esbo_ds/testArduino
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Errors fixed.

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This commit is contained in:
mmode 2021-09-14 13:16:26 +02:00
parent 2ce14d84f0
commit 8c80e9f7c0
4 changed files with 39 additions and 27 deletions
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4
bsp_linux/core/InitMission.cpp
View File

@ -120,7 +120,7 @@ void InitMission::createTasks(){
PeriodicTaskIF* controllerTask = TaskFactory::instance()->
createPeriodicTask("CONTROLLER_TASK",40,
PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
PeriodicTaskIF::MINIMUM_STACK_SIZE, 2, nullptr);
//result = pollingSequenceControllerFunction(controllerTask);
result = controllerTask->addComponent(objects::THERMAL_CONTROLLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -156,7 +156,7 @@ void InitMission::createTasks(){
udpBridgeTask->startTask();
udpPollingTask->startTask();
//serializeTask->startTask();
//arduinoTask->startTask();
arduinoTask->startTask();
controllerTask->startTask();
//payloadTask->startTask();

12
fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -67,6 +67,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
this->pstStep = counter;
if (getComAction() == SEND_WRITE) {
sif::debug<<" DH_base: performOp1"<<std::endl;
cookieInfo.state = COOKIE_UNUSED;
readCommandQueue();
doStateMachine();
@ -82,17 +83,22 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
switch (getComAction()) {
case SEND_WRITE:
if ((cookieInfo.state == COOKIE_UNUSED)) {
sif::debug<<" DH_base: performOp2"<<std::endl;
buildInternalCommand();
}
sif::debug<<" DH_base: performOp3"<<std::endl;
doSendWrite();
break;
case GET_WRITE:
sif::debug<<" DH_base: performOp4"<<std::endl;
doGetWrite();
break;
case SEND_READ:
sif::debug<<" DH_base: performOp5"<<std::endl;
doSendRead();
break;
case GET_READ:
sif::debug<<" DH_base: performOp6"<<std::endl;
doGetRead();
cookieInfo.state = COOKIE_UNUSED;
break;
@ -663,10 +669,10 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
handleReply(receivedData, foundId, foundLen);
break;
case APERIODIC_REPLY: {
sif::debug<<" DH: debug1"<<std::endl;
sif::debug<<" DH_base: debug1"<<std::endl;
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
sif::debug<<" DH: debug2"<<std::endl;
sif::debug<<" DH_base: debug2"<<std::endl;
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
@ -686,7 +692,9 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
receivedData += foundLen;
if (remainingLength > foundLen) {
remainingLength -= foundLen;
sif::debug<<" DH_base: debug3"<<std::endl;
} else {
sif::debug<<" DH_base: debug4"<<std::endl;
return;
}
}

1
mission/DeviceHandler/ArduinoComIF.cpp
View File

@ -200,6 +200,7 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
buffer = &buf_ptr;*/
*buffer = read_buf;
close(Cookie->Serial_port_number);
return RETURN_OK;
}

