Code has been cleaned and documented. The saving of data to datapool in the InterpreteDeviceReply has been fixed.

_dep/linux/debug/mission/DeviceHandler/ArduinoComIF.d

@@ -36,7 +36,6 @@ _obj/linux/debug/mission/DeviceHandler/ArduinoComIF.o: \
  fsfw/tmtcservices/../ipc/../objectmanager/SystemObjectIF.h \
  fsfw/tmtcservices/../ipc/../objectmanager/../returnvalues/HasReturnvaluesIF.h \
  fsfw/tmtcservices/../ipc/../objectmanager/../serviceinterface/ServiceInterfaceStream.h \
- mission/DeviceHandler/ArduinoCookie.h fsfw/devicehandlers/CookieIF.h \
  fsfw/serialize/SerializeAdapter.h \
  fsfw/serialize/../returnvalues/HasReturnvaluesIF.h \
  fsfw/serialize/EndianConverter.h fsfw/serialize/../osal/Endiness.h \
@@ -85,7 +84,8 @@ _obj/linux/debug/mission/DeviceHandler/ArduinoComIF.o: \
  fsfw/tmtcpacket/pus/../../serialize/SerializeIF.h \
  fsfw/tmtcpacket/pus/../../storagemanager/StorageManagerIF.h \
  fsfw/tmtcpacket/pus/../../internalError/InternalErrorReporterIF.h \
- fsfw/tmtcpacket/pus/../../ipc/MessageQueueSenderIF.h
+ fsfw/tmtcpacket/pus/../../ipc/MessageQueueSenderIF.h \
+ mission/DeviceHandler/ArduinoCookie.h fsfw/devicehandlers/CookieIF.h
 mission/DeviceHandler/ArduinoComIF.h:
 fsfw/devicehandlers/DeviceCommunicationIF.h:
 fsfw/devicehandlers/CookieIF.h:
@@ -125,8 +125,6 @@ fsfw/tmtcservices/../ipc/../objectmanager/frameworkObjects.h:
 fsfw/tmtcservices/../ipc/../objectmanager/SystemObjectIF.h:
 fsfw/tmtcservices/../ipc/../objectmanager/../returnvalues/HasReturnvaluesIF.h:
 fsfw/tmtcservices/../ipc/../objectmanager/../serviceinterface/ServiceInterfaceStream.h:
-mission/DeviceHandler/ArduinoCookie.h:
-fsfw/devicehandlers/CookieIF.h:
 fsfw/serialize/SerializeAdapter.h:
 fsfw/serialize/../returnvalues/HasReturnvaluesIF.h:
 fsfw/serialize/EndianConverter.h:
@@ -179,3 +177,5 @@ fsfw/tmtcpacket/pus/../../serialize/SerializeIF.h:
 fsfw/tmtcpacket/pus/../../storagemanager/StorageManagerIF.h:
 fsfw/tmtcpacket/pus/../../internalError/InternalErrorReporterIF.h:
 fsfw/tmtcpacket/pus/../../ipc/MessageQueueSenderIF.h:
+mission/DeviceHandler/ArduinoCookie.h:
+fsfw/devicehandlers/CookieIF.h:

_dep/linux/debug/mission/DeviceHandler/ArduinoDeviceHandler.d

@@ -170,17 +170,17 @@ _obj/linux/debug/mission/DeviceHandler/ArduinoDeviceHandler.o: \
  fsfw/devicehandlers/../datapool/../action/../ipc/MessageQueueIF.h \
  fsfw/devicehandlers/../datapool/../events/EventReportingProxyIF.h \
  fsfw/globalfunctions/PeriodicOperationDivider.h \
- fsfw/timemanager/Countdown.h bsp_linux/fsfwconfig/OBSWConfig.h \
+ fsfw/timemanager/Countdown.h fsfw/datapool/DataSet.h \
- fsfw/datapool/DataSet.h fsfw/datapool/DataPool.h \
+ fsfw/datapool/DataPool.h fsfw/datapool/PoolEntry.h \
- fsfw/datapool/PoolEntry.h fsfw/datapool/PoolEntryIF.h \
+ fsfw/datapool/PoolEntryIF.h fsfw/datapool/../globalfunctions/Type.h \
- fsfw/datapool/../globalfunctions/Type.h fsfw/datapool/../ipc/MutexIF.h \
+ fsfw/datapool/../ipc/MutexIF.h fsfw/datapool/DataSetIF.h \
- fsfw/datapool/DataSetIF.h fsfw/datapool/PoolRawAccess.h \
+ fsfw/datapool/PoolRawAccess.h fsfw/datapool/PoolVariableIF.h \
- fsfw/datapool/PoolVariableIF.h fsfw/datapool/PoolVariable.h \
+ fsfw/datapool/PoolVariable.h \
  fsfw/datapool/../serialize/SerializeAdapter.h \
  fsfw/datapool/../serviceinterface/ServiceInterfaceStream.h \
  fsfw/datapool/PoolVarList.h fsfw/datapool/PoolVector.h \
  fsfw/datapool/PoolVector.h bsp_linux/fsfwconfig/datapool/dataPoolInit.h \
- fsfw/datapool/DataPool.h
+ fsfw/datapool/DataPool.h bsp_linux/fsfwconfig/OBSWConfig.h
 mission/DeviceHandler/ArduinoDeviceHandler.h:
 fsfw/devicehandlers/DeviceHandlerBase.h:
 fsfw/devicehandlers/DeviceHandlerIF.h:
@@ -352,7 +352,6 @@ fsfw/devicehandlers/../datapool/../action/../ipc/MessageQueueIF.h:
 fsfw/devicehandlers/../datapool/../events/EventReportingProxyIF.h:
 fsfw/globalfunctions/PeriodicOperationDivider.h:
 fsfw/timemanager/Countdown.h:
-bsp_linux/fsfwconfig/OBSWConfig.h:
 fsfw/datapool/DataSet.h:
 fsfw/datapool/DataPool.h:
 fsfw/datapool/PoolEntry.h:
@@ -370,3 +369,4 @@ fsfw/datapool/PoolVector.h:
 fsfw/datapool/PoolVector.h:
 bsp_linux/fsfwconfig/datapool/dataPoolInit.h:
 fsfw/datapool/DataPool.h:
+bsp_linux/fsfwconfig/OBSWConfig.h:

_dep/linux/debug/mission/core/GenericFactory.d

@@ -275,8 +275,27 @@ _obj/linux/debug/mission/core/GenericFactory.o: \
  fsfw/devicehandlers/../datapool/../action/../ipc/MessageQueueIF.h \
  fsfw/devicehandlers/../datapool/../events/EventReportingProxyIF.h \
  fsfw/globalfunctions/PeriodicOperationDivider.h \
- fsfw/timemanager/Countdown.h mission/DeviceHandler/ArduinoComIF.h \
+ fsfw/timemanager/Countdown.h fsfw/datapool/DataSet.h \
+ fsfw/datapool/DataPool.h fsfw/datapool/DataSetIF.h \
+ fsfw/datapool/PoolRawAccess.h fsfw/datapool/PoolVariableIF.h \
+ fsfw/datapool/PoolVariable.h \
+ fsfw/datapool/../serialize/SerializeAdapter.h \
+ fsfw/datapool/../serviceinterface/ServiceInterfaceStream.h \
+ fsfw/datapool/PoolVarList.h fsfw/datapool/PoolVector.h \
+ fsfw/datapool/PoolVector.h bsp_linux/fsfwconfig/datapool/dataPoolInit.h \
+ mission/DeviceHandler/ArduinoComIF.h \
  fsfw/devicehandlers/DeviceCommunicationIF.h \
+ fsfw/serialize/SerializeAdapter.h \
+ fsfw/tmtcservices/CommandingServiceBase.h \
+ fsfw/tmtcpacket/pus/TmPacketStored.h fsfw/tmtcpacket/pus/TmPacketBase.h \
+ fsfw/tmtcpacket/pus/../SpacePacketBase.h \
+ fsfw/tmtcpacket/pus/../../timemanager/TimeStamperIF.h \
+ fsfw/tmtcpacket/pus/../../timemanager/Clock.h \
+ fsfw/tmtcpacket/pus/../../objectmanager/SystemObjectIF.h \
+ fsfw/tmtcpacket/pus/../../serialize/SerializeIF.h \
+ fsfw/tmtcpacket/pus/../../storagemanager/StorageManagerIF.h \
+ fsfw/tmtcpacket/pus/../../internalError/InternalErrorReporterIF.h \
+ fsfw/tmtcpacket/pus/../../ipc/MessageQueueSenderIF.h \
  mission/DeviceHandler/ArduinoCookie.h \
  mission/Controller/ThermalController.h fsfw/action/HasActionsIF.h \
  fsfw/action/SimpleActionHelper.h fsfw/events/EventReportingProxyIF.h \
@@ -289,14 +308,7 @@ _obj/linux/debug/mission/core/GenericFactory.o: \
  fsfw/controller/../tasks/ExecutableObjectIF.h \
  fsfw/controller/../datapool/HkSwitchHelper.h \
  fsfw/datapool/ControllerSet.h fsfw/datapool/DataSet.h \
- fsfw/datapool/DataPool.h fsfw/datapool/DataSetIF.h \
+ fsfw/datapool/PoolVariable.h fsfw/health/HealthTableIF.h \
- fsfw/datapool/PoolRawAccess.h fsfw/datapool/PoolVariableIF.h \
- fsfw/datapool/PoolVariable.h \
- fsfw/datapool/../serialize/SerializeAdapter.h \
- fsfw/datapool/../serviceinterface/ServiceInterfaceStream.h \
- fsfw/datapool/PoolVarList.h fsfw/datapool/PoolVector.h \
- fsfw/datapool/DataSet.h fsfw/datapool/PoolVariable.h \
- fsfw/datapool/PoolVector.h fsfw/health/HealthTableIF.h \
  fsfw/returnvalues/HasReturnvaluesIF.h \
  mission/Controller/ArduinoTCSTemperatureSensor.h \
  fsfw/thermal/AbstractTemperatureSensor.h \
@@ -359,8 +371,7 @@ _obj/linux/debug/mission/core/GenericFactory.o: \
  fsfw/thermal/../monitoring/../timemanager/TimeStamperIF.h \
  fsfw/thermal/../monitoring/../parameters/HasParametersIF.h \
  mission/Controller/TCS_Heater.h fsfw/power/PowerSwitchIF.h \
- fsfw/thermal/Heater.h bsp_linux/fsfwconfig/objects/systemObjectList.h \
+ fsfw/thermal/Heater.h bsp_linux/fsfwconfig/objects/systemObjectList.h
- bsp_linux/fsfwconfig/datapool/dataPoolInit.h
 mission/core/GenericFactory.h:
 bsp_linux/fsfwconfig/OBSWConfig.h:
 bsp_linux/fsfwconfig/datapool/dataPoolInit.h:
@@ -659,8 +670,32 @@ fsfw/devicehandlers/../datapool/../action/../ipc/MessageQueueIF.h:
 fsfw/devicehandlers/../datapool/../events/EventReportingProxyIF.h:
 fsfw/globalfunctions/PeriodicOperationDivider.h:
 fsfw/timemanager/Countdown.h:
+fsfw/datapool/DataSet.h:
+fsfw/datapool/DataPool.h:
+fsfw/datapool/DataSetIF.h:
+fsfw/datapool/PoolRawAccess.h:
+fsfw/datapool/PoolVariableIF.h:
+fsfw/datapool/PoolVariable.h:
+fsfw/datapool/../serialize/SerializeAdapter.h:
+fsfw/datapool/../serviceinterface/ServiceInterfaceStream.h:
+fsfw/datapool/PoolVarList.h:
+fsfw/datapool/PoolVector.h:
+fsfw/datapool/PoolVector.h:
+bsp_linux/fsfwconfig/datapool/dataPoolInit.h:
 mission/DeviceHandler/ArduinoComIF.h:
 fsfw/devicehandlers/DeviceCommunicationIF.h:
+fsfw/serialize/SerializeAdapter.h:
+fsfw/tmtcservices/CommandingServiceBase.h:
+fsfw/tmtcpacket/pus/TmPacketStored.h:
+fsfw/tmtcpacket/pus/TmPacketBase.h:
+fsfw/tmtcpacket/pus/../SpacePacketBase.h:
+fsfw/tmtcpacket/pus/../../timemanager/TimeStamperIF.h:
+fsfw/tmtcpacket/pus/../../timemanager/Clock.h:
+fsfw/tmtcpacket/pus/../../objectmanager/SystemObjectIF.h:
+fsfw/tmtcpacket/pus/../../serialize/SerializeIF.h:
+fsfw/tmtcpacket/pus/../../storagemanager/StorageManagerIF.h:
+fsfw/tmtcpacket/pus/../../internalError/InternalErrorReporterIF.h:
+fsfw/tmtcpacket/pus/../../ipc/MessageQueueSenderIF.h:
 mission/DeviceHandler/ArduinoCookie.h:
 mission/Controller/ThermalController.h:
 fsfw/action/HasActionsIF.h:
@@ -677,18 +712,7 @@ fsfw/controller/../tasks/ExecutableObjectIF.h:
 fsfw/controller/../datapool/HkSwitchHelper.h:
 fsfw/datapool/ControllerSet.h:
 fsfw/datapool/DataSet.h:
-fsfw/datapool/DataPool.h:
-fsfw/datapool/DataSetIF.h:
-fsfw/datapool/PoolRawAccess.h:
-fsfw/datapool/PoolVariableIF.h:
 fsfw/datapool/PoolVariable.h:
-fsfw/datapool/../serialize/SerializeAdapter.h:
-fsfw/datapool/../serviceinterface/ServiceInterfaceStream.h:
-fsfw/datapool/PoolVarList.h:
-fsfw/datapool/PoolVector.h:
-fsfw/datapool/DataSet.h:
-fsfw/datapool/PoolVariable.h:
-fsfw/datapool/PoolVector.h:
 fsfw/health/HealthTableIF.h:
 fsfw/returnvalues/HasReturnvaluesIF.h:
 mission/Controller/ArduinoTCSTemperatureSensor.h:
@@ -762,4 +786,3 @@ mission/Controller/TCS_Heater.h:
 fsfw/power/PowerSwitchIF.h:
 fsfw/thermal/Heater.h:
 bsp_linux/fsfwconfig/objects/systemObjectList.h:
-bsp_linux/fsfwconfig/datapool/dataPoolInit.h:

bsp_linux/fsfwconfig/datapool/dataPoolInit.cpp

@@ -10,7 +10,6 @@
 void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* pool_map) {
 
 	//Here the pool map entries of the DH and CONTROLLER are defined.
-	
 	float Temperature_value[36] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_value,
@@ -19,22 +18,6 @@ void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* pool_map) {
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::Temperature_Timestamp,
 					new PoolEntry<unsigned int>(Temperature_Timestamp, 36)));
-	float Environmental_value[9] = {0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Environmental_value,
-					new PoolEntry<float>(Environmental_value, 9)));
-	unsigned int Environmental_Timestamp[9] = {0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Environmental_Timestamp,
-					new PoolEntry<unsigned int>(Environmental_Timestamp, 9)));
-	float Accelerometer_value[15] = {0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Accelerometer_value,
-					new PoolEntry<float>(Accelerometer_value, 15)));
-	unsigned int Accelerometer_Timestamp[15] = {0};
-	pool_map->insert(
-			std::pair<uint32_t, PoolEntryIF*>(datapool::Accelerometer_Timestamp,
-					new PoolEntry<unsigned int>(Accelerometer_Timestamp, 15)));
 	float TEMP_SENSOR_CH1[1] = {0};
 	pool_map->insert(
 			std::pair<uint32_t, PoolEntryIF*>(datapool::TEMP_SENSOR_CH1,

bsp_linux/fsfwconfig/datapool/dataPoolInit.h

@@ -1,9 +1,7 @@
 /*
 * dataPoolInit.h
 *
-* 		 brief: Initialisation function for all variables in the data pool.
+* 		 brief: Initialization function for all variables in the data pool.
-*      		This file was auto-generated by getDataPoolFromFLPmib.py via
-*      		the flpmib database at 2018-06-04T12:02:46+00:00.
 */ 
 #ifndef DATAPOOLINIT_H_
 #define DATAPOOLINIT_H_
@@ -16,19 +14,14 @@ namespace datapool {
 		// The IDs of the variables of the DH and CONTROLLER are here defined.
 		Temperature_value = 0x100001,
 		Temperature_Timestamp = 0x100002,
-		Environmental_value = 0x10003,
+		TEMP_SENSOR_CH1 = 0x10003,
-		Environmental_Timestamp = 0x10004,
+		TEMP_SENSOR_CH2 = 0x10004,
-		Accelerometer_value = 0x10005,
+		TargetState_COMPONENT_1 = 0x10005,
-		Accelerometer_Timestamp = 0x10006,
+		CurrentState_COMPONENT_1 = 0x100006,
-		TEMP_SENSOR_CH1 = 0x10007,
+		HeaterRequest_COMPONENT_1 = 0x100007,
-		TEMP_SENSOR_CH2 = 0x10008,
+		TargetState_COMPONENT_2 = 0x100008,
-		TargetState_COMPONENT_1 = 0x10009,
+		CurrentState_COMPONENT_2 = 0x100009,
-		CurrentState_COMPONENT_1 = 0x100010,
+		HeaterRequest_COMPONENT_2 = 0x100010
-		HeaterRequest_COMPONENT_1 = 0x100011,
-		TargetState_COMPONENT_2 = 0x100012,
-		CurrentState_COMPONENT_2 = 0x100013,
-		HeaterRequest_COMPONENT_2 = 0x100014
-
 		
 	};
 }

mission/DeviceHandler/ArduinoComIF.cpp

@@ -1,26 +1,14 @@
 /*
- * ArduinoComIF.cpp
+ * Title: 	ArduinoComIF.cpp
- *
- * Last Modify: 20/09/2021
  * Author: 	Marco Modè
+ * Last version: 24/09/2021
+ * Project: ESBO-DS
+ *-------------------------------------------------------------------------------------------------------------------
  *
  */
 
 #include <mission/DeviceHandler/ArduinoComIF.h>
 #include <mission/DeviceHandler/ArduinoCookie.h>
-#include <fsfw/serialize/SerializeAdapter.h>
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
-#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-#include <stdio.h>
-#include <string.h>
-#include <vector>
-#include <algorithm>
-#include <cstdint>
-// Linux headers
-#include <fcntl.h> // Contains file controls like O_RDWR
-#include <errno.h> // Error integer and strerror() function
-#include <termios.h> // Contains POSIX terminal control definitions
-#include <unistd.h> // write(), read(), close()
 
 ArduinoComIF::ArduinoComIF(object_id_t objectId) :
 		SystemObject(objectId) {
@@ -30,22 +18,25 @@ ArduinoComIF::~ArduinoComIF() {
 }
 
 ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
+
 	ArduinoCookie *Cookie = dynamic_cast<ArduinoCookie*>(cookie);
 
-	// The Arduino device which manage the sensors of temperature,
+	/* The Arduino device which manage the sensors of temperature,
-	// environmental data and acceleration, sends through serial
+	 * environmental data and orientation, sends through serial
-	// output these data employing a USB port.
+	 * output these data employing a USB port.
-	// Here it is then set-up the interface to manage this communication.
+	 * Here it is then set-up the interface to manage this communication.
-	//
+	 *
-	// In typical UNIX style, serial ports are represented by files
+	 * In typical UNIX style, serial ports are represented by files
-	// within the operating system.
+	 * within the operating system.
-	// These files usually pop-up in /dev/, and begin with the name tty*.
+	 * These files usually pop-up in /dev/, and begin with the name tty*.
-	//
+	 *
-	// To write/read to a serial port, you write/read to the file.
+	 * To write/read to a serial port, you write/read to the file.
-	// Here the serial port parameters are defined exploiting a
+	 * Here the serial port parameters are defined exploiting a
-	// special tty configuration struct.
+	 * special tty configuration struct.
+	 */
 
