360 lines
13 KiB
C++
360 lines
13 KiB
C++
#include "UartTestClass.h"
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#include <errno.h> // Error integer and strerror() function
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#include <fcntl.h> // Contains file controls like O_RDWR
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw_hal/linux/uart/UartCookie.h>
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#include <linux/devices/ScexDleParser.h>
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#include <linux/devices/ScexHelper.h>
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#include <linux/devices/ScexUartReader.h>
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#include <unistd.h> // write(), read(), close()
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#include "OBSWConfig.h"
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#include "fsfw/globalfunctions/CRC.h"
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#include "fsfw/globalfunctions/DleEncoder.h"
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#include "fsfw/globalfunctions/arrayprinter.h"
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#include "fsfw/serviceinterface.h"
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#define GPS_REPLY_WIRETAPPING 0
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#ifndef RPI_TEST_GPS_HANDLER
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#define RPI_TEST_GPS_HANDLER 0
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#endif
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UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
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: TestTask(objectId), reader(reader) {
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mode = TestModes::SCEX;
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scexMode = ScexModes::READER_TASK;
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currCmd = scex::ScexCmds::FRAM;
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if (scexMode == ScexModes::SIMPLE) {
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auto encodingBuf = new std::array<uint8_t, 4096>;
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DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()};
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auto decodedBuf = new std::array<uint8_t, 4096>;
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DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()};
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dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair,
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decodingBufPair, &foundDlePacketHandler, this);
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}
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}
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ReturnValue_t UartTestClass::initialize() {
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if (mode == TestModes::GPS) {
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gpsInit();
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} else if (mode == TestModes::SCEX) {
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scexInit();
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::RETURN_OK; }
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ReturnValue_t UartTestClass::performPeriodicAction() {
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if (mode == TestModes::GPS) {
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gpsPeriodic();
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} else if (mode == TestModes::SCEX) {
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scexPeriodic();
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void UartTestClass::gpsInit() {
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#if RPI_TEST_GPS_HANDLER == 1
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int result = lwgps_init(&gpsData);
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if (result == 0) {
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sif::warning << "lwgps_init error: " << result << std::endl;
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}
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/* Get file descriptor */
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serialPort = open("/dev/serial0", O_RDWR);
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if (serialPort < 0) {
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sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
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<< std::endl;
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}
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/* Setting up UART parameters */
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tty.c_cflag &= ~PARENB; // Clear parity bit
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tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
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tty.c_cflag &= ~CSIZE; // Clear all the size bits
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tty.c_cflag |= CS8; // 8 bits per byte
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tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
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tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
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// Use canonical mode for GPS device
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tty.c_lflag |= ICANON;
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tty.c_lflag &= ~ECHO; // Disable echo
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tty.c_lflag &= ~ECHOE; // Disable erasure
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tty.c_lflag &= ~ECHONL; // Disable new-line echo
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tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
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tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
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tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
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ICRNL); // Disable any special handling of received bytes
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tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
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tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
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// Non-blocking mode
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tty.c_cc[VTIME] = 0;
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tty.c_cc[VMIN] = 0;
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cfsetispeed(&tty, B9600);
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cfsetospeed(&tty, B9600);
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
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<< std::endl;
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;
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}
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// Flush received and unread data. Those are old NMEA strings which are not relevant anymore
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tcflush(serialPort, TCIFLUSH);
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#endif
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}
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void UartTestClass::gpsPeriodic() {
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#if RPI_TEST_GPS_HANDLER == 1
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int bytesRead = 0;
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do {
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bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
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static_cast<unsigned int>(recBuf.size()));
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if (bytesRead < 0) {
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sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno
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<< ", " << strerror(errno) << "]" << std::endl;
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break;
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} else if (bytesRead >= static_cast<int>(recBuf.size())) {
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sif::debug << "UartTestClass::performPeriodicAction: "
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"recv buffer might not be large enough"
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<< std::endl;
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} else if (bytesRead > 0) {
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// pass data to lwgps for processing
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#if GPS_REPLY_WIRETAPPING == 1
