING) {
// cmdSent = false;
// }
} }
} }
} }
} }
}
} }
void UartTestClass::scexSimpleInit() { void UartTestClass::scexSimpleInit() {
@ -249,8 +251,8 @@ void UartTestClass::scexSimpleInit() {
// 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)

27
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;
} }
@ -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;
} }
@ -172,12 +174,12 @@ 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