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 +47 -34
5 changed files with 47 additions and 34 deletions
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49
linux/boardtest/UartTestClass.cpp
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@ -156,7 +156,7 @@ void UartTestClass::scexInit() {
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(false);
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 "
@ -186,9 +186,11 @@ void UartTestClass::scexPeriodic() {
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;
do {
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len); ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if(len == 0){
if (len > 0) { break;
}
ScexHelper helper; ScexHelper helper;
const uint8_t* helperPtr = decodedPacket; const uint8_t* helperPtr = decodedPacket;
result = helper.deSerialize(&helperPtr, &len); result = helper.deSerialize(&helperPtr, &len);
@ -197,25 +199,35 @@ void UartTestClass::scexPeriodic() {
} }
sif::info << helper << endl; sif::info << helper << endl;
//ping // ping
//if ping cmd // if ping cmd
if(helper.getCmd() == PING) { if (helper.getCmd() == PING) {
ofstream out("/tmp/scex-ping.bin", ofstream::binary ); ofstream out("/tmp/scex-ping.bin", ofstream::binary);
if (out.bad()) { if (out.bad()) {
sif::warning << "bad" <<std::endl; sif::warning << "bad" << std::endl;
} }
out << helper; out << helper;
} }
//fram // fram
//packetcounter eins höher, wenn mehr packet verloren -> // packetcounter eins höher, wenn mehr packet verloren -> merkt sich welches packet fehlt
//countdown (max 2min), wenn nicht if (helper.getPacketCounter() == helper.getTotalPacketCounter()) { nach 2min reader->finish(); //was wenn erstes packet fehlt; mit boolean var (firstpacketarrived=false) die immer mit finish false wird?
if(helper.getCmd() == FRAM) { // countdown (max 2min), wenn nicht if (helper.getPacketCounter() ==
if(helper.getPacketCounter() == 0) { // helper.getTotalPacketCounter()) { nach 2min reader->finish();
ofstream out("/tmp/scex-fram.bin", ofstream::binary ); // neues file anlegen wie oben ping if (helper.getCmd() == FRAM) {
if (helper.getPacketCounter() == 1) {
//countdown starten
finishCountdown.resetTimer();
ofstream out("/tmp/scex-fram.bin",
ofstream::binary); // neues file anlegen wie oben ping
} else { } else {
ofstream out("/tmp/scex-fram.bin", ofstream::binary | ofstream::app );// an bestehendes file hinzufügen ofstream out("/tmp/scex-fram.bin",
ofstream::binary | ofstream::app); // an bestehendes file hinzufügen
out << helper; out << helper;
} }
if(finishCountdown.hasTimedOut()){
reader->finish();
}
} }
if (helper.getPacketCounter() == helper.getTotalPacketCounter()) { if (helper.getPacketCounter() == helper.getTotalPacketCounter()) {
@ -226,7 +238,7 @@ void UartTestClass::scexPeriodic() {
cmdSent = false; cmdSent = false;
} }
} }
} } while (len > 0);
} }
} }
} }
@ -313,8 +325,9 @@ void UartTestClass::scexSimplePeriodic() {
<< 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 "
<< std::endl; "enough, bytes read:"
<< bytesRead << 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) {