-	// Open the serial port. Change device path as needed (see README in InterfaceCode/testArduino/testArduino/ ).
+	// Set-up of the Linux serial port.
+	// The serial port is here opened. Change device path as needed.
 	int serial_port = open("/dev/ttyACM0", O_RDWR);
 
 	// Create new termios struc, we call it 'tty' for convention.
@@ -64,15 +55,13 @@ ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
 	tty.c_cflag |= CS8; // 8 bits per byte (most common)
 	tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control (most common)
 	tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
-
+	tty.c_lflag &= ~ICANON; //Canonical mode is disabled
-	tty.c_lflag &= ~ICANON;
 	tty.c_lflag &= ~ECHO; // Disable echo
 	tty.c_lflag &= ~ECHOE; // Disable erasure
 	tty.c_lflag &= ~ECHONL; // Disable new-line echo
 	tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
 	tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
 	tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL); // Disable any special handling of received bytes
-
 	tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
 	tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
 
@@ -83,16 +72,23 @@ ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
 	cfsetispeed(&tty, B115200);
 	cfsetospeed(&tty, B115200);
 
-	// Save tty settings, also checking for error.
+	// Save tty settings, also checking for error
 	if (tcsetattr(serial_port, TCSANOW, &tty) != 0) {
 		printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
 		return 1;
 	}
 
+	printf(
+			"***********************************************************************************************\n");
+	printf(
+			"***********************************************************************************************\n");
 	printf("\nSerial port set. \n");
 
 	// End of Linux serial port set-up.
 
+	/* The serial port number is saved in the cookie such that it can
+	 * be exploited from other functionalities or components.
+	 */
 	Cookie->Serial_port_number = serial_port;
 
 	return RETURN_OK;
@@ -116,119 +112,113 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
 		uint8_t **buffer, size_t *size) {
 	ArduinoCookie *Cookie = dynamic_cast<ArduinoCookie*>(cookie);
 
-	/* Afterward, the buffer array to store the data read are initialized.
+	// The buffer elements are set to 0 at the beginning of each read-loop.
-	 * The whole data packet to be read is 2580 bytes, the limit for one reading (VMAX) is 255 bytes.
-	 * In order to avoid problems during the acquisition of data in the framework, the buffer is set to
-	 * be 3 times the needed dimension: 7740 bytes.
-	 * Exploiting then some control loop, the beginning of a full and complete buffer is identified.
-	 * Since the acquisition limit for one reading is of 255 bytes, as mentioned above,
-	 * the reading is divided in 31 separate stages which employ 31 different buffer array.
-	 * At the end these 31 arrays are concatenated in the main buffer array read_buf.
-	 */
-	uint8_t read_buf[7740]; // 7740 bytes from SPC serial output
-	// Intermediate buffers (limit for one single read call is 255 bytes)
-	uint8_t read_buf1[255]; uint8_t read_buf2[255]; uint8_t read_buf3[255];
-	uint8_t read_buf4[255]; uint8_t read_buf5[255]; uint8_t read_buf6[255];
-	uint8_t read_buf7[255]; uint8_t read_buf8[255]; uint8_t read_buf9[255];
-	uint8_t read_buf10[255]; uint8_t read_buf11[255]; uint8_t read_buf12[255];
-	uint8_t read_buf13[255]; uint8_t read_buf14[255]; uint8_t read_buf15[255];
-	uint8_t read_buf16[255]; uint8_t read_buf17[255]; uint8_t read_buf18[255];
-	uint8_t read_buf19[255]; uint8_t read_buf20[255]; uint8_t read_buf21[255];
-	uint8_t read_buf22[255]; uint8_t read_buf23[255]; uint8_t read_buf24[255];
-	uint8_t read_buf25[255]; uint8_t read_buf26[255]; uint8_t read_buf27[255];
-	uint8_t read_buf28[255]; uint8_t read_buf29[255]; uint8_t read_buf30[255];
-	uint8_t read_buf31[90];
-
-	// The buffer elements are initially set to 0.
 	memset(&read_buf, '\0', sizeof(read_buf));
-	memset(&read_buf1, '\0', 255); memset(&read_buf2, '\0', 255); memset(&read_buf3, '\0', 255);
+	memset(&read_buf1, '\0', 255);
-	memset(&read_buf4, '\0', 255); memset(&read_buf5, '\0', 255); memset(&read_buf6, '\0', 255);
+	memset(&read_buf2, '\0', 255);
-	memset(&read_buf7, '\0', 255); memset(&read_buf8, '\0', 255); memset(&read_buf9, '\0', 255);
+	memset(&read_buf3, '\0', 255);
-	memset(&read_buf10, '\0', 255); memset(&read_buf11, '\0', 255); memset(&read_buf12, '\0', 255);
+	memset(&read_buf4, '\0', 255);
-	memset(&read_buf13, '\0', 255); memset(&read_buf14, '\0', 255); memset(&read_buf15, '\0', 255);
+	memset(&read_buf5, '\0', 255);
-	memset(&read_buf16, '\0', 255); memset(&read_buf17, '\0', 255); memset(&read_buf18, '\0', 255);
+	memset(&read_buf6, '\0', 255);
-	memset(&read_buf19, '\0', 255); memset(&read_buf20, '\0', 255); memset(&read_buf21, '\0', 255);
+	memset(&read_buf7, '\0', 255);
-	memset(&read_buf22, '\0', 255); memset(&read_buf23, '\0', 255); memset(&read_buf24, '\0', 255);
+	memset(&read_buf8, '\0', 255);
-	memset(&read_buf25, '\0', 255); memset(&read_buf26, '\0', 255); memset(&read_buf27, '\0', 255);
+	memset(&read_buf9, '\0', 255);
-	memset(&read_buf28, '\0', 255); memset(&read_buf29, '\0', 255); memset(&read_buf30, '\0', 255);
+	memset(&read_buf10, '\0', 255);
+	memset(&read_buf11, '\0', 255);
+	memset(&read_buf12, '\0', 255);
+	memset(&read_buf13, '\0', 255);
+	memset(&read_buf14, '\0', 255);
+	memset(&read_buf15, '\0', 255);
+	memset(&read_buf16, '\0', 255);
+	memset(&read_buf17, '\0', 255);
+	memset(&read_buf18, '\0', 255);
+	memset(&read_buf19, '\0', 255);
+	memset(&read_buf20, '\0', 255);
+	memset(&read_buf21, '\0', 255);
+	memset(&read_buf22, '\0', 255);
+	memset(&read_buf23, '\0', 255);
+	memset(&read_buf24, '\0', 255);
+	memset(&read_buf25, '\0', 255);
+	memset(&read_buf26, '\0', 255);
+	memset(&read_buf27, '\0', 255);
+	memset(&read_buf28, '\0', 255);
+	memset(&read_buf29, '\0', 255);
+	memset(&read_buf30, '\0', 255);
 	memset(&read_buf31, '\0', 90);
-	/*memset(&read_buf, '\0', sizeof(read_buf));
-	memset(&read_buf1, '\0', 255); memset(&read_buf2, '\0', 255); memset(&read_buf3, '\0', 255);
-	memset(&read_buf4, '\0', 255); memset(&read_buf5, '\0', 255); memset(&read_buf6, '\0', 255);
-	memset(&read_buf7, '\0', 255); memset(&read_buf8, '\0', 255); memset(&read_buf9, '\0', 255);
-	memset(&read_buf10, '\0', 255); memset(&read_buf11, '\0', 255); memset(&read_buf12, '\0', 255);
-	memset(&read_buf13, '\0', 255); memset(&read_buf14, '\0', 255); memset(&read_buf15, '\0', 255);
-	memset(&read_buf16, '\0', 255); memset(&read_buf17, '\0', 255); memset(&read_buf18, '\0', 255);
-	memset(&read_buf19, '\0', 255); memset(&read_buf20, '\0', 255); memset(&read_buf21, '\0', 60);*/
 