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sif::info << recBuf.data() << std::endl;
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#endif
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int result = lwgps_process(&gpsData, recBuf.data(), bytesRead);
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if (result == 0) {
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sif::warning << "UartTestClass::performPeriodicAction: lwgps_process error" << std::endl;
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}
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recvCnt++;
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if (recvCnt == 6) {
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recvCnt = 0;
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sif::info << "GPS Data" << std::endl;
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// Print messages
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printf("Valid status: %d\n", gpsData.is_valid);
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printf("Latitude: %f degrees\n", gpsData.latitude);
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printf("Longitude: %f degrees\n", gpsData.longitude);
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printf("Altitude: %f meters\n", gpsData.altitude);
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}
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}
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} while (bytesRead > 0);
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#endif
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}
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void UartTestClass::scexInit() {
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if (reader == nullptr) {
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sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl;
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return;
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}
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if (scexMode == ScexModes::SIMPLE) {
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scexSimpleInit();
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} else {
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#if defined(RASPBERRY_PI)
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std::string devname = "/dev/serial0";
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#else
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std::string devname = "/dev/ul-scex";
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#endif
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uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
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reader->setDebugMode(true);
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ReturnValue_t result = reader->initializeInterface(uartCookie);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "UartTestClass::gpsPeriodic: Initializing SCEX reader "
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"UART IF failed"
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<< std::endl;
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}
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}
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}
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void UartTestClass::scexPeriodic() {
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using namespace std;
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using namespace scex;
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if (reader == nullptr) {
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return;
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}
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if (scexMode == ScexModes::SIMPLE) {
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scexSimplePeriodic();
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} else {
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if (not cmdSent) {
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size_t len = 0;
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prepareScexCmd(currCmd, false, cmdBuf.data(), &len);
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reader->sendMessage(uartCookie, cmdBuf.data(), len);
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cmdSent = true;
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cmdDone = false;
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}
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if (cmdSent and not cmdDone) {
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uint8_t* decodedPacket = nullptr;
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size_t len = 0;
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ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
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if (len > 0) {
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ScexHelper helper;
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const uint8_t* helperPtr = decodedPacket;
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result = helper.deSerialize(&helperPtr, &len);
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if (result == ScexHelper::INVALID_CRC) {
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sif::warning << "CRC invalid" << std::endl;
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}
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sif::info << helper << endl;
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//ping
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//if ping cmd
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if(helper.getCmd() == PING) {
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ofstream out("/tmp/scex-ping.bin", ofstream::binary );
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if (out.bad()) {
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sif::warning << "bad" <<std::endl;
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}
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out << helper;
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}
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//fram
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//packetcounter eins h<>her, wenn mehr packet verloren ->
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//countdown (max 2min), wenn nicht if (helper.getPacketCounter() == helper.getTotalPacketCounter()) { nach 2min reader->finish();
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if(helper.getCmd() == FRAM) {
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if(helper.getPacketCounter() == 0) {
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ofstream out("/tmp/scex-fram.bin", ofstream::binary ); // neues file anlegen wie oben ping
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} else {
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ofstream out("/tmp/scex-fram.bin", ofstream::binary | ofstream::app );// an bestehendes file hinzuf<75>gen
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out << helper;
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}
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}
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if (helper.getPacketCounter() == helper.getTotalPacketCounter()) {
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reader->finish();
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sif::info << "Reader is finished" << endl;
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cmdDone = true;
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if (helper.getCmd() == scex::ScexCmds::PING) {
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cmdSent = false;
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}
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}
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}
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}
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}
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}
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void UartTestClass::scexSimpleInit() {
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#if defined(RASPBERRY_PI)
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std::string devname = "/dev/serial0";
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#else
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std::string devname = "/dev/ul-scex";
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#endif
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/* Get file descriptor */
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serialPort = open(devname.c_str(), O_RDWR);
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if (serialPort < 0) {
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sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
