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Improve Subsystem DHB logic #112

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muellerr merged 16 commits from mueller/improve-ss-dhb-logic into develop 2022-11-02 10:32:27 +01:00
Conversation 0 Commits 16 Files Changed 29 +329 -339
10 changed files with 329 additions and 339 deletions
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Showing only changes of commit 7f180ac1fa - Show all commits

13
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -460,7 +460,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
info.expectedReplies = 0; info.expectedReplies = 0;
info.isExecuting = false; info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER; info.sendReplyTo = NO_COMMANDER;
info.useAlternativeReplyId = alternativeReplyId; info.useAlternativeReplyId = useAlternativeReply;
info.alternativeReplyId = alternativeReplyId; info.alternativeReplyId = alternativeReplyId;
auto resultPair = deviceCommandMap.emplace(deviceCommand, info); auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) { if (resultPair.second) {
@ -1602,3 +1602,14 @@ const HasHealthIF* DeviceHandlerBase::getOptHealthIF() const { return this; }
const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; } const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; } ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
ReturnValue_t result) {
auto commandIter = deviceCommandMap.find(action);
if (commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE;
}
commandIter->second.isExecuting = false;
actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
return returnvalue::OK;
}

2
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -407,6 +407,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/ */
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0; virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const; MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
ReturnValue_t finishAction(bool success, DeviceCommandId_t action, ReturnValue_t result);
/** /**
* Helper function to get pending command. This is useful for devices * Helper function to get pending command. This is useful for devices
* like SPI sensors to identify the last sent command. * like SPI sensors to identify the last sent command.