-	// Read bytes. The behaviour of read() (e.g. does it block?, how long does it block for?)
+	/* Read bytes. The behaviour of read() depends on the configuration
-	// depends on the configuration settings above, specifically VMIN and VTIME.
+	 * settings in initializeInterface, specifically VMIN and VTIME.
-	int num_bytes1 = read(Cookie->Serial_port_number, &read_buf1, sizeof(read_buf1));
+	 */
-	int num_bytes2 = read(Cookie->Serial_port_number, &read_buf2, sizeof(read_buf2));
+	int num_bytes1 = read(Cookie->Serial_port_number, &read_buf1,
-	int num_bytes3 = read(Cookie->Serial_port_number, &read_buf3, sizeof(read_buf3));
+			sizeof(read_buf1));
-	int num_bytes4 = read(Cookie->Serial_port_number, &read_buf4, sizeof(read_buf4));
+	int num_bytes2 = read(Cookie->Serial_port_number, &read_buf2,
-	int num_bytes5 = read(Cookie->Serial_port_number, &read_buf5, sizeof(read_buf5));
+			sizeof(read_buf2));
-	int num_bytes6 = read(Cookie->Serial_port_number, &read_buf6, sizeof(read_buf6));
+	int num_bytes3 = read(Cookie->Serial_port_number, &read_buf3,
-	int num_bytes7 = read(Cookie->Serial_port_number, &read_buf7, sizeof(read_buf7));
+			sizeof(read_buf3));
-	int num_bytes8 = read(Cookie->Serial_port_number, &read_buf8, sizeof(read_buf8));
+	int num_bytes4 = read(Cookie->Serial_port_number, &read_buf4,
-	int num_bytes9 = read(Cookie->Serial_port_number, &read_buf9, sizeof(read_buf9));
+			sizeof(read_buf4));
-	int num_bytes10 = read(Cookie->Serial_port_number, &read_buf10, sizeof(read_buf10));
+	int num_bytes5 = read(Cookie->Serial_port_number, &read_buf5,
-	int num_bytes11 = read(Cookie->Serial_port_number, &read_buf11, sizeof(read_buf11));
+			sizeof(read_buf5));
-	int num_bytes12 = read(Cookie->Serial_port_number, &read_buf12, sizeof(read_buf12));
+	int num_bytes6 = read(Cookie->Serial_port_number, &read_buf6,
-	int num_bytes13 = read(Cookie->Serial_port_number, &read_buf13, sizeof(read_buf13));
+			sizeof(read_buf6));
-	int num_bytes14 = read(Cookie->Serial_port_number, &read_buf14, sizeof(read_buf14));
+	int num_bytes7 = read(Cookie->Serial_port_number, &read_buf7,
-	int num_bytes15 = read(Cookie->Serial_port_number, &read_buf15, sizeof(read_buf15));
+			sizeof(read_buf7));
-	int num_bytes16 = read(Cookie->Serial_port_number, &read_buf16, sizeof(read_buf16));
+	int num_bytes8 = read(Cookie->Serial_port_number, &read_buf8,
-	int num_bytes17 = read(Cookie->Serial_port_number, &read_buf17, sizeof(read_buf17));
+			sizeof(read_buf8));
-	int num_bytes18 = read(Cookie->Serial_port_number, &read_buf18, sizeof(read_buf18));
+	int num_bytes9 = read(Cookie->Serial_port_number, &read_buf9,
-	int num_bytes19 = read(Cookie->Serial_port_number, &read_buf19, sizeof(read_buf19));
+			sizeof(read_buf9));
-	int num_bytes20 = read(Cookie->Serial_port_number, &read_buf20, sizeof(read_buf20));
+	int num_bytes10 = read(Cookie->Serial_port_number, &read_buf10,
-	int num_bytes21 = read(Cookie->Serial_port_number, &read_buf21, sizeof(read_buf21));
+			sizeof(read_buf10));
-	int num_bytes22 = read(Cookie->Serial_port_number, &read_buf22, sizeof(read_buf22));
+	int num_bytes11 = read(Cookie->Serial_port_number, &read_buf11,
-	int num_bytes23 = read(Cookie->Serial_port_number, &read_buf23, sizeof(read_buf23));
+			sizeof(read_buf11));
-	int num_bytes24 = read(Cookie->Serial_port_number, &read_buf24, sizeof(read_buf24));
+	int num_bytes12 = read(Cookie->Serial_port_number, &read_buf12,
-	int num_bytes25 = read(Cookie->Serial_port_number, &read_buf25, sizeof(read_buf25));
+			sizeof(read_buf12));
-	int num_bytes26 = read(Cookie->Serial_port_number, &read_buf26, sizeof(read_buf26));
+	int num_bytes13 = read(Cookie->Serial_port_number, &read_buf13,
-	int num_bytes27 = read(Cookie->Serial_port_number, &read_buf27, sizeof(read_buf27));
+			sizeof(read_buf13));
-	int num_bytes28 = read(Cookie->Serial_port_number, &read_buf28, sizeof(read_buf28));
+	int num_bytes14 = read(Cookie->Serial_port_number, &read_buf14,
-	int num_bytes29 = read(Cookie->Serial_port_number, &read_buf29, sizeof(read_buf29));
+			sizeof(read_buf14));
-	int num_bytes30 = read(Cookie->Serial_port_number, &read_buf30, sizeof(read_buf30));
+	int num_bytes15 = read(Cookie->Serial_port_number, &read_buf15,
-	int num_bytes31 = read(Cookie->Serial_port_number, &read_buf31, sizeof(read_buf31));
+			sizeof(read_buf15));
+	int num_bytes16 = read(Cookie->Serial_port_number, &read_buf16,
+			sizeof(read_buf16));
+	int num_bytes17 = read(Cookie->Serial_port_number, &read_buf17,
+			sizeof(read_buf17));
+	int num_bytes18 = read(Cookie->Serial_port_number, &read_buf18,
+			sizeof(read_buf18));
+	int num_bytes19 = read(Cookie->Serial_port_number, &read_buf19,
+			sizeof(read_buf19));
+	int num_bytes20 = read(Cookie->Serial_port_number, &read_buf20,
+			sizeof(read_buf20));
+	int num_bytes21 = read(Cookie->Serial_port_number, &read_buf21,
+			sizeof(read_buf21));
+	int num_bytes22 = read(Cookie->Serial_port_number, &read_buf22,
+			sizeof(read_buf22));
+	int num_bytes23 = read(Cookie->Serial_port_number, &read_buf23,
+			sizeof(read_buf23));
+	int num_bytes24 = read(Cookie->Serial_port_number, &read_buf24,
+			sizeof(read_buf24));
+	int num_bytes25 = read(Cookie->Serial_port_number, &read_buf25,
+			sizeof(read_buf25));
+	int num_bytes26 = read(Cookie->Serial_port_number, &read_buf26,
+			sizeof(read_buf26));
+	int num_bytes27 = read(Cookie->Serial_port_number, &read_buf27,
+			sizeof(read_buf27));
+	int num_bytes28 = read(Cookie->Serial_port_number, &read_buf28,
+			sizeof(read_buf28));
+	int num_bytes29 = read(Cookie->Serial_port_number, &read_buf29,
+			sizeof(read_buf29));
+	int num_bytes30 = read(Cookie->Serial_port_number, &read_buf30,
+			sizeof(read_buf30));
+	int num_bytes31 = read(Cookie->Serial_port_number, &read_buf31,
+			sizeof(read_buf31));
 	int num_bytes = num_bytes1 + num_bytes2 + num_bytes3 + num_bytes4
-			+ num_bytes5 + num_bytes6 + num_bytes7 + num_bytes8
+			+ num_bytes5 + num_bytes6 + num_bytes7 + num_bytes8 + num_bytes9
-			+ num_bytes9 + num_bytes10 + num_bytes11 + num_bytes12
+			+ num_bytes10 + num_bytes11 + num_bytes12 + num_bytes13
-			+ num_bytes13 + num_bytes14 + num_bytes15 + num_bytes16
+			+ num_bytes14 + num_bytes15 + num_bytes16 + num_bytes17
-			+ num_bytes17 + num_bytes18 + num_bytes19 + num_bytes20
+			+ num_bytes18 + num_bytes19 + num_bytes20 + num_bytes21
-			+ num_bytes21 + num_bytes22 + num_bytes23 + num_bytes24
+			+ num_bytes22 + num_bytes23 + num_bytes24 + num_bytes25
-			+ num_bytes25 + num_bytes26 + num_bytes27 + num_bytes28
+			+ num_bytes26 + num_bytes27 + num_bytes28 + num_bytes29
-			+ num_bytes29 + num_bytes30 + num_bytes31;
+			+ num_bytes30 + num_bytes31;
-	/*int num_bytes1 = read(Cookie->Serial_port_number, &read_buf1, sizeof(read_buf1));
-	int num_bytes2 = read(Cookie->Serial_port_number, &read_buf2, sizeof(read_buf2));
-	int num_bytes3 = read(Cookie->Serial_port_number, &read_buf3, sizeof(read_buf3));
-	int num_bytes4 = read(Cookie->Serial_port_number, &read_buf4, sizeof(read_buf4));
-	int num_bytes5 = read(Cookie->Serial_port_number, &read_buf5, sizeof(read_buf5));
-	int num_bytes6 = read(Cookie->Serial_port_number, &read_buf6, sizeof(read_buf6));
-	int num_bytes7 = read(Cookie->Serial_port_number, &read_buf7, sizeof(read_buf7));
-	int num_bytes8 = read(Cookie->Serial_port_number, &read_buf8, sizeof(read_buf8));
-	int num_bytes9 = read(Cookie->Serial_port_number, &read_buf9, sizeof(read_buf9));
-	int num_bytes10 = read(Cookie->Serial_port_number, &read_buf10, sizeof(read_buf10));
-	int num_bytes11 = read(Cookie->Serial_port_number, &read_buf11, sizeof(read_buf11));
-	int num_bytes12 = read(Cookie->Serial_port_number, &read_buf12, sizeof(read_buf12));
-	int num_bytes13 = read(Cookie->Serial_port_number, &read_buf13, sizeof(read_buf13));
-	int num_bytes14 = read(Cookie->Serial_port_number, &read_buf14, sizeof(read_buf14));
-	int num_bytes15 = read(Cookie->Serial_port_number, &read_buf15, sizeof(read_buf15));
-	int num_bytes16 = read(Cookie->Serial_port_number, &read_buf16, sizeof(read_buf16));
-	int num_bytes17 = read(Cookie->Serial_port_number, &read_buf17, sizeof(read_buf17));
-	int num_bytes18 = read(Cookie->Serial_port_number, &read_buf18, sizeof(read_buf18));
-	int num_bytes19 = read(Cookie->Serial_port_number, &read_buf19, sizeof(read_buf19));
-	int num_bytes20 = read(Cookie->Serial_port_number, &read_buf20, sizeof(read_buf20));
-	int num_bytes21 = read(Cookie->Serial_port_number, &read_buf21, sizeof(read_buf21));
-	int num_bytes = num_bytes1 + num_bytes2 + num_bytes3 + num_bytes4
-			+ num_bytes5 + num_bytes6 + num_bytes7 + num_bytes8
-			+ num_bytes9 + num_bytes10 + num_bytes11 + num_bytes12
-			+ num_bytes13 + num_bytes14 + num_bytes15 + num_bytes16
-			+ num_bytes17 + num_bytes18 + num_bytes19 + num_bytes20
-			+ num_bytes21;*/
 
