439 lines
14 KiB
C++
439 lines
14 KiB
C++
#include "SerialComIF.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <cstring>
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#include "fsfw/FSFW.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/utility.h"
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SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
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SerialComIF::~SerialComIF() {}
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ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
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std::string deviceFile;
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if (cookie == nullptr) {
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return NULLPOINTER;
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}
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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int fileDescriptor = configureUartPort(uartCookie);
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if (fileDescriptor < 0) {
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return returnvalue::FAILED;
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}
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size_t maxReplyLen = uartCookie->getMaxReplyLen();
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UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
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auto status = uartDeviceMap.emplace(deviceFile, uartElements);
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if (status.second == false) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
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<< "to UART device map" << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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} else {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
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<< " already in use" << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
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struct termios options = {};
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std::string deviceFile = uartCookie->getDeviceFile();
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int flags = O_RDWR;
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if (uartCookie->getUartMode() == UartModes::CANONICAL) {
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// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
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// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
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flags |= O_NONBLOCK;
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}
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int fd = open(deviceFile.c_str(), flags);
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if (fd < 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
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<< "with error code " << errno << strerror(errno) << std::endl;
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#endif
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return fd;
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}
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/* Read in existing settings */
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if (tcgetattr(fd, &options) != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Error " << errno
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<< "from tcgetattr: " << strerror(errno) << std::endl;
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#endif
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return fd;
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}
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uart::setParity(options, uartCookie->getParity());
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setStopBitOptions(&options, uartCookie);
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setDatasizeOptions(&options, uartCookie);
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setFixedOptions(&options);
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uart::setMode(options, uartCookie->getUartMode());
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if (uartCookie->getInputShouldBeFlushed()) {
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tcflush(fd, TCIFLUSH);
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}
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/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 0;
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uart::setBaudrate(options, uartCookie->getBaudrate());
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/* Save option settings */
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
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<< ": " << strerror(errno);
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#endif
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return fd;
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}
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return fd;
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}
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void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* uartCookie) {
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/* Clear stop field. Sets stop bit to one bit */
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options->c_cflag &= ~CSTOPB;
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switch (uartCookie->getStopBits()) {
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case StopBits::TWO_STOP_BITS:
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options->c_cflag |= CSTOPB;
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break;
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default:
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break;
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}
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}
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void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uartCookie) {
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/* Clear size bits */
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options->c_cflag &= ~CSIZE;
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switch (uartCookie->getBitsPerWord()) {
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case BitsPerWord::BITS_5:
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options->c_cflag |= CS5;
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break;
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case BitsPerWord::BITS_6:
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options->c_cflag |= CS6;
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break;
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case BitsPerWord::BITS_7:
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options->c_cflag |= CS7;
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break;
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case BitsPerWord::BITS_8:
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options->c_cflag |= CS8;
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break;
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
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#endif
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break;
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}
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}
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void SerialComIF::setFixedOptions(struct termios* options) {
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/* Disable RTS/CTS hardware flow control */
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options->c_cflag &= ~CRTSCTS;
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/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
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options->c_cflag |= CREAD | CLOCAL;
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/* Disable echo */
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options->c_lflag &= ~ECHO;
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/* Disable erasure */
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options->c_lflag &= ~ECHOE;
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/* Disable new-line echo */
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options->c_lflag &= ~ECHONL;
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/* Disable interpretation of INTR, QUIT and SUSP */
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options->c_lflag &= ~ISIG;
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/* Turn off s/w flow ctrl */
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options->c_iflag &= ~(IXON | IXOFF | IXANY);
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/* Disable any special handling of received bytes */
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options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
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/* Prevent special interpretation of output bytes (e.g. newline chars) */
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options->c_oflag &= ~OPOST;
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/* Prevent conversion of newline to carriage return/line feed */
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options->c_oflag &= ~ONLCR;
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}
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ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
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int fd = 0;
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std::string deviceFile;
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if (sendLen == 0) {
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return returnvalue::OK;
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}
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if (sendData == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
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<< std::endl;
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#endif
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return returnvalue::FAILED;
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}
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fd = uartDeviceMapIter->second.fileDescriptor;
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if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
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<< ": Error description: " << strerror(errno) << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
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ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
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std::string deviceFile;
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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UartModes uartMode = uartCookie->getUartMode();