215
src/fsfw/globalfunctions/DleParser.cpp
View File

@ -3,159 +3,95 @@
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <cstdio> #include <cstdio>
#include <fstream>
#include <iostream>
DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf, DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
BufPair decodedBuf, UserHandler handler, void* args) BufPair decodedBuf)
: decodeRingBuf(decodeRingBuf), : decodeRingBuf(decodeRingBuf),
decoder(decoder), decoder(decoder),
encodedBuf(encodedBuf), encodedBuf(encodedBuf),
decodedBuf(decodedBuf), decodedBuf(decodedBuf) {
handler(handler),
ctx(args) {
if (handler == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DleParser::DleParser: Invalid user handler" << std::endl;
#else
sif::printError("DleParser::DleParser: Invalid user handler\n");
#endif
}
} }
ReturnValue_t DleParser::passData(uint8_t* data, size_t len) { ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
if (data == nullptr or len == 0 or handler == nullptr) { if (data == nullptr or len == 0) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
size_t copyIntoRingBufFromHere = 0; return decodeRingBuf.writeData(data, len);
size_t copyAmount = len; }
size_t startIdx = 0;
ReturnValue_t result = returnvalue::OK; ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
bool startFoundInThisPacket = false; ctx.setType(DleParser::ContextType::NONE);
for (size_t idx = 0; idx < len; idx++) { size_t availableData = decodeRingBuf.getAvailableReadData();
if (data[idx] == DleEncoder::STX_CHAR) { if(availableData == 0) {
if (not startFound and not startFoundInThisPacket) { return NO_PACKET_FOUND;
startIdx = idx; }
copyIntoRingBufFromHere = idx; if (availableData > encodedBuf.second) {
copyAmount = len - idx; ErrorInfo info;
info.len = decodeRingBuf.getAvailableReadData();
setErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
return returnvalue::FAILED;
}
ReturnValue_t result = decodeRingBuf.readData(encodedBuf.first, availableData);
if (result != returnvalue::OK) {
ErrorInfo info;
info.res = result;
setErrorContext(ErrorTypes::RING_BUF_ERROR, info);
return result;
}
bool stxFound = false;
size_t stxIdx = 0;
for (size_t vectorIdx = 0; vectorIdx < availableData; vectorIdx++) {
// handle STX char
if (encodedBuf.first[vectorIdx] == DleEncoder::STX_CHAR) {
if (not stxFound) {
stxFound = true;
stxIdx = vectorIdx;
} else { } else {
// Maybe print warning, should not happen // might be lost packet, so we should advance the read pointer
decodeRingBuf.clear(); // without skipping the STX
readSize = vectorIdx;
ErrorInfo info; ErrorInfo info;
info.len = idx; setErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info);
prepareErrorContext(ErrorTypes::CONSECUTIVE_STX_CHARS, info); return POSSIBLE_PACKET_LOSS;
handler(ctx);
copyIntoRingBufFromHere = idx;
copyAmount = len - idx;
} }
startFound = true; }
startFoundInThisPacket = true; // handle ETX char
} else if (data[idx] == DleEncoder::ETX_CHAR) { if (encodedBuf.first[vectorIdx] == DleEncoder::ETX_CHAR) {
if (startFoundInThisPacket) { if (stxFound) {
size_t readLen = 0; // This is propably a packet, so we decode it.
size_t decodedLen = 0; size_t decodedLen = 0;
result = decoder.decode(data + startIdx, idx + 1 - startIdx, &readLen, decodedBuf.first, size_t dummy = 0;
decodedBuf.second, &decodedLen);
ReturnValue_t result =
decoder.decode(&encodedBuf.first[stxIdx], availableData - stxIdx, &dummy,
decodedBuf.first, decodedBuf.second, &decodedLen);
if (result == returnvalue::OK) { if (result == returnvalue::OK) {
ctx.setType(ContextType::PACKET_FOUND); ctx.setType(ContextType::PACKET_FOUND);
ctx.decodedPacket.first = decodedBuf.first; ctx.decodedPacket.first = decodedBuf.first;
ctx.decodedPacket.second = decodedLen; ctx.decodedPacket.second = decodedLen;
this->handler(ctx); readSize = ++vectorIdx;
} else if (result == DleEncoder::STREAM_TOO_SHORT) { return returnvalue::OK;
} else {
// invalid packet, skip.
readSize = ++vectorIdx;
ErrorInfo info; ErrorInfo info;
info.res = result; info.res = result;
prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info); setErrorContext(ErrorTypes::DECODE_ERROR, info);
handler(ctx); return POSSIBLE_PACKET_LOSS;
} else {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
handler(ctx);
}
decodeRingBuf.clear();
if ((idx + 1) < len) {
copyIntoRingBufFromHere = idx + 1;
copyAmount = len - idx - 1;
