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Merge branch 'development' into mueller/local-pool-update-remove-ignore-fault-arg

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This commit is contained in:
Steffen Gaisser 2022-11-14 14:47:07 +01:00
commit 68223869d5
26 changed files with 444 additions and 398 deletions
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1
CMakeLists.txt
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@ -122,6 +122,7 @@ if(UNIX)
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers" option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
OFF) OFF)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF) option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
endif() endif()
# Optional sources # Optional sources

2
cmake/cmake-modules/bilke/CodeCoverage.cmake
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@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl) find_program( LCOV_PATH NAMES lcov lcov.bat lcov.exe lcov.perl)
find_program( FASTCOV_PATH NAMES fastcov fastcov.py ) find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat ) find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test) find_program( GCOVR_PATH gcovr )
find_program( CPPFILT_PATH NAMES c++filt ) find_program( CPPFILT_PATH NAMES c++filt )
if(NOT GCOV_PATH) if(NOT GCOV_PATH)

5
misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
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@ -4,7 +4,6 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/events/EventManager.h> #include <fsfw/events/EventManager.h>
#include <fsfw/health/HealthTable.h> #include <fsfw/health/HealthTable.h>
#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h> #include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/internalerror/InternalErrorReporter.h> #include <fsfw/internalerror/InternalErrorReporter.h>
@ -41,13 +40,9 @@ void Factory::setStaticFrameworkObjectIds() {
CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT; CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT; CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS; DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT; DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
TmPacketBase::timeStamperId = objects::NO_OBJECT;
} }

8
src/fsfw/container/FixedArrayList.h
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@ -20,15 +20,19 @@ class FixedArrayList : public ArrayList<T, count_t> {
FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {} FixedArrayList() : ArrayList<T, count_t>(data, MAX_SIZE) {}
FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) { FixedArrayList(const FixedArrayList& other) : ArrayList<T, count_t>(data, MAX_SIZE) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data; this->entries = data;
this->size = other.size; this->size = other.size;
for (size_t idx = 0; idx < this->size; idx++) {
data[idx] = other.data[idx];
}
} }
FixedArrayList& operator=(FixedArrayList other) { FixedArrayList& operator=(FixedArrayList other) {
memcpy(this->data, other.data, sizeof(this->data));
this->entries = data; this->entries = data;
this->size = other.size; this->size = other.size;
for (size_t idx = 0; idx < this->size; idx++) {
data[idx] = other.data[idx];
}
return *this; return *this;
} }

4
src/fsfw/globalfunctions/timevalOperations.cpp
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@ -1,8 +1,8 @@
#include "fsfw/globalfunctions/timevalOperations.h" #include "fsfw/globalfunctions/timevalOperations.h"
timeval& operator+=(timeval& lhs, const timeval& rhs) { timeval& operator+=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec; int64_t sum = static_cast<int64_t>(lhs.tv_sec) * 1000000. + lhs.tv_usec;
sum += rhs.tv_sec * 1000000. + rhs.tv_usec; sum += static_cast<int64_t>(rhs.tv_sec) * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000; lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000; lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs; return lhs;

1
src/fsfw/osal/common/TcpIpBase.cpp
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@ -1,6 +1,7 @@
#include "fsfw/osal/common/TcpIpBase.h" #include "fsfw/osal/common/TcpIpBase.h"
#include "fsfw/platform.h" #include "fsfw/platform.h"
#include "fsfw/serviceinterface.h"
#ifdef PLATFORM_UNIX #ifdef PLATFORM_UNIX
#include <errno.h> #include <errno.h>

1
src/fsfw/osal/host/Clock.cpp
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@ -8,6 +8,7 @@
#if defined(PLATFORM_WIN) #if defined(PLATFORM_WIN)
#include <sysinfoapi.h> #include <sysinfoapi.h>
#define timegm _mkgmtime
#elif defined(PLATFORM_UNIX) #elif defined(PLATFORM_UNIX)
#include <fstream> #include <fstream>
#endif #endif