49
mission/DeviceHandler/ArduinoDeviceHandler.cpp
View File

@ -52,7 +52,7 @@ void ArduinoDH::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
if (mode == _MODE_TO_NORMAL) {
std::cout<<"Arduino device -> Transition to Normal mode"<<std::endl;
} else {
DeviceHandlerBase::doTransition(modeFrom, submodeFrom);
setMode(_MODE_TO_NORMAL);
}
}
@ -126,11 +126,13 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
memcpy(&Temp_ch.temperature, &packet[27 * i + 11], 4);
memcpy(&Temp_ch.Timestamp, &packet[27 * i + 15], 4);
memcpy(&Temp_ch.end_string, &packet[27 * i + 19], 8);
vecTemp.emplace_back(Temp_ch.start_string, Temp_ch.Typ,
/*vecTemp.emplace_back(Temp_ch.start_string, Temp_ch.Typ,
Temp_ch.SPCChNumber, Temp_ch.Value_Cnt, Temp_ch.temperature,
Temp_ch.Timestamp, Temp_ch.end_string);
Temp_ch.Timestamp, Temp_ch.end_string);*/
vecTemp.emplace_back(Temp_ch);
}
for (int j = 0; j < 9; j++) {
/*for (int j = 0; j < 9; j++) {
memcpy(&Env_ch.start_string, &packet[27 * (36 + j) + 0], 8);
memcpy(&Env_ch.Typ, &packet[27 * (36 + j) + 8], 1);
memcpy(&Env_ch.SPCChNumber, &packet[27 * (36 + j) + 9], 1);
@ -138,9 +140,10 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
memcpy(&Env_ch.Value, &packet[27 * (36 + j) + 11], 4);
memcpy(&Env_ch.Timestamp, &packet[27 * (36 + j) + 15], 4);
memcpy(&Env_ch.end_string, &packet[27 * (36 + j) + 19], 8);
vecEnv.emplace_back(Env_ch.start_string, Env_ch.Typ, Env_ch.SPCChNumber,
Env_ch.Value_Cnt, Env_ch.Value, Env_ch.Timestamp,
Env_ch.end_string);
//vecEnv.emplace_back(Env_ch.start_string, Env_ch.Typ, Env_ch.SPCChNumber,
//Env_ch.Value_Cnt, Env_ch.Value, Env_ch.Timestamp,
//Env_ch.end_string);
vecEnv.emplace_back(Env_ch);
}
for (int k = 0; k < 15; k++) {
memcpy(&Acc_ch.start_string, &packet[27 * (36 + 9) + 91 * k + 0], 8);
@ -150,10 +153,11 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
memcpy(&Acc_ch.Value, &packet[27 * (36 + 9) + 91 * k + 11], 36);
memcpy(&Acc_ch.Timestamp, &packet[27 * (36 + 9) + 91 * k + 47], 36);
memcpy(&Acc_ch.end_string, &packet[27 * (36 + 9) + 91 * k + 83], 8);
vecAcc.emplace_back(Acc_ch.start_string, Acc_ch.Typ, Acc_ch.SPCChNumber,
Acc_ch.Value_Cnt, Acc_ch.Value, Acc_ch.Timestamp,
Acc_ch.end_string);
}
//vecAcc.emplace_back(Acc_ch.start_string, Acc_ch.Typ, Acc_ch.SPCChNumber,
//Acc_ch.Value_Cnt, Acc_ch.Value, Acc_ch.Timestamp,
//Acc_ch.end_string);
vecAcc.emplace_back(Acc_ch);
}*/
// All data are here printed to monitor from the three vectors of data measurements.
@ -270,14 +274,14 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
PoolVector <float, 36> TempValueVec(datapool::Temperature_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
for (int i = 0; i < 36; i++) {
memcpy(&TempValueVec[i], &vecTemp[27 * i + 11], 4);
memcpy(&TempValueVec[i], &vecTemp[i].temperature, 4);
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
/*
PoolVector <unsigned int, 36> TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
/*PoolVector <unsigned int, 36> TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
for (int i = 0; i < 36; i++) {
memcpy(&TempTimeVec[i], &vecTemp[27 * i + 15], 4);
memcpy(&TempTimeVec[i], &vecTemp[i].Timestamp, 4);
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
@ -285,13 +289,13 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
PoolVector <float, 9> EnvValueVec(datapool::Environmental_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
for (int j = 0; j < 9; j++) {
memcpy(&EnvValueVec[j], &vecEnv[27 * (36 + j) + 11], 4);
memcpy(&EnvValueVec[j], &vecEnv[j].Value, 4);
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
PoolVector <unsigned int, 9> EnvTimeVec(datapool::Environmental_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
for (int j = 0; j < 9; j++) {
memcpy(&EnvTimeVec[j], &vecEnv[27 * (36 + j) + 15], 4);
memcpy(&EnvTimeVec[j], &vecEnv[j].Timestamp, 4);
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
@ -299,19 +303,18 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
PoolVector <float, 15> AccValueVec(datapool::Accelerometer_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
for (int k = 0; k < 15; k++) {
memcpy(&AccValueVec[k], &vecAcc[27 * (36 + 9) + 91 * k + 11], 36);
sif::debug<<"\nDEBUG_DHk1: End of copy to datapool"<<std::endl;
memcpy(&AccValueVec[k], &vecAcc[k].Value, 36);
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
sif::debug<<"\nDEBUG_DHk1: End of copy to datapool"<<std::endl;
PoolVector <unsigned int, 15> AccTimeVec(datapool::Accelerometer_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
for (int k = 0; k < 15; k++) {
memcpy(&AccTimeVec[k], &vecAcc[27 * (36 + 9) + 91 * k + 47], 36);
sif::debug<<"\nDEBUG_DHk2: End of copy to datapool"<<std::endl;
memcpy(&AccTimeVec[k], &vecAcc[k].Timestamp, 36);
}
ArduinoDataSet.commit(PoolVariableIF::VALID);
*/
sif::debug<<"\nDEBUG_DHk2: End of copy to datapool"<<std::endl;*/
//sif::debug<<"DEBUG_DH: End of copy to datapool"<<std::endl;
return RETURN_OK;