} else {
copyAmount = 0;
}
} else if (startFound) {
// ETX found but STX was found in another mini packet. Reconstruct the full packet
// to decode it
result = decodeRingBuf.writeData(data, idx + 1);
if (result != returnvalue::OK) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
handler(ctx);
}
size_t fullEncodedLen = decodeRingBuf.getAvailableReadData();
if (fullEncodedLen > encodedBuf.second) {
ErrorInfo info;
info.len = fullEncodedLen;
prepareErrorContext(ErrorTypes::ENCODED_BUF_TOO_SMALL, info);
handler(ctx);
decodeRingBuf.clear();
} else {
size_t decodedLen = 0;
size_t readLen = 0;
decodeRingBuf.readData(encodedBuf.first, fullEncodedLen, true);
result = decoder.decode(encodedBuf.first, fullEncodedLen, &readLen, decodedBuf.first,
decodedBuf.second, &decodedLen);
if (result == returnvalue::OK) {
if (this->handler != nullptr) {
ctx.setType(ContextType::PACKET_FOUND);
ctx.decodedPacket.first = decodedBuf.first;
ctx.decodedPacket.second = decodedLen;
this->handler(ctx);
}
} else if (result == DleEncoder::STREAM_TOO_SHORT) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODING_BUF_TOO_SMALL, info);
handler(ctx);
} else {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::DECODE_ERROR, info);
handler(ctx);
}
decodeRingBuf.clear();
startFound = false;
startFoundInThisPacket = false;
if ((idx + 1) < len) {
copyIntoRingBufFromHere = idx + 1;
copyAmount = len - idx - 1;
} else {
copyAmount = 0;
}
} }
} else { } else {
// End data without preceeding STX // might be lost packet, so we should advance the read pointer
readSize = ++vectorIdx;
ErrorInfo info; ErrorInfo info;
info.len = idx + 1; info.len = 0;
prepareErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info); setErrorContext(ErrorTypes::CONSECUTIVE_ETX_CHARS, info);
handler(ctx); return POSSIBLE_PACKET_LOSS;
decodeRingBuf.clear();
if ((idx + 1) < len) {
copyIntoRingBufFromHere = idx + 1;
copyAmount = len - idx - 1;
} else {
copyAmount = 0;
}
} }
startFoundInThisPacket = false;
startFound = false;
} }
} }
if (copyAmount > 0) { return NO_PACKET_FOUND;
result = decodeRingBuf.writeData(data + copyIntoRingBufFromHere, copyAmount);
if (result != returnvalue::OK) {
ErrorInfo info;
info.res = result;
prepareErrorContext(ErrorTypes::RING_BUF_ERROR, info);
handler(ctx);
}
}
return returnvalue::OK;
} }
void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) { void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* args) {
@ -169,8 +105,12 @@ void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* arg
#endif #endif
} }
void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) { void DleParser::defaultErrorHandler() {
switch (err) { if(ctx.getType() != DleParser::ContextType::ERROR) {
errorPrinter("No error");
return;
}
switch (ctx.error.first) {
case (ErrorTypes::NONE): { case (ErrorTypes::NONE): {
errorPrinter("No error"); errorPrinter("No error");
break; break;
@ -186,8 +126,8 @@ void DleParser::defaultErrorHandler(ErrorTypes err, ErrorInfo ctx) {
case (ErrorTypes::ENCODED_BUF_TOO_SMALL): case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
case (ErrorTypes::DECODING_BUF_TOO_SMALL): { case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
char opt[64]; char opt[64];
snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.len); snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.decodedPacket.second);
if (err == ErrorTypes::ENCODED_BUF_TOO_SMALL) { if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
errorPrinter("Encoded buf too small", opt); errorPrinter("Encoded buf too small", opt);
} else { } else {
errorPrinter("Decoding buf too small", opt); errorPrinter("Decoding buf too small", opt);
@ -218,13 +158,20 @@ void DleParser::errorPrinter(const char* str, const char* opt) {
#endif #endif
} }
void DleParser::prepareErrorContext(ErrorTypes err, ErrorInfo info) { void DleParser::setErrorContext(ErrorTypes err, ErrorInfo info) {
ctx.setType(ContextType::ERROR); ctx.setType(ContextType::ERROR);
ctx.error.first = err; ctx.error.first = err;
ctx.error.second = info; ctx.error.second = info;
} }
ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
return decodeRingBuf.deleteData(bytesRead);
}
const DleParser::Context& DleParser::getContext() {
return ctx;
}
void DleParser::reset() { void DleParser::reset() {
startFound = false;
decodeRingBuf.clear(); decodeRingBuf.clear();
} }