2
src/fsfw/osal/windows/winTaskHelpers.cpp
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@ -1,5 +1,7 @@
#include "fsfw/osal/windows/winTaskHelpers.h" #include "fsfw/osal/windows/winTaskHelpers.h"
#include <windows.h>
#include <mutex> #include <mutex>
TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) { TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {

4
src/fsfw/osal/windows/winTaskHelpers.h
View File

@ -1,10 +1,12 @@
#include <map> #include <map>
#include <thread> #include <thread>
#include "../../tasks/TaskFactory.h" #include "fsfw/tasks/TaskFactory.h"
#ifdef _WIN32 #ifdef _WIN32
#include <minwindef.h>
namespace tasks { namespace tasks {
enum PriorityClass : uint16_t { enum PriorityClass : uint16_t {

1
src/fsfw/serviceinterface/ServiceInterfaceBuffer.cpp
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@ -3,7 +3,6 @@
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
#include <cinttypes> #include <cinttypes>
#include <cstring> #include <cstring>
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h" #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"

8
src/fsfw/timemanager/ClockCommon.cpp
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@ -61,10 +61,16 @@ ReturnValue_t Clock::convertTimevalToTimeOfDay(const timeval* from, TimeOfDay_t*
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
MutexGuard helper(timeMutex);
// gmtime writes its output in a global buffer which is not Thread Safe // gmtime writes its output in a global buffer which is not Thread Safe
// Therefore we have to use a Mutex here // Therefore we have to use a Mutex here
MutexGuard helper(timeMutex);
#ifdef PLATFORM_WIN
time_t time;
time = from->tv_sec;
timeInfo = gmtime(&time);
#else
timeInfo = gmtime(&from->tv_sec); timeInfo = gmtime(&from->tv_sec);
#endif
to->year = timeInfo->tm_year + 1900; to->year = timeInfo->tm_year + 1900;
to->month = timeInfo->tm_mon + 1; to->month = timeInfo->tm_mon + 1;
to->day = timeInfo->tm_mday; to->day = timeInfo->tm_mday;

8
src/fsfw/timemanager/TimeReaderIF.h
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@ -1,8 +1,16 @@
#ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H #ifndef FSFW_TIMEMANAGER_TIMEREADERIF_H
#define FSFW_TIMEMANAGER_TIMEREADERIF_H #define FSFW_TIMEMANAGER_TIMEREADERIF_H
#include <cstdio>
#include <cstdlib> #include <cstdlib>
#include "fsfw/platform.h"
#ifdef PLATFORM_WIN
// wtf? Required for timeval!
#include <winsock.h>
#endif
#include "TimeStampIF.h" #include "TimeStampIF.h"
#include "fsfw/returnvalues/returnvalue.h" #include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeIF.h" #include "fsfw/serialize/SerializeIF.h"

8
src/fsfw_hal/common/gpio/gpioDefinitions.h
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@ -5,6 +5,14 @@
#include <string> #include <string>
#include <unordered_map> #include <unordered_map>
#ifdef PLATFORM_WIN
// Defined in Windows header for whatever reason, and leads to nameclash issues with
// class enums which have entries of the same name.
#undef IN
#undef OUT
#undef CALLBACK
#endif
using gpioId_t = uint16_t; using gpioId_t = uint16_t;
namespace gpio { namespace gpio {

2
src/fsfw_hal/common/printChar.c
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@ -1,5 +1,5 @@
#include <stdio.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdio.h>
void __attribute__((weak)) printChar(const char* character, bool errStream) { void __attribute__((weak)) printChar(const char* character, bool errStream) {
if (errStream) { if (errStream) {

11
src/fsfw_hal/linux/CMakeLists.txt
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@ -5,11 +5,14 @@ endif()
target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
utility.cpp) utility.cpp)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
if(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS)
add_subdirectory(serial)
endif()
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS) if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(uart)
# Adding those does not really make sense on Apple systems which are generally # Adding those does not really make sense on Apple systems which are generally
# host systems. It won't even compile as the headers are missing # host systems. It won't even compile as the headers are missing
if(NOT APPLE) if(NOT APPLE)