 	// The 11 buffer arrays are here concatenated in one single vector.
 	std::copy(read_buf1, read_buf1 + 255, read_buf);
@@ -262,27 +252,6 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
 	std::copy(read_buf29, read_buf29 + 255, read_buf + 28 * 255);
 	std::copy(read_buf30, read_buf30 + 255, read_buf + 29 * 255);
 	std::copy(read_buf31, read_buf31 + 90, read_buf + 30 * 255);
-	/*std::copy(read_buf1, read_buf1 + 255, read_buf);
-	std::copy(read_buf2, read_buf2 + 255, read_buf + 255);
-	std::copy(read_buf3, read_buf3 + 255, read_buf + 2 * 255);
-	std::copy(read_buf4, read_buf4 + 255, read_buf + 3 * 255);
-	std::copy(read_buf5, read_buf5 + 255, read_buf + 4 * 255);
-	std::copy(read_buf6, read_buf6 + 255, read_buf + 5 * 255);
-	std::copy(read_buf7, read_buf7 + 255, read_buf + 6 * 255);
-	std::copy(read_buf8, read_buf8 + 255, read_buf + 7 * 255);
-	std::copy(read_buf9, read_buf9 + 255, read_buf + 8 * 255);
-	std::copy(read_buf10, read_buf10 + 255, read_buf + 9 * 255);
-	std::copy(read_buf11, read_buf11 + 255, read_buf + 10 * 255);
-	std::copy(read_buf12, read_buf12 + 255, read_buf + 11 * 255);
-	std::copy(read_buf13, read_buf13 + 255, read_buf + 12 * 255);
-	std::copy(read_buf14, read_buf14 + 255, read_buf + 13 * 255);
-	std::copy(read_buf15, read_buf15 + 255, read_buf + 14 * 255);
-	std::copy(read_buf16, read_buf16 + 255, read_buf + 15 * 255);
-	std::copy(read_buf17, read_buf17 + 255, read_buf + 16 * 255);
-	std::copy(read_buf18, read_buf18 + 255, read_buf + 17 * 255);
-	std::copy(read_buf19, read_buf19 + 255, read_buf + 18 * 255);
-	std::copy(read_buf20, read_buf20 + 255, read_buf + 19 * 255);
-	std::copy(read_buf21, read_buf21 + 60, read_buf + 20 * 255);*/
 