24
src/fsfw/globalfunctions/DleParser.h
View File

@ -18,9 +18,11 @@
*/ */
class DleParser { class DleParser {
public: public:
static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(1, 1);
static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS = returnvalue::makeCode(1, 2);
using BufPair = std::pair<uint8_t*, size_t>; using BufPair = std::pair<uint8_t*, size_t>;
enum class ContextType { PACKET_FOUND, ERROR }; enum class ContextType { NONE, PACKET_FOUND, ERROR };
enum class ErrorTypes { enum class ErrorTypes {
NONE, NONE,
@ -41,7 +43,7 @@ class DleParser {
struct Context { struct Context {
public: public:
Context(void* args) : userArgs(args) { setType(ContextType::PACKET_FOUND); } Context() { setType(ContextType::PACKET_FOUND); }
void setType(ContextType type) { void setType(ContextType type) {
this->type = type; this->type = type;
@ -58,14 +60,11 @@ class DleParser {
BufPair decodedPacket = {}; BufPair decodedPacket = {};
ErrorPair error; ErrorPair error;
void* userArgs;
private: private:
ContextType type; ContextType type;
}; };
using UserHandler = void (*)(const Context& ctx);
/** /**
* Base class constructor * Base class constructor
* @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets * @param decodeRingBuf Ring buffer used to store multiple packets to allow detecting DLE packets
@ -79,7 +78,7 @@ class DleParser {
* @param args Arbitrary user argument * @param args Arbitrary user argument
*/ */
DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf, DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPair encodedBuf,
BufPair decodedBuf, UserHandler handler, void* args); BufPair decodedBuf);
/** /**
* This function allows to pass new data into the parser. It then scans for DLE packets * This function allows to pass new data into the parser. It then scans for DLE packets
@ -88,8 +87,13 @@ class DleParser {
* @param len * @param len
* @return * @return
*/ */
ReturnValue_t passData(uint8_t* data, size_t len); ReturnValue_t passData(const uint8_t* data, size_t len);
ReturnValue_t parseRingBuf(size_t& bytesRead);
ReturnValue_t confirmBytesRead(size_t bytesRead);
const Context& getContext();
/** /**
* Example found packet handler * Example found packet handler
* function call * function call
@ -104,11 +108,11 @@ class DleParser {
* - For buffer length errors, will be set to the detected packet length which is too large * - For buffer length errors, will be set to the detected packet length which is too large
* - For decode or ring buffer errors, will be set to the result returned from the failed call * - For decode or ring buffer errors, will be set to the result returned from the failed call
*/ */
static void defaultErrorHandler(ErrorTypes err, ErrorInfo ctx); void defaultErrorHandler();
static void errorPrinter(const char* str, const char* opt = nullptr); static void errorPrinter(const char* str, const char* opt = nullptr);
void prepareErrorContext(ErrorTypes err, ErrorInfo ctx); void setErrorContext(ErrorTypes err, ErrorInfo ctx);
/** /**
* Resets the parser by resetting the internal states and clearing the decoding ring buffer * Resets the parser by resetting the internal states and clearing the decoding ring buffer
*/ */
@ -119,7 +123,5 @@ class DleParser {
DleEncoder& decoder; DleEncoder& decoder;
BufPair encodedBuf; BufPair encodedBuf;
BufPair decodedBuf; BufPair decodedBuf;
UserHandler handler = nullptr;
Context ctx; Context ctx;
bool startFound = false;
}; };

2
src/fsfw_hal/linux/uart/CMakeLists.txt
View File

@ -1 +1 @@
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp) target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp helper.cpp)

147
src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,5 +1,4 @@
#include "UartComIF.h" #include "UartComIF.h"
#include <errno.h> #include <errno.h>
#include <fcntl.h> #include <fcntl.h>
#include <termios.h> #include <termios.h>
@ -93,7 +92,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
setStopBitOptions(&options, uartCookie); setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie); setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options); setFixedOptions(&options);
setUartMode(&options, *uartCookie); uart::setMode(options, uartCookie->getUartMode());
if (uartCookie->getInputShouldBeFlushed()) { if (uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH); tcflush(fd, TCIFLUSH);
} }
@ -102,7 +101,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
options.c_cc[VTIME] = 0; options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0; options.c_cc[VMIN] = 0;
configureBaudrate(&options, uartCookie); uart::setBaudrate(options, uartCookie->getBaudrate());
/* Save option settings */ /* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) { if (tcsetattr(fd, TCSANOW, &options) != 0) {
@ -191,138 +190,6 @@ void UartComIF::setFixedOptions(struct termios* options) {
options->c_oflag &= ~ONLCR; options->c_oflag &= ~ONLCR;
} }
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) {
case UartBaudRate::RATE_50:
cfsetispeed(options, B50);
cfsetospeed(options, B50);
break;
case UartBaudRate::RATE_75:
cfsetispeed(options, B75);
cfsetospeed(options, B75);
break;
case UartBaudRate::RATE_110:
cfsetispeed(options, B110);
cfsetospeed(options, B110);
break;
case UartBaudRate::RATE_134:
cfsetispeed(options, B134);
cfsetospeed(options, B134);
break;
case UartBaudRate::RATE_150:
cfsetispeed(options, B150);
cfsetospeed(options, B150);
break;
case UartBaudRate::RATE_200:
cfsetispeed(options, B200);
cfsetospeed(options, B200);
break;
case UartBaudRate::RATE_300:
cfsetispeed(options, B300);
cfsetospeed(options, B300);
break;
case UartBaudRate::RATE_600:
cfsetispeed(options, B600);
cfsetospeed(options, B600);
break;
case UartBaudRate::RATE_1200:
cfsetispeed(options, B1200);
cfsetospeed(options, B1200);
break;
case UartBaudRate::RATE_1800:
cfsetispeed(options, B1800);
cfsetospeed(options, B1800);
break;
case UartBaudRate::RATE_2400:
cfsetispeed(options, B2400);
cfsetospeed(options, B2400);
break;
case UartBaudRate::RATE_4800:
cfsetispeed(options, B4800);
cfsetospeed(options, B4800);
break;
case UartBaudRate::RATE_9600:
cfsetispeed(options, B9600);
cfsetospeed(options, B9600);
break;
case UartBaudRate::RATE_19200:
cfsetispeed(options, B19200);
cfsetospeed(options, B19200);
break;
case UartBaudRate::RATE_38400:
cfsetispeed(options, B38400);
cfsetospeed(options, B38400);
break;
case UartBaudRate::RATE_57600:
cfsetispeed(options, B57600);
cfsetospeed(options, B57600);
break;
case UartBaudRate::RATE_115200:
cfsetispeed(options, B115200);
cfsetospeed(options, B115200);
break;
case UartBaudRate::RATE_230400:
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
case UartBaudRate::RATE_500000:
cfsetispeed(options, B500000);
cfsetospeed(options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetispeed(options, B576000);
cfsetospeed(options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetispeed(options, B921600);
cfsetospeed(options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetispeed(options, B1000000);
cfsetospeed(options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetispeed(options, B1152000);
cfsetospeed(options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetispeed(options, B1500000);
cfsetospeed(options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetispeed(options, B2000000);
cfsetospeed(options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetispeed(options, B2500000);
cfsetospeed(options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetispeed(options, B3000000);
cfsetospeed(options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetispeed(options, B3500000);
cfsetospeed(options, B3500000);
break;
case UartBaudRate::RATE_4000000:
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break;
}
}
ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) { ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
int fd = 0; int fd = 0;
std::string deviceFile; std::string deviceFile;
@ -592,12 +459,4 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
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;
}
}

