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WIP: SCEX Init #288

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muellerr wants to merge 62 commits from mueller/scex-additions into develop
pull from: mueller/scex-additions
merge into: eive:develop
Conversation 0 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
UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
: TestTask(objectId), reader(reader) {
mode = TestModes::SCEX;
scexMode = ScexModes::SIMPLE;
currCmd = scex::ScexCmds::FRAM;
if (scexMode == ScexModes::SIMPLE) {
auto encodingBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair encodingBufPair {encodingBuf->data(), encodingBuf->size()};
auto decodedBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair decodingBufPair {decodedBuf->data(), decodedBuf->size()};
dleParser =
new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair, decodingBufPair, &foundDlePacketHandler, this);
}
: TestTask(objectId), reader(reader) {
mode = TestModes::SCEX;
scexMode = ScexModes::READER_TASK;
currCmd = scex::ScexCmds::PING;
if (scexMode == ScexModes::SIMPLE) {
auto encodingBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()};
auto decodedBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()};
dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair,
decodingBufPair, &foundDlePacketHandler, this);
}
}
ReturnValue_t UartTestClass::initialize() {
if (mode == TestModes::GPS) {
gpsInit();
} else if (mode == TestModes::SCEX) {
scexInit();
}
return HasReturnvaluesIF::RETURN_OK;
if (mode == TestModes::GPS) {
gpsInit();
} else if (mode == TestModes::SCEX) {
scexInit();
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t UartTestClass::performPeriodicAction() {
if (mode == TestModes::GPS) {
gpsPeriodic();
} else if (mode == TestModes::SCEX) {
scexPeriodic();
}
return HasReturnvaluesIF::RETURN_OK;
if (mode == TestModes::GPS) {
gpsPeriodic();
} else if (mode == TestModes::SCEX) {
scexPeriodic();
}
return HasReturnvaluesIF::RETURN_OK;
}
void UartTestClass::gpsInit() {
#if RPI_TEST_GPS_HANDLER == 1
int result = lwgps_init(&gpsData);
if (result == 0) {
sif::warning << "lwgps_init error: " << result << std::endl;
}
int result = lwgps_init(&gpsData);
if (result == 0) {
sif::warning << "lwgps_init error: " << result << std::endl;
}
/* Get file descriptor */
serialPort = open("/dev/serial0", O_RDWR);
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
}
/* Setting up UART parameters */
tty.c_cflag &= ~PARENB; // Clear parity bit
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 |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use canonical mode for GPS device
tty.c_lflag |= ICANON;
tty.c_lflag &= ~ECHO; // Disable echo
tty.c_lflag &= ~ECHOE; // Disable erasure
tty.c_lflag &= ~ECHONL; // Disable new-line echo
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 &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
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 &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
/* Get file descriptor */
serialPort = open("/dev/serial0", O_RDWR);
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
}
/* Setting up UART parameters */
tty.c_cflag &= ~PARENB; // Clear parity bit
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 |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use canonical mode for GPS device
tty.c_lflag |= ICANON;
tty.c_lflag &= ~ECHO; // Disable echo
tty.c_lflag &= ~ECHOE; // Disable erasure
tty.c_lflag &= ~ECHONL; // Disable new-line echo
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 &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
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 &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
// Non-blocking mode
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
// Non-blocking mode
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600);
cfsetospeed(&tty, B9600);
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
;
}
// Flush received and unread data. Those are old NMEA strings which are not relevant anymore
tcflush(serialPort, TCIFLUSH);
cfsetispeed(&tty, B9600);
cfsetospeed(&tty, B9600);
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
;
}
// Flush received and unread data. Those are old NMEA strings which are not relevant anymore
tcflush(serialPort, TCIFLUSH);
#endif
}
void UartTestClass::gpsPeriodic() {
#if RPI_TEST_GPS_HANDLER == 1
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
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) {
// pass data to lwgps for processing
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
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) {
// pass data to lwgps for processing
#if GPS_REPLY_WIRETAPPING == 1
sif::info << recBuf.data() << std::endl;
sif::info << recBuf.data() << std::endl;
#endif
int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
if (result == 0) {
sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl;
}
recvCnt++;
if (recvCnt == 6) {
recvCnt = 0;
sif::info << "GPS Data" << std::endl;
// Print messages
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
}
} while (bytesRead > 0);
int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
if (result == 0) {
sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl;
}
recvCnt++;
if (recvCnt == 6) {
recvCnt = 0;
sif::info << "GPS Data" << std::endl;
// Print messages
printf("Valid status: %d\n", gpsData.is_valid);
printf("Latitude: %f degrees\n", gpsData.latitude);
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
}
} while (bytesRead > 0);
#endif
}
void UartTestClass::scexInit() {
if (reader == nullptr) {
sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl;
return;
}
if (scexMode == ScexModes::SIMPLE) {
scexSimpleInit();
} else {
if (reader == nullptr) {
sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl;
return;
}
if (scexMode == ScexModes::SIMPLE) {
scexSimpleInit();
} else {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
std::string devname = "/dev/ul-scex";
#endif
uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
reader->setDebugMode(true);
ReturnValue_t result = reader->initializeInterface(uartCookie);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader "
"UART IF failed"
<< std::endl;
}
}
uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
reader->setDebugMode(true);
ReturnValue_t result = reader->initializeInterface(uartCookie);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader "
"UART IF failed"
<< std::endl;
}
}
}
void UartTestClass::scexPeriodic() {
using namespace std;
if (reader == nullptr) {
return;
}
using namespace std;
if (reader == nullptr) {
return;
}
if (scexMode == ScexModes::SIMPLE) {