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<< std::endl;
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return;
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}
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// Setting up UART parameters
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tty.c_cflag &= ~PARENB; // Clear parity bit
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tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
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tty.c_cflag &= ~CSIZE; // Clear all the size bits
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tty.c_cflag |= CS8; // 8 bits per byte
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tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
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tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
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// Use non-canonical mode and clear echo flag
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tty.c_lflag &= ~(ICANON | ECHO);
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// Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
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// received in one go
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tty.c_cc[VTIME] = 0; // In units of 0.1 seconds
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tty.c_cc[VMIN] = 0; // Read up to 255 bytes
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// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
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#if !defined(XIPHOS_Q7S)
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if (cfsetispeed(&tty, B57600) != 0) {
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sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
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}
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#endif
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
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<< std::endl;
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}
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// Flush received and unread data
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tcflush(serialPort, TCIOFLUSH);
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}
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void UartTestClass::scexSimplePeriodic() {
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using namespace scex;
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ReturnValue_t result = RETURN_OK;
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if (not cmdSent) {
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// Flush received and unread data
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tcflush(serialPort, TCIFLUSH);
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uint8_t tmpCmdBuf[32] = {};
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size_t len = 0;
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sif::info << "UartTestClass::scexSimplePeriodic: Sending command to SCEX" << std::endl;
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prepareScexCmd(currCmd, false, tmpCmdBuf, &len);
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result = dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
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return;
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}
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if (result != 0) {
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return;
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};
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size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
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if (bytesWritten != encodedLen) {
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sif::warning << "Sending command to solar experiment failed" << std::endl;
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}
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cmdSent = true;
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cmdDone = false;
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}
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if (not cmdDone) {
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// Read back reply immediately
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int bytesRead = 0;
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do {
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bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
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static_cast<unsigned int>(recBuf.size()));
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if (bytesRead == 0) {
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sif::warning << "Reading SCEX: Timeout or no bytes read" << std::endl;
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} else if (bytesRead < 0) {
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sif::warning << "UartTestClass::performPeriodicAction: read call failed with error ["
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<< errno << ", " << strerror(errno) << "]" << std::endl;
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break;
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} else if (bytesRead >= static_cast<int>(recBuf.size())) {
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sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
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<< std::endl;
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} else if (bytesRead > 0) {
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dleParser->passData(recBuf.data(), bytesRead);
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if (currCmd == ScexCmds::PING) {
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cmdDone = true;
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cmdSent = false;
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}
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}
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} while (bytesRead > 0);
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}
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}
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int UartTestClass::prepareScexCmd(scex::ScexCmds cmd, bool tempCheck, uint8_t* cmdBuf,
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size_t* len) {
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using namespace scex;
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// Send command
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cmdBuf[0] = scex::createCmdByte(cmd, false);
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// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
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// telecommand so far
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cmdBuf[1] = 1;
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cmdBuf[2] = 1;
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uint16_t userDataLen = 0;
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cmdBuf[3] = (userDataLen >> 8) & 0xff;
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cmdBuf[4] = userDataLen & 0xff;
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uint16_t crc = CRC::crc16ccitt(cmdBuf, 5);
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cmdBuf[5] = (crc >> 8) & 0xff;
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cmdBuf[6] = crc & 0xff;
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*len = 7;
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return 0;
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}
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void UartTestClass::foundDlePacketHandler(const DleParser::Context& ctx) {
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UartTestClass* obj = reinterpret_cast<UartTestClass*>(ctx.userArgs);
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if (ctx.getType() == DleParser::ContextType::PACKET_FOUND) {
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obj->handleFoundDlePacket(ctx.decodedPacket.first, ctx.decodedPacket.second);
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} else {
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DleParser::defaultErrorHandler(ctx.error.first, ctx.error.second);
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}
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}
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void UartTestClass::handleFoundDlePacket(uint8_t* packet, size_t len) {
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sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
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}
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