12
src/fsfw_hal/linux/uart/UartComIF.h
View File

@ -1,13 +1,15 @@
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_ #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_ #define BSP_Q7S_COMIF_UARTCOMIF_H_
#include "UartCookie.h"
#include "helper.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
#include "UartCookie.h"
/** /**
* @brief This is the communication interface to access serial ports on linux based operating * @brief This is the communication interface to access serial ports on linux based operating
@ -101,14 +103,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
*/ */
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie); void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
/**
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
* struct.
*/
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
void setUartMode(struct termios* options, UartCookie& uartCookie);
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen); size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,

41
src/fsfw_hal/linux/uart/UartCookie.h
View File

@ -1,51 +1,14 @@
#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_ #ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_ #define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#include "helper.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/objectmanager/SystemObjectIF.h> #include <fsfw/objectmanager/SystemObjectIF.h>
#include <string> #include <string>
enum class Parity { NONE, EVEN, ODD };
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
enum class UartModes { CANONICAL, NON_CANONICAL };
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
enum class UartBaudRate {
RATE_50,
RATE_75,
RATE_110,
RATE_134,
RATE_150,
RATE_200,
RATE_300,
RATE_600,
RATE_1200,
RATE_1800,
RATE_2400,
RATE_4800,
RATE_9600,
RATE_19200,
RATE_38400,
RATE_57600,
RATE_115200,
RATE_230400,
RATE_460800,
RATE_500000,
RATE_576000,
RATE_921600,
RATE_1000000,
RATE_1152000,
RATE_1500000,
RATE_2000000,
RATE_2500000,
RATE_3000000,
RATE_3500000,
RATE_4000000
};
/** /**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver. * @brief Cookie for the UartComIF. There are many options available to configure the UART driver.

