fsfw

@@ -1 +1 @@
-Subproject commit 85a6e4b12977f24247ed3ca3011c6f8b611a144e
+Subproject commit bdddee4f81fbdff7f207fd03b3c592522e04c5aa

linux/boardtest/UartTestClass.cpp

@@ -4,6 +4,7 @@
 #include <fcntl.h>  // Contains file controls like O_RDWR
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
+#include <linux/devices/ScexDleParser.h>
 #include <linux/devices/ScexUartReader.h>
 #include <unistd.h>  // write(), read(), close()
 
@@ -20,10 +21,15 @@
 #endif
 
 UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
-    : TestTask(objectId), reader(reader) {
+    : TestTask(objectId), reader(reader), decodeRingBuf(4096, true) {
   mode = TestModes::SCEX;
   scexMode = ScexModes::SIMPLE;
-  currCmd = scex::ScexCmds::ONE_CELL;
+  currCmd = scex::ScexCmds::FRAM;
+  if (mode == TestModes::SCEX) {
+    dleParser =
+        new ScexDleParser(decodeRingBuf, dleEncoder, {encodedBuf.data(), encodedBuf.size()},
+                          {decodedBuf.data(), decodedBuf.size()}, &foundDlePacketHandler, this);
+  }
 }
 
 ReturnValue_t UartTestClass::initialize() {
@@ -145,8 +151,7 @@ void UartTestClass::scexInit() {
 #else
     std::string devname = "/dev/ul-scex";
 #endif
-    uartCookie =
+    uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
-        new UartCookie(this->getObjectId(), devname, UartModes::NON_CANONICAL, 57600, 4096);
     reader->setDebugMode(true);
     ReturnValue_t result = reader->initializeInterface(uartCookie);
     if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -171,25 +176,6 @@ void UartTestClass::scexPeriodic() {
   }
 }
 
-int UartTestClass::prepareScexCmd(scex::ScexCmds cmd, bool tempCheck,
-    uint8_t* cmdBuf, size_t* len) {
-  using namespace scex;
-  // Send ping command
-  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
-  // telecommand so far
-  cmdBuf[1] = 1;
-  cmdBuf[2] = 1;
-  uint16_t userDataLen = 0;
-  cmdBuf[3] = (userDataLen >> 8) & 0xff;
-  cmdBuf[4] = userDataLen & 0xff;
-  uint16_t crc = CRC::crc16ccitt(cmdBuf, 5);
-  cmdBuf[5] = (crc >> 8) & 0xff;
-  cmdBuf[6] = crc & 0xff;
-  *len = 7;
-  return 0;
-}
-
 void UartTestClass::scexSimpleInit() {
 #if defined(RASPBERRY_PI)
   std::string devname = "/dev/serial0";
@@ -216,8 +202,8 @@ void UartTestClass::scexSimpleInit() {
 
   // Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
   // received in one go
-  tty.c_cc[VTIME] = 0;   // In units of 0.1 seconds
+  tty.c_cc[VTIME] = 10;  // In units of 0.1 seconds
-  tty.c_cc[VMIN] = 0;  // Read up to 255 bytes
+  tty.c_cc[VMIN] = 255;  // Read up to 255 bytes
 
   // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
 #if !defined(XIPHOS_Q7S)
@@ -226,53 +212,89 @@ void UartTestClass::scexSimpleInit() {
   }
 #endif
 
-  // Flush received and unread data
-  tcflush(serialPort, TCIOFLUSH);
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
                  << std::endl;
   }
+  // Flush received and unread data
+  tcflush(serialPort, TCIOFLUSH);
 }
 
 void UartTestClass::scexSimplePeriodic() {
   using namespace scex;
-  sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
+  ReturnValue_t result = RETURN_OK;
-  uint8_t tmpCmdBuf[32] = {};
+  if (not cmdSent) {
-  size_t len = 0;
+    // Flush received and unread data
-  prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
+    tcflush(serialPort, TCIFLUSH);
-  ReturnValue_t result =
+    uint8_t tmpCmdBuf[32] = {};
-      dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
+    size_t len = 0;
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl;
-    sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
+    prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
-    return;
+    result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
-  }
+    if (result != HasReturnvaluesIF::RETURN_OK) {
-  if (result != 0) {
+      sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
-    return;
+      return;
-  };
-  size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
-  if (bytesWritten != encodedLen) {
-    sif::warning << "Sending ping command to solar experiment failed" << std::endl;
-  }
-
-  // Read back reply immediately
-  int bytesRead = 0;
-  do {
-    bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
-                     static_cast<unsigned int>(recBuf.size()));
-    if (bytesRead == 0) {
-      sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl;
-    } else if (bytesRead < 0) {
-      sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno
-                   << ", " << strerror(errno) << "]" << std::endl;
-      break;
-    } else if (bytesRead >= static_cast<int>(recBuf.size())) {
-      sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
-                 << std::endl;
-    } else if (bytesRead > 0) {
-      sif::info << "Received " << bytesRead
-                << " bytes from the Solar Cell Experiment:" << std::endl;
-      arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
-      break;
     }
-  } while (bytesRead > 0);
+    if (result != 0) {
+      return;
+    };
+    size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
+    if (bytesWritten != encodedLen) {
+      sif::warning << "Sending command to solar experiment failed" << std::endl;
+    }
+    cmdSent = true;
+    cmdDone = false;
+  }
+  if (not cmdDone) {
+    // Read back reply immediately
+    int bytesRead = 0;
+    do {
+      bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
+                       static_cast<unsigned int>(recBuf.size()));
+      if (bytesRead == 0) {
+        sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl;
+      } else if (bytesRead < 0) {
+        sif::warning << "UartTestClass::performPeriodicAction: read call failed with error ["
+                     << errno << ", " << strerror(errno) << "]" << std::endl;
+        break;
+      } else if (bytesRead >= static_cast<int>(recBuf.size())) {
+        sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
+                   << std::endl;
+      } else if (bytesRead > 0) {
+        dleParser->passData(recBuf.data(), bytesRead);
+        if (currCmd == ScexCmds::PING) {
+          cmdDone = true;
+          cmdSent = false;
+        }
+      }
+    } while (bytesRead > 0);
+  }
+}
+
+int UartTestClass::prepareScexCmd(scex::ScexCmds cmd, bool tempCheck, uint8_t* cmdBuf,
+                                  size_t* len) {
+  using namespace scex;
+  // Send ping command
+  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
+  // telecommand so far
+  cmdBuf[1] = 1;
+  cmdBuf[2] = 1;
+  uint16_t userDataLen = 0;
+  cmdBuf[3] = (userDataLen >> 8) & 0xff;
+  cmdBuf[4] = userDataLen & 0xff;
+  uint16_t crc = CRC::crc16ccitt(cmdBuf, 5);
+  cmdBuf[5] = (crc >> 8) & 0xff;
+  cmdBuf[6] = crc & 0xff;
+  *len = 7;
+  return 0;
+}
+
+void UartTestClass::foundDlePacketHandler(uint8_t* packet, size_t len, void* args) {
+  UartTestClass* obj = reinterpret_cast<UartTestClass*>(args);
+  obj->handleFoundDlePacket(packet, len);
+}
+
+void UartTestClass::handleFoundDlePacket(uint8_t* packet, size_t len) {
+  sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
 }

linux/boardtest/UartTestClass.h

@@ -1,6 +1,7 @@
 #ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
 #define LINUX_BOARDTEST_UARTTESTCLASS_H_
 
+#include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/globalfunctions/DleEncoder.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
 #include <termios.h>  // Contains POSIX terminal control definitions
@@ -8,10 +9,11 @@
 #include <array>
 
 #include "lwgps/lwgps.h"
-#include "mission/devices/devicedefinitions/SCEXDefinitions.h"
+#include "mission/devices/devicedefinitions/ScexDefinitions.h"
 #include "test/testtasks/TestTask.h"
 
 class ScexUartReader;
+class ScexDleParser;
 
 class UartTestClass : public TestTask {
  public:
@@ -40,6 +42,11 @@ class UartTestClass : public TestTask {
   void scexSimplePeriodic();
   void scexSimpleInit();
 
+  static void foundDlePacketHandler(uint8_t* packet, size_t len, void* args);
+  void handleFoundDlePacket(uint8_t* packet, size_t len);
+
+  bool cmdSent = false;
+  bool cmdDone = false;
   scex::ScexCmds currCmd = scex::ScexCmds::PING;
   TestModes mode = TestModes::GPS;
   DleEncoder dleEncoder = DleEncoder();
@@ -48,10 +55,15 @@ class UartTestClass : public TestTask {
   lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;
-  std::array<uint8_t, 64> cmdBuf = {};
+  bool startFound = false;
-  std::array<uint8_t, 4096> recBuf = {};
-  uint8_t recvCnt = 0;
   ScexUartReader* reader = nullptr;
+  SimpleRingBuffer decodeRingBuf;
+  std::array<uint8_t, 64> cmdBuf = {};
+  std::array<uint8_t, 524> recBuf = {};
+  std::array<uint8_t, 4096> encodedBuf = {};
+  std::array<uint8_t, 4096> decodedBuf = {};
+  ScexDleParser* dleParser;
+  uint8_t recvCnt = 0;
 };
 
 #endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */

linux/devices/CMakeLists.txt

@@ -6,6 +6,7 @@ endif()
 
 target_sources(${OBSW_NAME} PRIVATE
 	ScexUartReader.cpp
+	ScexDleParser.cpp
 )
 add_subdirectory(ploc)
 add_subdirectory(startracker)

linux/devices/ScexDleParser.cpp

@@ -0,0 +1,6 @@
+#include "ScexDleParser.h"
+
+ScexDleParser::ScexDleParser(SimpleRingBuffer &decodeRingBuf, DleEncoder &decoder,
+                             BufPair encodedBuf, BufPair decodedBuf, FoundPacketHandler handler,
+                             void *args)
+    : DleParser(decodeRingBuf, decoder, encodedBuf, decodedBuf, handler, args) {}

linux/devices/ScexDleParser.h

@@ -0,0 +1,12 @@
+#ifndef LINUX_DEVICES_SCEXDLEPARSER_H_
+#define LINUX_DEVICES_SCEXDLEPARSER_H_
+
+#include <fsfw/globalfunctions/DleParser.h>
+
+class ScexDleParser : public DleParser {
+ public:
+  ScexDleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
+                BufPair decodedBuf, FoundPacketHandler handler, void* args);
+};
+
+#endif /* LINUX_DEVICES_SCEXDLEPARSER_H_ */

linux/devices/ScexUartReader.cpp

@@ -6,6 +6,7 @@
 #include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/tasks/SemaphoreFactory.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
+#include <linux/devices/ScexDleParser.h>
 #include <unistd.h>  // write(), read(), close()
 
 #include <cerrno>  // Error integer and strerror() function
@@ -14,7 +15,12 @@
 #include "OBSWConfig.h"
 
 ScexUartReader::ScexUartReader(object_id_t objectId)
-    : SystemObject(objectId), ringBuffer(200 * 2048, true), sizesQueue(200) {
+    : SystemObject(objectId),
+      decodeRingBuf(4096, true),
+      ipcRingBuf(200 * 2048, true),
+      ipcQueue(200),
+      dleParser(decodeRingBuf, dleEncoder, {encodedBuf.data(), encodedBuf.size()},
+                {decodedBuf.data(), decodedBuf.size()}, &foundDlePacketHandler, this) {
   semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
   semaphore->acquire();
   lock = MutexFactory::instance()->createMutex();
@@ -47,10 +53,10 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
         sif::error << "ScexUartReader::performOperation: Receive buffer too small" << std::endl;
       } else if (bytesRead > 0) {
         MutexGuard mg(lock);
-        sizesQueue.insert(bytesRead);
+        ipcQueue.insert(bytesRead);
-        ReturnValue_t result = ringBuffer.writeData(recBuf.data(), bytesRead);
+        ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead);
         if (result != HasReturnvaluesIF::RETURN_OK) {
-          sif::warning << "ScexUartReader::performOperation: Writing into ring buffer failed"
+          sif::warning << "ScexUartReader::performOperation: Passing data to DLE parser failed"
                        << std::endl;
         }
         if (debugMode) {
@@ -91,10 +97,9 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
   // Use non-canonical mode and clear echo flag
   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, use polling
-  // received in one go
+  tty.c_cc[VTIME] = 0;  // Read for up to 2 seconds
-  tty.c_cc[VTIME] = 20;  // Read for up to 2 seconds
+  tty.c_cc[VMIN] = 0;   // Read as much as there is available
-  tty.c_cc[VMIN] = 0;    // Read as much as there is available
 
   // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
 #if !defined(XIPHOS_Q7S)
@@ -157,16 +162,26 @@ ReturnValue_t ScexUartReader::finish() {
   return RETURN_OK;
 }
 
+void ScexUartReader::foundDlePacketHandler(uint8_t *packet, size_t len, void *args) {
+  ScexUartReader *obj = reinterpret_cast<ScexUartReader *>(args);
+  obj->handleFoundDlePacket(packet, len);
+}
+
+void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
+  // TODO: insert data into IPC ring buffer here
+  sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
+}
+
 ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
                                                   size_t *size) {
   MutexGuard mg(lock);
-  if (sizesQueue.empty()) {
+  if (ipcQueue.empty()) {
     *size = 0;
     return RETURN_OK;
   }
-  *size = sizesQueue.pop();
+  *size = ipcQueue.pop();
   *buffer = ipcBuffer.data();
-  ReturnValue_t result = ringBuffer.readData(ipcBuffer.data(), *size, true);
+  ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
   if (result != RETURN_OK) {
     sif::warning << "ScexUartReader::readReceivedMessage: Reading RingBuffer failed" << std::endl;
   }

linux/devices/ScexUartReader.h

@@ -8,6 +8,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <linux/devices/ScexDleParser.h>
 #include <termios.h>  // Contains POSIX terminal control definitions
 
 class SemaphoreIF;
@@ -34,13 +35,20 @@ class ScexUartReader : public SystemObject,  // strg+shift+n
   struct termios tty = {};
   bool doFinish = false;
   DleEncoder dleEncoder = DleEncoder();
-  SimpleRingBuffer ringBuffer;
+  SimpleRingBuffer decodeRingBuf;
-  DynamicFIFO<size_t> sizesQueue;
+
   Countdown finishCoutdown = Countdown(180 * 1000);
   std::array<uint8_t, 256> cmdbuf = {};
-  std::array<uint8_t, 4096> recBuf = {};
+  std::array<uint8_t, 524> recBuf = {};
-
+  std::array<uint8_t, 4096> encodedBuf = {};
+  std::array<uint8_t, 4096> decodedBuf = {};
   std::array<uint8_t, 4096> ipcBuffer = {};
+  SimpleRingBuffer ipcRingBuf;
+  DynamicFIFO<size_t> ipcQueue;
+  ScexDleParser dleParser;
+
+  static void foundDlePacketHandler(uint8_t *packet, size_t len, void *args);
+  void handleFoundDlePacket(uint8_t *packet, size_t len);
 
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 

linux/fsfwconfig/OBSWConfig.h.in

@@ -163,6 +163,8 @@ debugging. */
 
 #ifdef RASPBERRY_PI
 
+#define OBSW_TC_FROM_PDEC                           0
+
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_STAR_TRACKER                       0
 #define OBSW_ADD_PLOC_SUPERVISOR                    0

mission/devices/CMakeLists.txt

@@ -19,3 +19,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     PayloadPcduHandler.cpp
     SolarArrayDeploymentHandler.cpp
 )
+
+add_subdirectory(devicedefinitions)

mission/devices/devicedefinitions/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE
+    ScexDefinitions.cpp
+)

mission/devices/devicedefinitions/ScexDefinitions.cpp

@@ -0,0 +1,5 @@
+#include "ScexDefinitions.h"
+
+uint8_t scex::createCmdByte(ScexCmds cmd, bool tempCheck) {
+  return (IDLE_BIT_0_DEF_STATE << 7) | (IDLE_BIT_1_DEF_STATE << 6) | (cmd << 1) | tempCheck;
+}

mission/devices/devicedefinitions/ScexDefinitions.h

@@ -6,18 +6,13 @@
 // Definitions for the Solar Cell Experiment
 namespace scex {
 
-enum ScexCmds: uint8_t {
+enum ScexCmds : uint8_t { PING = 0b00111, ONE_CELL = 0b00110, FRAM = 0b00001 };
-  PING = 0b00111,
-  ONE_CELL = 0b00110
-};
 
 static constexpr uint8_t IDLE_BIT_0_DEF_STATE = 0;
 static constexpr uint8_t IDLE_BIT_1_DEF_STATE = 1;
 
-uint8_t createCmdByte(ScexCmds cmd, bool tempCheck) {
+uint8_t createCmdByte(ScexCmds cmd, bool tempCheck);
-  return (IDLE_BIT_0_DEF_STATE << 7) | (IDLE_BIT_1_DEF_STATE << 6) | (cmd << 1) | tempCheck;
-}
 
-}
+}  // namespace scex
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_ */