Robin Mueller
96d957f7b1
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65 lines
2.5 KiB
C++
65 lines
2.5 KiB
C++
#include "MpsocCommunication.h"
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#include "fsfw/globalfunctions/CRC.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
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#include "fsfw/tmtcpacket/ccsds/header.h"
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#include "unistd.h"
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MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
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: SystemObject(objectId), readRingBuf(4096, true), helper(cfg) {}
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ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }
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ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
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return helper.send(data, dataLen);
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}
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ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
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// We do not have a data link layer, so this whole thing is a mess in any case..
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// But basically, we try to parse space packets from the internal ring buffer and trasnfer
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// them to the higher level device handler. The CRC check is performed here as well, with
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// few other ways to detect if we even have a valid packet.
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size_t availableReadData = readRingBuf.getAvailableReadData();
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// Minimum valid size for a space packet header.
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if (availableReadData < ccsds::HEADER_LEN + 1) {
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return returnvalue::OK;
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}
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readRingBuf.readData(readBuf, availableReadData);
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spReader.setReadOnlyData(readBuf, availableReadData);
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auto res = spReader.checkSize();
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if (res != returnvalue::OK) {
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return res;
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}
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// The packet might be garbage, with no way to recover without a data link layer.
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if (spReader.getFullPacketLen() > 4096) {
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readRingBuf.clear();
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// TODO: Maybe we should also clear the serial input buffer in Linux?
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return FAULTY_PACKET_SIZE;
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}
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if (availableReadData < spReader.getFullPacketLen()) {
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// Might be split packet where the rest still has to be read.
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return returnvalue::OK;
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}
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if (CRC::crc16ccitt(readBuf, availableReadData) != 0) {
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// Possibly invalid packet. We can not even trust the detected packet length.
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// Just clear the whole read buffer as well.
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readRingBuf.clear();
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return CRC_CHECK_FAILED;
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}
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readRingBuf.deleteData(spReader.getFullPacketLen());
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return PACKET_RECEIVED;
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}
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ReturnValue_t MpsocCommunication::readSerialInterface() {
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int bytesRead = read(helper.rawFd(), readBuf, sizeof(readBuf));
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if (bytesRead < 0) {
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return returnvalue::FAILED;
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}
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return readRingBuf.writeData(readBuf, bytesRead);
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}
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const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }
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SerialCommunicationHelper& MpsocCommunication::getComHelper() { return helper; }
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