scexSimplePeriodic();
} else {
if (not cmdSent){
size_t len = 0;
prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len);
cmdSent = true;
cmdDone = false;
}
if (cmdSent and not cmdDone){
uint8_t* decodedPacket = nullptr;
size_t len = 0;
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if (scexMode == ScexModes::SIMPLE) {
scexSimplePeriodic();
} else {
if (not cmdSent) {
size_t len = 0;
prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len);
cmdSent = true;
cmdDone = false;
}
if (cmdSent and not cmdDone) {
uint8_t* decodedPacket = nullptr;
size_t len = 0;
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if(len > 0){
sif::info<<"CmdByte: "<<(int)decodedPacket[0]<<endl;
scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111);
size_t packetCounter = decodedPacket[1];
sif::info<<"PacketCounter: "<<packetCounter<<endl;
size_t totalPacketCounter = decodedPacket[2];
sif::info<<"TotalPacketCount: "<<totalPacketCounter<<endl;
uint16_t packetLen = (decodedPacket[3]<< 8) | (decodedPacket[4]);
sif::info<<"PacketLength: "<< packetLen <<endl;
uint16_t expectedPacketLen = packetLen + 7;
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;
if(cmd == scex::ScexCmds::PING){
cmdSent = false;
}
}
}
}
}
if (len > 0) {
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);
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];
sif::info << "PacketCounter: " << packetCounter << endl;
size_t totalPacketCounter = decodedPacket[2];
sif::info << "TotalPacketCount: " << totalPacketCounter << endl;
uint16_t packetLen = (decodedPacket[3] << 8) | (decodedPacket[4]);
sif::info << "PacketLength: " << packetLen << endl;
uint16_t expectedPacketLen = packetLen + 7;
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() {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
std::string devname = "/dev/ul-scex";
#endif
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
return;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
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 |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
return;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
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 |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// 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
// received in one go
tty.c_cc[VTIME] = 10; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes
// 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[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 (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
}
if (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
}
#endif
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);
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;
ReturnValue_t result = RETURN_OK;
if (not cmdSent) {
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
uint8_t tmpCmdBuf[32] = {};
size_t len = 0;
sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl;
prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
return;
}
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);
}
using namespace scex;
ReturnValue_t result = RETURN_OK;
if (not cmdSent) {
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
uint8_t tmpCmdBuf[32] = {};
size_t len = 0;
sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl;
prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
return;
}
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;
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(const DleParser::Context& ctx) {
UartTestClass* obj = reinterpret_cast<UartTestClass*>(ctx.userArgs);
if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) {
obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second);
} else {
DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second);
}
UartTestClass* obj = reinterpret_cast<UartTestClass*>(ctx.userArgs);
if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) {
obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second);
} else {
DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second);
}
}
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/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <linux/devices/ScexDleParser.h>
#include <unistd.h> // write(), read(), close()
@ -34,16 +35,17 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
semaphore->acquire();
sif::info << "task was started" << std::endl;
int bytesRead = 0;
while(true) {
while (true) {
bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
MutexGuard mg(lock);
States currentState = state;
if (currentState == States::FINISH) {
if (state == States::FINISH) {
sif::debug << "finish detected" << std::endl;
state = States::IDLE;
break;
}
TaskFactory::delayTask(1000);
} else if (bytesRead < 0) {
sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
@ -63,7 +65,7 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
}
};
// task block comes here
std::cout << "done" << std::endl;
sif::info << "task was stopped" << std::endl;
}
return RETURN_OK;
}
@ -74,7 +76,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
return RETURN_FAILED;
}
std::string devname = uartCookie->getDeviceFile();
sif::info << devname << std::endl;
sif::info << devname << std::endl;
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
@ -94,8 +96,8 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 10; // Read for up to 1 seconds
tty.c_cc[VMIN] = 255; // Read as much as there is available
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)
@ -109,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
<< std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
tcflush(serialPort, TCIOFLUSH);
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;
MutexGuard mg(lock);
ReturnValue_t result = ipcQueue.insert(len);
if(result != RETURN_OK){
sif::warning<< "IPCQueue error" << std::endl;
if (result != RETURN_OK) {
sif::warning << "IPCQueue error" << std::endl;
}
result = ipcRingBuf.writeData(packet, len);
if(result != RETURN_OK){
sif::warning<< "IPCRingBuf error" << std::endl;
}
if (result != RETURN_OK) {
sif::warning << "IPCRingBuf error" << std::endl;
}
sif::info << "DLE handler done" << std::endl;
}
@ -189,7 +191,8 @@ ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **bu
*size = 0;
return RETURN_OK;
}
*size = ipcQueue.pop();
sif::info << "returning data" << std::endl;
ipcQueue.retrieve(size);
*buffer = ipcBuffer.data();
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
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): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
if(commandData == nullptr) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[1] = commandData[1];

2
tmtc

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