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
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return returnvalue::OK;
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}
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
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<< " not in uart map" << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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if (uartMode == UartModes::CANONICAL) {
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return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
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} else if (uartMode == UartModes::NON_CANONICAL) {
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return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
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} else {
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return returnvalue::FAILED;
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}
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}
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ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
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UartDeviceMap::iterator& iter, size_t requestLen) {
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ReturnValue_t result = returnvalue::OK;
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uint8_t maxReadCycles = uartCookie.getReadCycles();
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uint8_t currentReadCycles = 0;
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int bytesRead = 0;
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size_t currentBytesRead = 0;
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size_t maxReplySize = uartCookie.getMaxReplyLen();
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int fd = iter->second.fileDescriptor;
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auto bufferPtr = iter->second.replyBuffer.data();
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iter->second.replyLen = 0;
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do {
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size_t allowedReadSize = 0;
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if (currentBytesRead >= maxReplySize) {
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// Overflow risk. Emit warning, trigger event and break. If this happens,
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// 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
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sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
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<< std::endl;
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#else
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sif::printWarning(
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"UartComIF::requestReceiveMessage: "
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"Next read would cause overflow!");
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#endif
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#endif
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result = UART_RX_BUFFER_TOO_SMALL;
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break;
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} else {
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allowedReadSize = maxReplySize - currentBytesRead;
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}
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bytesRead = read(fd, bufferPtr, allowedReadSize);
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if (bytesRead < 0) {
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// EAGAIN: No data available in non-blocking mode
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if (errno != EAGAIN) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
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<< strerror(errno) << std::endl;
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#else
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sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
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strerror(errno));
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#endif
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#endif
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return returnvalue::FAILED;
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}
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} else if (bytesRead > 0) {
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iter->second.replyLen += bytesRead;
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bufferPtr += bytesRead;
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currentBytesRead += bytesRead;
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}
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currentReadCycles++;
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} while (bytesRead > 0 and currentReadCycles < maxReadCycles);
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return result;
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}
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ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
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UartDeviceMap::iterator& iter,
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size_t requestLen) {
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int fd = iter->second.fileDescriptor;
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auto bufferPtr = iter->second.replyBuffer.data();
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// Size check to prevent buffer overflow
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if (requestLen > uartCookie.getMaxReplyLen()) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
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<< std::endl;
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#else
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sif::printWarning(
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"UartComIF::requestReceiveMessage: "
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"Next read would cause overflow!");
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#endif
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#endif
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return UART_RX_BUFFER_TOO_SMALL;
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}
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int bytesRead = read(fd, bufferPtr, requestLen);
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if (bytesRead < 0) {
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return returnvalue::FAILED;
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} else if (bytesRead != static_cast<int>(requestLen)) {
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if (uartCookie.isReplySizeFixed()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
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<< requestLen << " bytes" << std::endl;
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#endif
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return returnvalue::FAILED;
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}
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}
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iter->second.replyLen = bytesRead;
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return returnvalue::OK;
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}
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ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
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std::string deviceFile;
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
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<< std::endl;
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#endif
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return returnvalue::FAILED;
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}
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*buffer = uartDeviceMapIter->second.replyBuffer.data();
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*size = uartDeviceMapIter->second.replyLen;
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/* Length is reset to 0 to prevent reading the same data twice */
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uartDeviceMapIter->second.replyLen = 0;
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return returnvalue::OK;
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}
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ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
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std::string deviceFile;
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter != uartDeviceMap.end()) {
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int fd = uartDeviceMapIter->second.fileDescriptor;
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tcflush(fd, TCIFLUSH);
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return returnvalue::OK;
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}
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return returnvalue::FAILED;
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}
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ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
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std::string deviceFile;
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter != uartDeviceMap.end()) {
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int fd = uartDeviceMapIter->second.fileDescriptor;
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tcflush(fd, TCOFLUSH);
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return returnvalue::OK;
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}
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return returnvalue::FAILED;
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}
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ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
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std::string deviceFile;
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SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
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if (uartCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
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#endif
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter != uartDeviceMap.end()) {
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int fd = uartDeviceMapIter->second.fileDescriptor;
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tcflush(fd, TCIOFLUSH);
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return returnvalue::OK;
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}
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return returnvalue::FAILED;
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}
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