2
src/fsfw_hal/linux/serial/CMakeLists.txt Normal file
View File

@ -0,0 +1,2 @@
target_sources(${LIB_FSFW_NAME} PUBLIC SerialComIF.cpp SerialCookie.cpp
helper.cpp)

239
src/fsfw_hal/linux/uart/UartComIF.cpp → src/fsfw_hal/linux/serial/SerialComIF.cpp
View File

@ -1,4 +1,4 @@
#include "UartComIF.h" #include "SerialComIF.h"
#include <errno.h> #include <errno.h>
#include <fcntl.h> #include <fcntl.h>
@ -11,19 +11,18 @@
#include "fsfw/serviceinterface.h" #include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h" #include "fsfw_hal/linux/utility.h"
UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {} SerialComIF::SerialComIF(object_id_t objectId) : SystemObject(objectId) {}
UartComIF::~UartComIF() {} SerialComIF::~SerialComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { ReturnValue_t SerialComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if (cookie == nullptr) { if (cookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
@ -33,7 +32,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie); int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) { if (fileDescriptor < 0) {
@ -60,7 +59,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
return returnvalue::OK; return returnvalue::OK;
} }
int UartComIF::configureUartPort(UartCookie* uartCookie) { int SerialComIF::configureUartPort(SerialCookie* uartCookie) {
struct termios options = {}; struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile(); std::string deviceFile = uartCookie->getDeviceFile();
@ -89,11 +88,11 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
return fd; return fd;
} }
setParityOptions(&options, uartCookie); uart::setParity(options, uartCookie->getParity());
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) {
@ -115,24 +114,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
return fd; return fd;
} }
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) { void SerialComIF::setStopBitOptions(struct termios* options, SerialCookie* 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 */ /* Clear stop field. Sets stop bit to one bit */
options->c_cflag &= ~CSTOPB; options->c_cflag &= ~CSTOPB;
switch (uartCookie->getStopBits()) { switch (uartCookie->getStopBits()) {
@ -144,7 +126,7 @@ void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCooki
} }
} }
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) { void SerialComIF::setDatasizeOptions(struct termios* options, SerialCookie* uartCookie) {
/* Clear size bits */ /* Clear size bits */
options->c_cflag &= ~CSIZE; options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) { switch (uartCookie->getBitsPerWord()) {
@ -168,7 +150,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
} }
} }
void UartComIF::setFixedOptions(struct termios* options) { void SerialComIF::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */ /* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS; options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */ /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
@ -191,142 +173,9 @@ void UartComIF::setFixedOptions(struct termios* options) {
options->c_oflag &= ~ONLCR; options->c_oflag &= ~ONLCR;
} }
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) { ReturnValue_t SerialComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
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) {
int fd = 0; int fd = 0;
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if (sendLen == 0) { if (sendLen == 0) {
return returnvalue::OK; return returnvalue::OK;
@ -339,7 +188,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
return returnvalue::FAILED; return returnvalue::FAILED;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
@ -348,7 +197,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map" sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
@ -370,13 +219,12 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; } ReturnValue_t SerialComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) { ReturnValue_t SerialComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
@ -386,7 +234,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
UartModes uartMode = uartCookie->getUartMode(); UartModes uartMode = uartCookie->getUartMode();
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) { if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return returnvalue::OK; return returnvalue::OK;
@ -409,8 +257,8 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
} }
} }
ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t SerialComIF::handleCanonicalRead(SerialCookie& uartCookie,
size_t requestLen) { UartDeviceMap::iterator& iter, size_t requestLen) {
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
uint8_t maxReadCycles = uartCookie.getReadCycles(); uint8_t maxReadCycles = uartCookie.getReadCycles();
uint8_t currentReadCycles = 0; uint8_t currentReadCycles = 0;
@ -467,8 +315,9 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
return result; return result;
} }
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t SerialComIF::handleNoncanonicalRead(SerialCookie& uartCookie,
size_t requestLen) { UartDeviceMap::iterator& iter,
size_t requestLen) {
int fd = iter->second.fileDescriptor; int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data(); auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow // Size check to prevent buffer overflow
@ -501,11 +350,10 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) { ReturnValue_t SerialComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
@ -514,7 +362,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map" sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
@ -532,10 +380,9 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
return returnvalue::OK; return returnvalue::OK;
} }
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) { ReturnValue_t SerialComIF::flushUartRxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
@ -543,7 +390,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIFLUSH); tcflush(fd, TCIFLUSH);
@ -552,10 +399,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) { ReturnValue_t SerialComIF::flushUartTxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
@ -563,7 +409,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCOFLUSH); tcflush(fd, TCOFLUSH);
@ -572,10 +418,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
return returnvalue::FAILED; return returnvalue::FAILED;
} }
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) { ReturnValue_t SerialComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; SerialCookie* uartCookie = dynamic_cast<SerialCookie*>(cookie);
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
@ -583,7 +428,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); auto uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIOFLUSH); tcflush(fd, TCIOFLUSH);
@ -591,13 +436,3 @@ 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;
}
}

