adapt to develop

hal/CMakeLists.txt

@@ -9,6 +9,7 @@ option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod libr
 # Linux. The only exception from this is the gpiod library which requires a dedicated installation,
 # but CMake is able to determine whether this library is installed with find_library.
 option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
 
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -8,11 +8,13 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
 	utility.cpp
 )
 
-if(FSFW_HAL_ADD_LIBGPIOD)
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
 	add_subdirectory(gpio)
 endif()
+	add_subdirectory(spi)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()
 
-add_subdirectory(spi)
-add_subdirectory(i2c)
-add_subdirectory(uart)
-add_subdirectory(uio)
+add_subdirectory(uio)

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

@@ -7,8 +7,8 @@
 
 #include <cstring>
 
-#include "OBSWConfig.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/utility.h"
 
 UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
@@ -25,7 +25,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
@@ -41,13 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
     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
       sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
                    << "to UART device map" << std::endl;
+#endif
       return RETURN_FAILED;
     }
   } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
                  << " already in use" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -67,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   int fd = open(deviceFile.c_str(), flags);
 
   if (fd < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
                  << "with error code " << errno << strerror(errno) << std::endl;
+#endif
     return fd;
   }
 
   /* Read in existing settings */
   if (tcgetattr(fd, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::configureUartPort: Error " << errno
                  << "from tcgetattr: " << strerror(errno) << std::endl;
+#endif
     return fd;
   }
 
@@ -96,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
   /* Save option settings */
   if (tcsetattr(fd, TCSANOW, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
                  << ": " << strerror(errno);
+#endif
     return fd;
   }
   return fd;
@@ -149,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
       options->c_cflag |= CS8;
       break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#endif
       break;
   }
 }
@@ -300,7 +314,9 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetospeed(options, B4000000);
       break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
       break;
   }
 }
@@ -315,29 +331,37 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   }
 
   if (sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
                << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   fd = uartDeviceMapIter->second.fileDescriptor;
 
-  if (write(fd, sendData, sendLen) != (int)sendLen) {
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
                << ": Error description: " << strerror(errno) << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -352,7 +376,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
@@ -365,8 +391,10 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
   }
 
   if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                << " not in uart map" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -460,8 +488,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
     return RETURN_FAILED;
   } else if (bytesRead != static_cast<int>(requestLen)) {
     if (uartCookie.isReplySizeFixed()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
                    << requestLen << " bytes" << std::endl;
+#endif
       return RETURN_FAILED;
     }
   }
@@ -475,15 +505,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
                << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -501,7 +535,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
   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();
@@ -519,7 +555,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
   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();
@@ -537,7 +575,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   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();