fsfw/hal/src/fsfw_hal/linux/uart/UartComIF.cpp

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#include "UartComIF.h"
#include "fsfw/FSFW.h"
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#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface.h"
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#include <cstring>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <unistd.h>
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
}
UartComIF::~UartComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(cookie == nullptr) {
return NULLPOINTER;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
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return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) {
return RETURN_FAILED;
}
size_t maxReplyLen = uartCookie->getMaxReplyLen();
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
deviceFile << "to UART device map" << std::endl;
#endif
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return RETURN_FAILED;
}
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
" already in use" << std::endl;
#endif
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return RETURN_FAILED;
}
return RETURN_OK;
}
int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile();
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int flags = O_RDWR;
if(uartCookie->getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
}
int fd = open(deviceFile.c_str(), flags);
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if (fd < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
"with error code " << errno << strerror(errno) << std::endl;
#endif
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return fd;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
#endif
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return fd;
}
setParityOptions(&options, uartCookie);
setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options);
setUartMode(&options, *uartCookie);
if(uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH);
}
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
configureBaudrate(&options, uartCookie);
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
errno << ": " << strerror(errno);
#endif
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return fd;
}
return fd;
}
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear parity bit */
options->c_cflag &= ~PARENB;
switch (uartCookie->getParity()) {
case Parity::EVEN:
options->c_cflag |= PARENB;
options->c_cflag &= ~PARODD;
break;
case Parity::ODD:
options->c_cflag |= PARENB;
options->c_cflag |= PARODD;
break;
default:
break;
}
}
void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear stop field. Sets stop bit to one bit */
options->c_cflag &= ~CSTOPB;
switch (uartCookie->getStopBits()) {
case StopBits::TWO_STOP_BITS:
options->c_cflag |= CSTOPB;
break;
default:
break;
}
}
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear size bits */
options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) {
case 5:
options->c_cflag |= CS5;
break;
case 6:
options->c_cflag |= CS6;
break;
case 7:
options->c_cflag |= CS7;
break;
case 8:
options->c_cflag |= CS8;
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
#endif
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break;
}
}
void UartComIF::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL;
/* Disable echo */
options->c_lflag &= ~ECHO;
/* Disable erasure */
options->c_lflag &= ~ECHOE;
/* Disable new-line echo */
options->c_lflag &= ~ECHONL;
/* Disable interpretation of INTR, QUIT and SUSP */
options->c_lflag &= ~ISIG;
/* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */
options->c_oflag &= ~ONLCR;
}
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) {
case 50:
cfsetispeed(options, B50);
cfsetospeed(options, B50);
break;
case 75:
cfsetispeed(options, B75);
cfsetospeed(options, B75);
break;
case 110:
cfsetispeed(options, B110);
cfsetospeed(options, B110);
break;
case 134:
cfsetispeed(options, B134);
cfsetospeed(options, B134);
break;
case 150:
cfsetispeed(options, B150);
cfsetospeed(options, B150);
break;
case 200:
cfsetispeed(options, B200);
cfsetospeed(options, B200);
break;
case 300:
cfsetispeed(options, B300);
cfsetospeed(options, B300);
break;
case 600:
cfsetispeed(options, B600);
cfsetospeed(options, B600);
break;
case 1200:
cfsetispeed(options, B1200);
cfsetospeed(options, B1200);
break;
case 1800:
cfsetispeed(options, B1800);
cfsetospeed(options, B1800);
break;
case 2400:
cfsetispeed(options, B2400);
cfsetospeed(options, B2400);
break;
case 4800:
cfsetispeed(options, B4800);
cfsetospeed(options, B4800);
break;
case 9600:
cfsetispeed(options, B9600);
cfsetospeed(options, B9600);
break;
case 19200:
cfsetispeed(options, B19200);
cfsetospeed(options, B19200);
break;
case 38400:
cfsetispeed(options, B38400);
cfsetospeed(options, B38400);
break;
case 57600:
cfsetispeed(options, B57600);
cfsetospeed(options, B57600);
break;
case 115200:
cfsetispeed(options, B115200);
cfsetospeed(options, B115200);
break;
case 230400:
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
case 460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
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break;
}
}
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(sendLen == 0) {
return RETURN_OK;
}
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if(sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
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return RETURN_FAILED;
}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
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return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
"not in UART map" << std::endl;
#endif
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return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
errno << ": Error description: " << strerror(errno) << std::endl;
#endif
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return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
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return NULLPOINTER;
}
UartModes uartMode = uartCookie->getUartMode();
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return RETURN_OK;
}
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
#endif
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return RETURN_FAILED;
}
if (uartMode == UartModes::CANONICAL) {
return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else if (uartMode == UartModes::NON_CANONICAL) {
return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint8_t maxReadCycles = uartCookie.getReadCycles();
uint8_t currentReadCycles = 0;
int bytesRead = 0;
size_t currentBytesRead = 0;
size_t maxReplySize = uartCookie.getMaxReplyLen();
int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data();
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iter->second.replyLen = 0;
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do {
size_t allowedReadSize = 0;
if(currentBytesRead >= maxReplySize) {
// Overflow risk. Emit warning, trigger event and break. If this happens,
// the reception buffer is not large enough or data is not polled often enough.
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
#else
sif::printWarning("UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif
#endif
result = UART_RX_BUFFER_TOO_SMALL;
break;
}
else {
allowedReadSize = maxReplySize - currentBytesRead;
}
bytesRead = read(fd, bufferPtr, allowedReadSize);
if (bytesRead < 0) {
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// EAGAIN: No data available in non-blocking mode
if(errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
errno << ": " << strerror(errno) << std::endl;
#else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
errno, strerror(errno));
#endif
#endif
return RETURN_FAILED;
}
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}
else if(bytesRead > 0) {
iter->second.replyLen += bytesRead;
bufferPtr += bytesRead;
currentBytesRead += bytesRead;
}
currentReadCycles++;
} while(bytesRead > 0 and currentReadCycles < maxReadCycles);
return result;
}
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
size_t requestLen) {
int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow
if(requestLen > uartCookie.getMaxReplyLen()) {
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
#else
sif::printWarning("UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif
#endif
return UART_RX_BUFFER_TOO_SMALL;
}
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) {
return RETURN_FAILED;
}
else if (bytesRead != static_cast<int>(requestLen)) {
if(uartCookie.isReplySizeFixed()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
" of " << requestLen << " bytes" << std::endl;
#endif
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return RETURN_FAILED;
}
}
iter->second.replyLen = bytesRead;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
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return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
" not in uart map" << std::endl;
#endif
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return RETURN_FAILED;
}
*buffer = uartDeviceMapIter->second.replyBuffer.data();
*size = uartDeviceMapIter->second.replyLen;
/* Length is reset to 0 to prevent reading the same data twice */
uartDeviceMapIter->second.replyLen = 0;
return RETURN_OK;
}
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if(uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIFLUSH);
return RETURN_OK;
}
return RETURN_FAILED;
}
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if(uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCOFLUSH);
return RETURN_OK;
}
return RETURN_FAILED;
}
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if(uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIOFLUSH);
return RETURN_OK;
}
return RETURN_FAILED;
}
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void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
UartModes uartMode = uartCookie.getUartMode();
if(uartMode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
}
else if(uartMode == UartModes::CANONICAL) {
options->c_lflag |= ICANON;
}
}