 	// num_bytes is the number of bytes read (n=0: no bytes received, n=-1: error).
 	if (num_bytes < 0) {
@@ -293,16 +262,35 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
 	printf("Read %i bytes.\n", num_bytes);
 
 	// Loop to define the adress of the buffer start
+	/*
+	 * Here it is performed a control loop in order to ensure the identification
+	 * of a full and not-corrupted array of measurement in the buffer defined above.
+	 * The index related to the first byte of the array is saved in the
+	 * variable first_index which is given as output.
+	 * It will then will be exploited in the device handler by ScanForReply and
+	 * InterpreteForReply.
+	 */
 	int first_index = 0;
 	while (first_index < 7740) {
+		// start character: '['
 		if (read_buf[first_index] == 91) {
+			// fourth character: 'S' (First variable is the char [ChStr])
 			if (read_buf[first_index + 3] == 83) {
+				// first channel must be channel 1 (SPCChNumber: 1)
 				if (read_buf[first_index + 9] == 1) {
+					// last channel of temperature board must be channel 39 (SPCChNumber: 39)
 					if (read_buf[first_index + 27 * 35 + 9] == 39) {
+						// 22nd character of last channel of temperature board: 'E' ([ChEnd])
 						if (read_buf[first_index + 27 * 35 + 22] == 69) {
-							if (read_buf[first_index + 27*45 + 91*13 + 9] == 122) {
+							// second to last channel of orientation board must be channel 122 (SPCChNumber: 122)
-								if (read_buf[first_index + 27*45 + 91*14 + 9] == 123) {
+							if (read_buf[first_index + 27 * 45 + 91 * 13 + 9]
-									if (read_buf[first_index + 27*45 + 91*14 + 86] == 69) {
+									== 122) {
+								// last channel of orientation board must be channel 123 (SPCChNumber: 123)
+								if (read_buf[first_index + 27 * 45 + 91 * 14 + 9]
+										== 123) {
+									// 69th character of last channel of orientation board: 'E' ([ChEnd])
+									if (read_buf[first_index + 27 * 45 + 91 * 14
+											+ 86] == 69) {
 										break;
 									} else {
 										first_index++;
@@ -330,11 +318,10 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
 		}
 	}
 
-	// Definition of buffer array and buffer size to return after reading.
+	// Definition of buffer size and buffer array start to return after reading.
 	*size = num_bytes;
 	*buffer = &read_buf[first_index];
 
-
 	return RETURN_OK;
 
 }

mission/DeviceHandler/ArduinoComIF.h

@@ -1,8 +1,17 @@
 /*
  * Title: 	ArduinoComIF.h
- *
- * Last Modify: 20/09/2021
  * Author:	Marco Modè
+ * Last version: 24/09/2021
+ * Project: ESBO-DS
+ *
+ * @ brief: 	Used to initialize the communication Interface (USB connector, serial port) and
+ * 		  		to perform the 4 periodical function described in the DeviceCommunicationIF
+ * 		    	(child of DeviceCommunicationIF).
+ * 		    	In this case sendMessage, getSendSuccess and requestReceiveMessage are
+ * 		    	just returning RETURN_OK.
+ * @ details: 	The ArduinoComIF is instantiated in the generic factory.
+ * @ ingroup: 	mission/DeviceHandler
+ *-------------------------------------------------------------------------------------------------------------------
  *
  */
 
@@ -13,28 +22,29 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <fsfw/serialize/SerializeAdapter.h>
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <vector>
 #include <iostream>
 #include <stdio.h>
 #include <string.h>
 #include <cstdint>
 #include <map>
-
+#include <algorithm>
-/**
+// Linux headers
- * @brief Used to initialize the communication Interface (USB connector, serial port) and
+#include <fcntl.h> // Contains file controls like O_RDWR
- * 		  to perform the 4 periodical function described in the DeviceCommunicationIF.
+#include <errno.h> // Error integer and strerror() function
- * 		  In this case sendMessage, getSendSuccess and requestReceiveMessage are
+#include <termios.h> // Contains POSIX terminal control definitions
- * 		  just returning RETURN_OK.
+#include <unistd.h> // write(), read(), close()
- * @details The ArduinoComIF is instantiated in the generic factory.
- * @author: Marco Modè
- * @ingroup mission/DeviceHandler
- */
 
 class ArduinoComIF: public DeviceCommunicationIF, public SystemObject {
 public:
+
 	ArduinoComIF(object_id_t objectId);
 	virtual ~ArduinoComIF();
 
+	// DeviceCommunicationIF inherited functions.
 	ReturnValue_t initializeInterface(CookieIF *cookie) override;
 	ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
 			size_t sendLen) override;
@@ -44,6 +54,51 @@ public:
 	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			size_t *size) override;
 