40
src/fsfw_hal/linux/uart/UartComIF.h → src/fsfw_hal/linux/serial/SerialComIF.h
View File

@ -3,12 +3,12 @@
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/serial/helper.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
* systems. * systems.
@ -18,7 +18,7 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class UartComIF : public DeviceCommunicationIF, public SystemObject { class SerialComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART; static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
@ -26,9 +26,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2); static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3); static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
UartComIF(object_id_t objectId); SerialComIF(object_id_t objectId);
virtual ~UartComIF(); virtual ~SerialComIF();
ReturnValue_t initializeInterface(CookieIF* cookie) override; ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override; ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -62,7 +62,6 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
}; };
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>; using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
using UartDeviceMapIter = UartDeviceMap::iterator;
/** /**
* The uart devie map stores informations of initialized uart ports. * The uart devie map stores informations of initialized uart ports.
@ -76,20 +75,9 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
* uart device file, baudrate, parity, stopbits etc. * uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart. * @return The file descriptor of the configured uart.
*/ */
int configureUartPort(UartCookie* uartCookie); int configureUartPort(SerialCookie* uartCookie);
/** void setStopBitOptions(struct termios* options, SerialCookie* uartCookie);
* @brief This function adds the parity settings to the termios options struct.
*
* @param options Pointer to termios options struct which will be modified to enable or disable
* parity checking.
* @param uartCookie Pointer to uart cookie containing the information about the desired
* parity settings.
*
*/
void setParityOptions(struct termios* options, UartCookie* uartCookie);
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
/** /**
* @brief This function sets options which are not configurable by the uartCookie. * @brief This function sets options which are not configurable by the uartCookie.
@ -99,19 +87,11 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
/** /**
* @brief With this function the datasize settings are added to the termios options struct. * @brief With this function the datasize settings are added to the termios options struct.
*/ */
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie); void setDatasizeOptions(struct termios* options, SerialCookie* uartCookie);
/** ReturnValue_t handleCanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
* @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,
size_t requestLen); size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t handleNoncanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
size_t requestLen); size_t requestLen);
}; };

51
src/fsfw_hal/linux/serial/SerialCookie.cpp Normal file
View File

@ -0,0 +1,51 @@
#include "SerialCookie.h"
#include <fsfw/serviceinterface.h>
SerialCookie::SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
size_t maxReplyLen, UartModes uartMode)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
SerialCookie::~SerialCookie() {}
UartBaudRate SerialCookie::getBaudrate() const { return baudrate; }
size_t SerialCookie::getMaxReplyLen() const { return maxReplyLen; }
std::string SerialCookie::getDeviceFile() const { return deviceFile; }
void SerialCookie::setParityOdd() { parity = Parity::ODD; }
void SerialCookie::setParityEven() { parity = Parity::EVEN; }
Parity SerialCookie::getParity() const { return parity; }
void SerialCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
BitsPerWord SerialCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits SerialCookie::getStopBits() const { return stopBits; }
void SerialCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void SerialCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
UartModes SerialCookie::getUartMode() const { return uartMode; }
void SerialCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
void SerialCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
uint8_t SerialCookie::getReadCycles() const { return readCycles; }
bool SerialCookie::getInputShouldBeFlushed() { return this->flushInput; }
object_id_t SerialCookie::getHandlerId() const { return this->handlerId; }
void SerialCookie::setNoFixedSizeReply() { replySizeFixed = false; }
bool SerialCookie::isReplySizeFixed() { return replySizeFixed; }

50
src/fsfw_hal/linux/uart/UartCookie.h → src/fsfw_hal/linux/serial/SerialCookie.h
View File

@ -3,50 +3,10 @@
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/objectmanager/SystemObjectIF.h> #include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw_hal/linux/serial/helper.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.
* The constructor only requests for common options like the baudrate. Other options can * The constructor only requests for common options like the baudrate. Other options can
@ -54,7 +14,7 @@ enum class UartBaudRate {
* *
* @author J. Meier * @author J. Meier
*/ */
class UartCookie : public CookieIF { class SerialCookie : public CookieIF {
public: public:
/** /**
* @brief Constructor for the uart cookie. * @brief Constructor for the uart cookie.
@ -69,10 +29,10 @@ class UartCookie : public CookieIF {
* 8 databits (number of bits transfered with one uart frame) * 8 databits (number of bits transfered with one uart frame)
* One stop bit * One stop bit
*/ */
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
UartBaudRate baudrate, size_t maxReplyLen); size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
virtual ~UartCookie(); virtual ~SerialCookie();
UartBaudRate getBaudrate() const; UartBaudRate getBaudrate() const;
size_t getMaxReplyLen() const; size_t getMaxReplyLen() const;

163
src/fsfw_hal/linux/serial/helper.cpp Normal file
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@ -0,0 +1,163 @@
#include <fsfw_hal/linux/serial/helper.h>
#include <sys/ioctl.h>
#include "fsfw/serviceinterface.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:
cfsetspeed(&options, B50);
break;
case UartBaudRate::RATE_75:
cfsetspeed(&options, B75);
break;
case UartBaudRate::RATE_110:
cfsetspeed(&options, B110);
break;
case UartBaudRate::RATE_134:
cfsetspeed(&options, B134);
break;
case UartBaudRate::RATE_150:
cfsetspeed(&options, B150);
break;
case UartBaudRate::RATE_200:
cfsetspeed(&options, B200);
break;
case UartBaudRate::RATE_300:
cfsetspeed(&options, B300);
break;
case UartBaudRate::RATE_600:
cfsetspeed(&options, B600);
break;
case UartBaudRate::RATE_1200:
cfsetspeed(&options, B1200);
break;
case UartBaudRate::RATE_1800:
cfsetspeed(&options, B1800);
break;
case UartBaudRate::RATE_2400:
cfsetspeed(&options, B2400);
break;
case UartBaudRate::RATE_4800:
cfsetspeed(&options, B4800);
break;
case UartBaudRate::RATE_9600:
cfsetspeed(&options, B9600);
break;
case UartBaudRate::RATE_19200:
cfsetspeed(&options, B19200);
break;
case UartBaudRate::RATE_38400:
cfsetspeed(&options, B38400);
break;
case UartBaudRate::RATE_57600:
cfsetspeed(&options, B57600);
break;
case UartBaudRate::RATE_115200:
cfsetspeed(&options, B115200);
break;
case UartBaudRate::RATE_230400:
cfsetspeed(&options, B230400);
break;
#ifndef __APPLE__
case UartBaudRate::RATE_460800:
cfsetspeed(&options, B460800);
break;
case UartBaudRate::RATE_500000:
cfsetspeed(&options, B500000);
break;
case UartBaudRate::RATE_576000:
cfsetspeed(&options, B576000);
break;
case UartBaudRate::RATE_921600:
cfsetspeed(&options, B921600);
break;
case UartBaudRate::RATE_1000000:
cfsetspeed(&options, B1000000);
break;
case UartBaudRate::RATE_1152000:
cfsetspeed(&options, B1152000);
break;
case UartBaudRate::RATE_1500000:
cfsetspeed(&options, B1500000);
break;
case UartBaudRate::RATE_2000000:
cfsetspeed(&options, B2000000);
break;
case UartBaudRate::RATE_2500000:
cfsetspeed(&options, B2500000);
break;
case UartBaudRate::RATE_3000000:
cfsetspeed(&options, B3000000);
break;
case UartBaudRate::RATE_3500000:
cfsetspeed(&options, B3500000);
break;
case UartBaudRate::RATE_4000000:
cfsetspeed(&options, B4000000);
break;
#endif // ! __APPLE__
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break;
}
}
void uart::setBitsPerWord(struct termios& options, BitsPerWord bits) {
options.c_cflag &= ~CSIZE; // Clear all the size bits
if (bits == BitsPerWord::BITS_5) {
options.c_cflag |= CS5;
} else if (bits == BitsPerWord::BITS_6) {
options.c_cflag |= CS6;
} else if (bits == BitsPerWord::BITS_7) {
options.c_cflag |= CS7;
} else if (bits == BitsPerWord::BITS_8) {
options.c_cflag |= CS8;
}
}
void uart::enableRead(struct termios& options) { options.c_cflag |= CREAD; }
void uart::ignoreCtrlLines(struct termios& options) { options.c_cflag |= CLOCAL; }
void uart::setParity(struct termios& options, Parity parity) {
/* Clear parity bit */
options.c_cflag &= ~PARENB;
switch (parity) {
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;
}
}
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
return ioctl(serialPort, TIOCGICOUNT, &icounter);
}
void uart::setStopbits(struct termios& options, StopBits bits) {
if (bits == StopBits::TWO_STOP_BITS) {
// Use two stop bits
options.c_cflag |= CSTOPB;
} else {
// Clear stop field, only one stop bit used in communication
options.c_cflag &= ~CSTOPB;
}
}

71
src/fsfw_hal/linux/serial/helper.h Normal file
View File

@ -0,0 +1,71 @@
#ifndef FSFW_HAL_LINUX_UART_HELPER_H_
#define FSFW_HAL_LINUX_UART_HELPER_H_
#include <linux/serial.h>
#include <termios.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);
void setStopbits(struct termios& options, StopBits bits);
void setBitsPerWord(struct termios& options, BitsPerWord bits);
void enableRead(struct termios& options);
void setParity(struct termios& options, Parity parity);
void ignoreCtrlLines(struct termios& options);
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
} // namespace uart
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */

1
src/fsfw_hal/linux/uart/CMakeLists.txt
View File

@ -1 +0,0 @@
target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)

51
src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,51 +0,0 @@
#include "UartCookie.h"
#include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
UartBaudRate baudrate, size_t maxReplyLen)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
UartCookie::~UartCookie() {}
UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
std::string UartCookie::getDeviceFile() const { return deviceFile; }
void UartCookie::setParityOdd() { parity = Parity::ODD; }
void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits UartCookie::getStopBits() const { return stopBits; }
void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
UartModes UartCookie::getUartMode() const { return uartMode; }
void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
uint8_t UartCookie::getReadCycles() const { return readCycles; }
bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
bool UartCookie::isReplySizeFixed() { return replySizeFixed; }