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src/fsfw_hal/linux/uart/helper.cpp Normal file
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#include "helper.h"
#include "fsfw/serviceinterface.h"
#include <sys/ioctl.h>
void uart::setMode(struct termios& options, UartModes mode) {
if (mode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options.c_lflag &= ~ICANON;
} else if (mode == UartModes::CANONICAL) {
options.c_lflag |= ICANON;
}
}
void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
switch (baud) {
case UartBaudRate::RATE_50:
cfsetispeed(&options, B50);
cfsetospeed(&options, B50);
break;
case UartBaudRate::RATE_75:
cfsetispeed(&options, B75);
cfsetospeed(&options, B75);
break;
case UartBaudRate::RATE_110:
cfsetispeed(&options, B110);
cfsetospeed(&options, B110);
break;
case UartBaudRate::RATE_134:
cfsetispeed(&options, B134);
cfsetospeed(&options, B134);
break;
case UartBaudRate::RATE_150:
cfsetispeed(&options, B150);
cfsetospeed(&options, B150);
break;
case UartBaudRate::RATE_200:
cfsetispeed(&options, B200);
cfsetospeed(&options, B200);
break;
case UartBaudRate::RATE_300:
cfsetispeed(&options, B300);
cfsetospeed(&options, B300);
break;
case UartBaudRate::RATE_600:
cfsetispeed(&options, B600);
cfsetospeed(&options, B600);
break;
case UartBaudRate::RATE_1200:
cfsetispeed(&options, B1200);
cfsetospeed(&options, B1200);
break;
case UartBaudRate::RATE_1800:
cfsetispeed(&options, B1800);
cfsetospeed(&options, B1800);
break;
case UartBaudRate::RATE_2400:
cfsetispeed(&options, B2400);
cfsetospeed(&options, B2400);
break;
case UartBaudRate::RATE_4800:
cfsetispeed(&options, B4800);
cfsetospeed(&options, B4800);
break;
case UartBaudRate::RATE_9600:
cfsetispeed(&options, B9600);
cfsetospeed(&options, B9600);
break;
case UartBaudRate::RATE_19200:
cfsetispeed(&options, B19200);
cfsetospeed(&options, B19200);
break;
case UartBaudRate::RATE_38400:
cfsetispeed(&options, B38400);
cfsetospeed(&options, B38400);
break;
case UartBaudRate::RATE_57600:
cfsetispeed(&options, B57600);
cfsetospeed(&options, B57600);
break;
case UartBaudRate::RATE_115200:
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
break;
case UartBaudRate::RATE_230400:
cfsetispeed(&options, B230400);
cfsetospeed(&options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetispeed(&options, B460800);
cfsetospeed(&options, B460800);
break;
case UartBaudRate::RATE_500000:
cfsetispeed(&options, B500000);
cfsetospeed(&options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetispeed(&options, B576000);
cfsetospeed(&options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetispeed(&options, B921600);
cfsetospeed(&options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetispeed(&options, B1000000);
cfsetospeed(&options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetispeed(&options, B1152000);
cfsetospeed(&options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetispeed(&options, B1500000);
cfsetospeed(&options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetispeed(&options, B2000000);
cfsetospeed(&options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetispeed(&options, B2500000);
cfsetospeed(&options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetispeed(&options, B3000000);
cfsetospeed(&options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetispeed(&options, B3500000);
cfsetospeed(&options, B3500000);
break;
case UartBaudRate::RATE_4000000:
cfsetispeed(&options, B4000000);
cfsetospeed(&options, B4000000);
break;
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break;
}
}
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
return ioctl(serialPort, TIOCGICOUNT, &icounter);
}

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#ifndef FSFW_HAL_LINUX_UART_HELPER_H_
#define FSFW_HAL_LINUX_UART_HELPER_H_
#include <termios.h>
#include <linux/serial.h>
enum class Parity { NONE, EVEN, ODD };
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
enum class UartModes { CANONICAL, NON_CANONICAL };
enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
enum class UartBaudRate {
RATE_50,
RATE_75,
RATE_110,
RATE_134,
RATE_150,
RATE_200,
RATE_300,
RATE_600,
RATE_1200,
RATE_1800,
RATE_2400,
RATE_4800,
RATE_9600,
RATE_19200,
RATE_38400,
RATE_57600,
RATE_115200,
RATE_230400,
RATE_460800,
RATE_500000,
RATE_576000,
RATE_921600,
RATE_1000000,
RATE_1152000,
RATE_1500000,
RATE_2000000,
RATE_2500000,
RATE_3000000,
RATE_3500000,
RATE_4000000
};
namespace uart {
void setMode(struct termios& options, UartModes mode);
/**
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
* struct.
*/
void setBaudrate(struct termios& options, UartBaudRate baud);
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
}
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */