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RW Refactoring #381

Merged
meggert merged 20 commits from rw_refactoring into develop 2023-02-17 10:35:31 +01:00
Conversation 1 Commits 20 Files Changed 39 +95 -63
8 changed files with 95 additions and 63 deletions
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Showing only changes of commit 9fdb41506b - Show all commits

53
linux/devices/RwPollingTask.cpp
View File

@ -190,7 +190,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
return rws::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
if (byteRead != rws::FRAME_DELIMITER) {
sif::error << "Invalid data, expected start marker" << std::endl;
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
@ -198,7 +198,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
}
if (byteRead != FLAG_BYTE) {
if (byteRead != rws::FRAME_DELIMITER) {
break;
}
@ -228,7 +228,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
}
if (byteRead == FLAG_BYTE) {
if (byteRead == rws::FRAME_DELIMITER) {
// Reached end of frame
break;
} else if (byteRead == 0x7D) {
@ -268,9 +268,9 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead != FLAG_BYTE) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
<< std::endl;
if (byteRead != rws::FRAME_DELIMITER) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign "
<< static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
decodedFrameLen--;
result = rws::MISSING_END_SIGN;
break;
@ -353,23 +353,6 @@ size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx,
}
}
void RwPollingTask::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen) {
encodedBuffer[0] = FLAG_BYTE;
encodedLen = 1;
for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
if (sourceBuf[sourceIdx] == 0x7E) {
encodedBuffer[encodedLen++] = 0x7D;
encodedBuffer[encodedLen++] = 0x5E;
} else if (sourceBuf[sourceIdx] == 0x7D) {
encodedBuffer[encodedLen++] = 0x7D;
encodedBuffer[encodedLen++] = 0x5D;
} else {
encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
}
}
encodedBuffer[encodedLen++] = FLAG_BYTE;
}
// This closes the SPI
void RwPollingTask::closeSpi(int fd) {
// This will perform the function to close the SPI
@ -385,31 +368,9 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
return returnvalue::FAILED;
}
pullCsLow(gpioId, spiLock, gpioIF);
/*
//Encoding and sending command
size_t idx = 0;
while (idx < dataLen) {
switch (*(data + idx)) {
case 0x7E:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5E;
writeSize = 2;
break;
case 0x7D:
writeBuffer[0] = 0x7D;
writeBuffer[1] = 0x5D;
writeSize = 2;
break;
default:
writeBuffer[0] = *(data + idx);
writeSize = 1;
break;
}
}
*/
// Add datalinklayer like specified in the datasheet.
size_t lenToSend = 0;
encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
pullCsHigh(gpioId, gpioIF);

3
linux/devices/RwPollingTask.h
View File

@ -48,8 +48,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
size_t writeLen = 0;
//! This is the end and start marker of the frame datalinklayer
static constexpr uint8_t FLAG_BYTE = 0x7E;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t TIMEOUT_MS = 20;
static constexpr uint8_t MAX_RETRIES_REPLY = 5;
@ -75,7 +73,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
void closeSpi(int);

35
misc/eclipse/.cproject
View File

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2
mission/devices/devicedefinitions/CMakeLists.txt
View File

@ -1 +1 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp)
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)

18
mission/devices/devicedefinitions/rwHelpers.cpp
View File

@ -3,4 +3,22 @@
#include "rwHelpers.h"
void rws::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
size_t& encodedLen) {
encodedBuffer[0] = rws::FRAME_DELIMITER;
encodedLen = 1;
for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
if (sourceBuf[sourceIdx] == 0x7E) {
encodedBuffer[encodedLen++] = 0x7D;
encodedBuffer[encodedLen++] = 0x5E;
} else if (sourceBuf[sourceIdx] == 0x7D) {
encodedBuffer[encodedLen++] = 0x7D;
encodedBuffer[encodedLen++] = 0x5D;
} else {
encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
}
}
encodedBuffer[encodedLen++] = rws::FRAME_DELIMITER;
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */

8
mission/devices/devicedefinitions/rwHelpers.h
View File

@ -5,11 +5,15 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "eive/resultClassIds.h"
#include "events/subsystemIdRanges.h"
#include "objects/systemObjectList.h"
namespace rws {
void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
size_t& encodedLen);
static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
static const size_t SIZE_INIT_RW = 4;
@ -19,6 +23,10 @@ static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
/** Max size when requesting telemetry */
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
//! in the NanoAvionics datasheet.
static constexpr uint8_t FRAME_DELIMITER = 0x7E;
enum class SpecialRwRequest : uint8_t {
REQUEST_NONE = 0,
RESET_MCU = 1,

1
unittest/CMakeLists.txt
View File

@ -4,5 +4,6 @@ add_subdirectory(mocks)
target_sources(${UNITTEST_NAME} PRIVATE
main.cpp
testEnvironment.cpp
hdlcEncodingRw.cpp
printChar.cpp
)

38
unittest/hdlcEncodingRw.cpp Normal file
View File

@ -0,0 +1,38 @@
#include <catch2/catch_test_macros.hpp>
#include "mission/devices/devicedefinitions/rwHelpers.h"
TEST_CASE("HDLC Encoding RW", "[acs]") {
std::array<uint8_t, 256> encodedBuffer{};
size_t encodedLen = 0;
SECTION("Basic No Escaped Bytes") {
std::array<uint8_t, 4> dummyNoEscaped = {1, 2, 3, 4};
rws::encodeHdlc(dummyNoEscaped.data(), dummyNoEscaped.size(), encodedBuffer.data(), encodedLen);
REQUIRE(encodedLen == 6);
REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
REQUIRE(encodedBuffer[1] == 1);
REQUIRE(encodedBuffer[2] == 2);
REQUIRE(encodedBuffer[3] == 3);
REQUIRE(encodedBuffer[4] == 4);
REQUIRE(encodedBuffer[5] == rws::FRAME_DELIMITER);
}
SECTION("Basic Some Escaped Bytes") {
std::array<uint8_t, 4> dummySomeEscaped = {1, 0x7D, 0x7E, 4};
rws::encodeHdlc(dummySomeEscaped.data(), dummySomeEscaped.size(), encodedBuffer.data(),
encodedLen);
REQUIRE(encodedLen == 8);
REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
REQUIRE(encodedBuffer[1] == 1);
REQUIRE(encodedBuffer[2] == 0x7D);
REQUIRE(encodedBuffer[3] == 0x5D);
REQUIRE(encodedBuffer[4] == 0x7D);
REQUIRE(encodedBuffer[5] == 0x5E);
REQUIRE(encodedBuffer[6] == 4);
REQUIRE(encodedBuffer[7] == rws::FRAME_DELIMITER);
}
}