100
unittests/globalfunctions/testTimevalOperations.cpp
View File

@ -56,61 +56,65 @@ TEST_CASE("TimevalTest", "[timevalOperations]") {
} }
SECTION("Operators") { SECTION("Operators") {
timeval t1; timeval t1;
t1.tv_sec = 1648227422; if (sizeof(t1.tv_sec) == 8) {
t1.tv_usec = 123456; t1.tv_sec = 1648227422;
timeval t2; t1.tv_usec = 123456;
t2.tv_sec = 1648227422; timeval t2;
t2.tv_usec = 123456; t2.tv_sec = 1648227422;
timeval t3 = t1 - t2; t2.tv_usec = 123456;
REQUIRE(t3.tv_sec == 0); timeval t3 = t1 - t2;
REQUIRE(t3.tv_usec == 0); REQUIRE(t3.tv_sec == 0);
timeval t4 = t1 - t3; REQUIRE(t3.tv_usec == 0);
REQUIRE(t4.tv_sec == 1648227422); timeval t4 = t1 - t3;
REQUIRE(t4.tv_usec == 123456); REQUIRE(t4.tv_sec == 1648227422);
timeval t5 = t3 - t1; REQUIRE(t4.tv_usec == 123456);
REQUIRE(t5.tv_sec == -1648227422); timeval t5 = t3 - t1;
REQUIRE(t5.tv_usec == -123456); REQUIRE(t5.tv_sec == -1648227422);
REQUIRE(t5.tv_usec == -123456);
timeval t6; timeval t6;
t6.tv_sec = 1648227400; t6.tv_sec = 1648227400;
t6.tv_usec = 999999; t6.tv_usec = 999999;
timeval t7 = t6 + t1; timeval t7 = t6 + t1;
REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull)); // Overflow test
REQUIRE(t7.tv_usec == 123455); REQUIRE(t7.tv_sec == (1648227422ull + 1648227400ull + 1ull));
timeval t8 = t1 - t6; REQUIRE(t7.tv_usec == 123455);
REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
REQUIRE(t8.tv_usec == 123457);
double scalar = 2; timeval t8 = t1 - t6;
timeval t9 = t1 * scalar; REQUIRE(t8.tv_sec == 1648227422 - 1648227400 - 1);
REQUIRE(t9.tv_sec == 3296454844); REQUIRE(t8.tv_usec == 123457);
REQUIRE(t9.tv_usec == 246912);
timeval t10 = scalar * t1;
REQUIRE(t10.tv_sec == 3296454844);
REQUIRE(t10.tv_usec == 246912);
timeval t11 = t6 * scalar;
REQUIRE(t11.tv_sec == (3296454800 + 1));
REQUIRE(t11.tv_usec == 999998);
timeval t12 = t1 / scalar; double scalar = 2;
REQUIRE(t12.tv_sec == 824113711); timeval t9 = t1 * scalar;
REQUIRE(t12.tv_usec == 61728); REQUIRE(t9.tv_sec == 3296454844);
REQUIRE(t9.tv_usec == 246912);
timeval t10 = scalar * t1;
REQUIRE(t10.tv_sec == 3296454844);
REQUIRE(t10.tv_usec == 246912);
timeval t11 = t6 * scalar;
REQUIRE(t11.tv_sec == (3296454800 + 1));
REQUIRE(t11.tv_usec == 999998);
timeval t13 = t6 / scalar; timeval t12 = t1 / scalar;
REQUIRE(t13.tv_sec == 824113700); REQUIRE(t12.tv_sec == 824113711);
// Rounding issue REQUIRE(t12.tv_usec == 61728);
REQUIRE(t13.tv_usec == 499999);
double scalar2 = t9 / t1; timeval t13 = t6 / scalar;
REQUIRE(scalar2 == Catch::Approx(2.0)); REQUIRE(t13.tv_sec == 824113700);
double scalar3 = t1 / t6; // Rounding issue
REQUIRE(scalar3 == Catch::Approx(1.000000013)); REQUIRE(t13.tv_usec == 499999);
double scalar4 = t3 / t1;
REQUIRE(scalar4 == Catch::Approx(0)); double scalar2 = t9 / t1;
double scalar5 = t12 / t1; REQUIRE(scalar2 == Catch::Approx(2.0));
REQUIRE(scalar5 == Catch::Approx(0.5)); double scalar3 = t1 / t6;
REQUIRE(scalar3 == Catch::Approx(1.000000013));
double scalar4 = t3 / t1;
REQUIRE(scalar4 == Catch::Approx(0));
double scalar5 = t12 / t1;
REQUIRE(scalar5 == Catch::Approx(0.5));
}
} }
SECTION("timevalOperations::toTimeval") { SECTION("timevalOperations::toTimeval") {

8
unittests/hal/CMakeLists.txt
View File

@ -1,3 +1,5 @@
target_sources(${FSFW_TEST_TGT} PRIVATE if(UNIX)
testCommandExecutor.cpp target_sources(${FSFW_TEST_TGT} PRIVATE
) testCommandExecutor.cpp
)
endif()