fsfw/src/fsfw_hal/linux/i2c/I2cComIF.cpp

#include "I2cComIF.h"

#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"

#if FSFW_HAL_I2C_WIRETAPPING == 1
#include "fsfw/globalfunctions/arrayprinter.h"
#endif

#include <errno.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>

#include <cstring>

I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}

I2cComIF::~I2cComIF() {}

ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
  address_t i2cAddress;
  std::string deviceFile;

  if (cookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
#endif
    return NULLPOINTER;
  }
  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
  if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
#endif
    return NULLPOINTER;
  }

  i2cAddress = i2cCookie->getAddress();

  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
    size_t maxReplyLen = i2cCookie->getMaxReplyLen();
    I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
    auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
    if (not statusPair.second) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
                 << i2cAddress << "to I2C device "
                 << "map" << std::endl;
#endif
      return returnvalue::FAILED;
    }
    return returnvalue::OK;
  }

#if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
             << "already in use" << std::endl;
#endif
  return returnvalue::FAILED;
}

ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
  ReturnValue_t result;
  int fd = 0;

  if (sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
#endif
    return returnvalue::FAILED;
  }

  if (sendLen == 0) {
    return returnvalue::OK;
  }

  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
  if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
#endif
    return NULLPOINTER;
  }

  address_t i2cAddress = i2cCookie->getAddress();
  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
               << "registered in i2cDeviceMap" << std::endl;
#endif
    return returnvalue::FAILED;
  }

  const auto& deviceFile = i2cCookie->getDeviceFile();
  UnixFileGuard fileHelper(deviceFile, fd, O_RDWR, "I2cComIF::sendMessage");
  if (fileHelper.getOpenResult() != returnvalue::OK) {
    return fileHelper.getOpenResult();
  }
  result = openI2cSlave(deviceFile, i2cAddress, fd);
  if (result != returnvalue::OK) {
    return result;
  }

  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
    i2cCookie->errorCounter++;
    if (i2cCookie->errorCounter < 3) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
                    "device from "
                 << deviceFile << " with error code " << errno
                 << ". Error description: " << strerror(errno) << std::endl;
#endif
    }
    return returnvalue::FAILED;
  }
  i2cCookie->errorCounter = 0;
#if FSFW_HAL_I2C_WIRETAPPING == 1
  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
  arrayprinter::print(sendData, sendLen);
#endif
  return returnvalue::OK;
}

ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }

ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  ReturnValue_t result;
  int fd = 0;

  if (requestLen == 0) {
    return returnvalue::OK;
  }

  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
  if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
#endif
    return NULLPOINTER;
  }

  address_t i2cAddress = i2cCookie->getAddress();
  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
               << "registered in i2cDeviceMap" << std::endl;
#endif
    return returnvalue::FAILED;
  }
  i2cDeviceMapIter->second.replyLen = 0;

  auto& deviceFile = i2cCookie->getDeviceFile();
  UnixFileGuard fileHelper(deviceFile, fd, O_RDWR, "I2cComIF::requestReceiveMessage");
  if (fileHelper.getOpenResult() != returnvalue::OK) {
    return fileHelper.getOpenResult();
  }
  result = openI2cSlave(deviceFile, i2cAddress, fd);
  if (result != returnvalue::OK) {
    return result;
  }

  uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();

  int readLen = read(fd, replyBuffer, requestLen);
  if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
    if (readLen < 0) {
      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
                   << "device failed with error code " << errno << " | " << strerror(errno)
                   << std::endl;
    } else {
      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
                   << requestLen << " bytes" << std::endl;
    }
#else
#endif
#endif
    return returnvalue::FAILED;
  }

#if FSFW_HAL_I2C_WIRETAPPING == 1
  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
  arrayprinter::print(replyBuffer, requestLen);
#endif

  i2cDeviceMapIter->second.replyLen = requestLen;
  return returnvalue::OK;
}

ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
  if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
#endif
    return NULLPOINTER;
  }

  address_t i2cAddress = i2cCookie->getAddress();
  auto i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
               << "found in i2cDeviceMap" << std::endl;
#endif
    return returnvalue::FAILED;
  }
  *buffer = i2cDeviceMapIter->second.replyBuffer.data();
  *size = i2cDeviceMapIter->second.replyLen;
  i2cDeviceMapIter->second.replyLen = 0;
  return returnvalue::OK;
}

ReturnValue_t I2cComIF::openI2cSlave(const std::string& deviceFile, address_t i2cAddress,
                                     int& fileDescriptor) {
  if (ioctl(fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
                 << std::endl;
    sif::warning << "Error description " << strerror(errno) << std::endl;
#else
    sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
    sif::printWarning("Error description: %s\n", strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
    return returnvalue::FAILED;
  }
  return returnvalue::OK;
}