4
linux/boardtest/UartTestClass.h
View File

@ -4,6 +4,7 @@
#include <fsfw/container/SimpleRingBuffer.h> #include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/globalfunctions/DleEncoder.h> #include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/DleParser.h> #include <fsfw/globalfunctions/DleParser.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/linux/uart/UartCookie.h> #include <fsfw_hal/linux/uart/UartCookie.h>
#include <termios.h> // Contains POSIX terminal control definitions #include <termios.h> // Contains POSIX terminal control definitions
@ -46,6 +47,7 @@ class UartTestClass : public TestTask {
static void foundDlePacketHandler(const DleParser::Context& ctx); static void foundDlePacketHandler(const DleParser::Context& ctx);
void handleFoundDlePacket(uint8_t* packet, size_t len); void handleFoundDlePacket(uint8_t* packet, size_t len);
Countdown finishCountdown = Countdown(180 * 1000);
bool cmdSent = false; bool cmdSent = false;
bool cmdDone = false; bool cmdDone = false;
scex::ScexCmds currCmd = scex::ScexCmds::PING; scex::ScexCmds currCmd = scex::ScexCmds::PING;
@ -59,7 +61,7 @@ class UartTestClass : public TestTask {
bool startFound = false; bool startFound = false;
ScexUartReader* reader = nullptr; ScexUartReader* reader = nullptr;
std::array<uint8_t, 64> cmdBuf = {}; std::array<uint8_t, 64> cmdBuf = {};
std::array<uint8_t, 524> recBuf = {}; std::array<uint8_t, 4096> recBuf = {};
ScexDleParser* dleParser; ScexDleParser* dleParser;
scex::ScexCmds cmdHelper; scex::ScexCmds cmdHelper;
uint8_t recvCnt = 0; uint8_t recvCnt = 0;

2
linux/devices/ScexHelper.cpp
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@ -71,7 +71,7 @@ std::ostream& operator<<(std::ostream& os, const ScexHelper& h) {
sif::info << "PacketCounter: " << h.packetCounter << endl; sif::info << "PacketCounter: " << h.packetCounter << endl;
sif::info << "TotalPacketCount: " << h.totalPacketCounter << endl; sif::info << "TotalPacketCount: " << h.totalPacketCounter << endl;
sif::info << "PayloadLength: " << h.payloadLen << endl; sif::info << "PayloadLength: " << h.payloadLen << endl;
sif::info << "TotalPacketLength: " << h.totalPacketLen << endl; sif::info << "TotalPacketLength: " << h.totalPacketLen;
return os; return os;
} }

11
linux/devices/ScexUartReader.cpp
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@ -45,13 +45,14 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
state = States::IDLE; state = States::IDLE;
break; break;
} }
TaskFactory::delayTask(1000); TaskFactory::delayTask(400);
} 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;
break; break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) { } else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::error << "ScexUartReader::performOperation: Receive buffer too small for " << bytesRead << " bytes" << std::endl; sif::error << "ScexUartReader::performOperation: Receive buffer too small for " << bytesRead
<< " bytes" << std::endl;
} else if (bytesRead > 0) { } else if (bytesRead > 0) {
ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead); ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead);
if (debugMode) { if (debugMode) {
@ -76,7 +77,6 @@ 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;
/* 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) {
@ -171,7 +171,7 @@ void ScexUartReader::foundDlePacketHandler(const DleParser::Context &ctx) {
void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) { void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
// TODO: insert data into IPC ring buffer here // TODO: insert data into IPC ring buffer here
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) {
@ -181,7 +181,7 @@ void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t 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;
} }
ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
@ -191,7 +191,6 @@ ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **bu
*size = 0; *size = 0;
return RETURN_OK; return RETURN_OK;
} }
sif::info << "returning data" << std::endl;
ipcQueue.retrieve(size); 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);

1
linux/devices/ScexUartReader.h
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@ -37,7 +37,6 @@ class ScexUartReader : public SystemObject, // strg+shift+n
DleEncoder dleEncoder = DleEncoder(); DleEncoder dleEncoder = DleEncoder();
SimpleRingBuffer decodeRingBuf; SimpleRingBuffer decodeRingBuf;
Countdown finishCountdown = Countdown(180 * 1000);
std::array<uint8_t, 256> cmdbuf = {}; std::array<uint8_t, 256> cmdbuf = {};
std::array<uint8_t, 4096> recBuf = {}; std::array<uint8_t, 4096> recBuf = {};
std::array<uint8_t, 4096> encodedBuf = {}; std::array<uint8_t, 4096> encodedBuf = {};