+protected:
+
+	/* The buffer array to store the data read are initialized.
+	 * The whole data packet to be read is 2580 bytes, the limit for one reading (VMAX) is 255 bytes.
+	 * In order to avoid problems during the acquisition of data in the framework, the buffer is set to
+	 * be 3 times the needed dimension: 7740 bytes.
+	 * Exploiting then some control loop, the beginning of a full and complete buffer is identified.
+	 * Since the acquisition limit for one reading is of 255 bytes, as mentioned above,
+	 * the reading is divided in 31 separate stages which employ 31 different buffer array.
+	 * At the end these 31 arrays are concatenated in the main buffer array read_buf.
+	 */
+	uint8_t read_buf[7740]; // 7740 bytes from SPC serial output
+	// Intermediate buffers (limit for one single read call is 255 bytes)
+	uint8_t read_buf1[255];
+	uint8_t read_buf2[255];
+	uint8_t read_buf3[255];
+	uint8_t read_buf4[255];
+	uint8_t read_buf5[255];
+	uint8_t read_buf6[255];
+	uint8_t read_buf7[255];
+	uint8_t read_buf8[255];
+	uint8_t read_buf9[255];
+	uint8_t read_buf10[255];
+	uint8_t read_buf11[255];
+	uint8_t read_buf12[255];
+	uint8_t read_buf13[255];
+	uint8_t read_buf14[255];
+	uint8_t read_buf15[255];
+	uint8_t read_buf16[255];
+	uint8_t read_buf17[255];
+	uint8_t read_buf18[255];
+	uint8_t read_buf19[255];
+	uint8_t read_buf20[255];
+	uint8_t read_buf21[255];
+	uint8_t read_buf22[255];
+	uint8_t read_buf23[255];
+	uint8_t read_buf24[255];
+	uint8_t read_buf25[255];
+	uint8_t read_buf26[255];
+	uint8_t read_buf27[255];
+	uint8_t read_buf28[255];
+	uint8_t read_buf29[255];
+	uint8_t read_buf30[255];
+	uint8_t read_buf31[90];
+
 };
 
 #endif /* MISSION_DEVICEHANDLER_ARDUINOCOMIF_H_ */

mission/DeviceHandler/ArduinoCookie.cpp

@@ -1,16 +1,19 @@
 /*
- *  ArduinoCookie.cpp
+ * Title: 	ArduinoCookie.cpp
- *
- * Last Modify: 20/09/2021
  * Author:	Marco Modè
+ * Last version: 24/09/2021
+ * Project: ESBO-DS
+ *-------------------------------------------------------------------------------------------------------------------
  *
  */
 
 #include <mission/DeviceHandler/ArduinoCookie.h>
 
-//The cookie tells to device handler which is the device to communicate with, if more
+/*In this case only one device is connected to the controller,
-// devices are connected. In this case only one device, the Arduino board, is
+ * for this reason the adress is unique and there is no need
-// connected.
+ * to define it to distinguish with others.
+ * The constructor is therefore empty.
+ */
 
 ArduinoCookie::ArduinoCookie() {
 }

mission/DeviceHandler/ArduinoCookie.h

@@ -1,8 +1,17 @@
 /*
- * ArduinoCookie.h
+ * Title: 	ArduinoCookie.h
- *
- * Last Modify: 20/09/2021
  * Author:	Marco Modè
+ * Last version: 24/09/2021
+ * Project: ESBO-DS
+ *
+ * @ brief: 	Simple cookie which initializes the variables
+ * 				for the Linux serial port.
+ * 				The cookie tells to device handler which is the device
+ * 				to communicate with, if more devices are connected.
+ * 				In this case only one device, the Arduino board, is connected.
+ * @ details: 	The ArduinoCookie is instantiated in the generic factory.
+ * @ ingroup: 	mission/DeviceHandler
+ *-------------------------------------------------------------------------------------------------------------------
  *
  */
 
@@ -12,20 +21,15 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <cstddef>
 
-/**
+
- * @brief	Simple cookie which initialize the variables
- * 			for the Linux serial port.
- * @details The ArduinoCookie is instantiated in the generic factory.
- * @author: Marco Modè
- * @ingroup mission/DeviceHandler
- */
 class ArduinoCookie: public CookieIF {
 public:
 	ArduinoCookie();
 	virtual ~ArduinoCookie();
 
-	// Serial port for the communication with Arduino board is here initialized.
+	/* Serial port for the communication with Arduino board is here initialized.
-	// It will be exploited in the ComIF to manage the computer serial port.
+	 * It will be exploited in the ComIF and DH to manage the computer serial port.
+	 */
 	int Serial_port_number;
 };
 

mission/DeviceHandler/ArduinoDeviceHandler.cpp

@@ -1,26 +1,22 @@
 /*
- * DeviceHandler.cpp
+ * Title: 	ArduinoDeviceHandler.cpp
- *
- * Last Modify: 20/09/2021
  * Author: 	Marco Modè
+ * Last version: 24/09/2021
+ * Project: ESBO-DS
+ *-------------------------------------------------------------------------------------------------------------------
  *
  */
 
 #include <mission/DeviceHandler/ArduinoDeviceHandler.h>
-#include <OBSWConfig.h>
-#include <fsfw/datapool/DataSet.h>
-#include <fsfw/datapool/PoolVector.h>
-#include <bsp_linux/fsfwconfig/datapool/dataPoolInit.h>
-#include <cstdlib>
-#include <map>
-//#include <iostream>
-
 
 ArduinoDH::ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie) :
-		DeviceHandlerBase(objectId, comIF, cookie) {
+		DeviceHandlerBase(objectId, comIF, cookie),
+		TempValueVec(datapool::Temperature_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE),
+		TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE) {
 	mode = _MODE_START_UP;
 }
-ArduinoDH::~ArduinoDH() {}
+ArduinoDH::~ArduinoDH() {
+}
 
 void ArduinoDH::doStartUp() {
 	std::cout << "Arduino device -> Switching-ON" << std::endl;
@@ -56,53 +52,40 @@ ReturnValue_t ArduinoDH::buildCommandFromCommand(
 	return HasActionsIF::EXECUTION_FINISHED;
 }
 
-void ArduinoDH::fillCommandAndReplyMap() {}
+void ArduinoDH::fillCommandAndReplyMap() {
+}
 
 ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
 		DeviceCommandId_t *foundId, size_t *foundLen) {
 
-	// In this case the data are sent from the Arduino board without any command.
+	/* In this case the data are sent from the Arduino board without any command.
-	// No replies of data received are required.
+	 * No replies of data received are required.
-	// This function checks the validity of the data packet received.
+	 * This function checks the validity of the data packet received.
+	 */
 
-	//*foundLen = 2580;
-	//*foundId = 0xFFFFFF; // assigned here as test
 	*foundLen = len;
-	//DeviceCommandId_t *foundId = 0xFFFFFF;
+	// The ID is defined as a macro. It includes info about the array size.
 	std::map<DeviceCommandId_t, size_t> id { { *foundId, len } };
-	//*foundId = id;
 
-	// check validity
+	/* Check validity of the packet in terms of length (the data have
-	if (len == *foundLen){
+	 * been already checked in ArduinoComIF.cpp in order to provide the
-		// start character: '['
+	 * start of the data buffer.
-		if (*start == 91 ){
+	 */
-			// fourth character: 'S' (First variable is the char [ChStr])
+	if (*foundLen == 7740) {
-			if (*(start + 3) == 83) {
-				// first channel must be channel 1 (SPCChNumber: 1)
-				if (*(start + 9) == 1) {
 		return APERIODIC_REPLY;
 	} else {
 		return DeviceHandlerIF::LENGTH_MISSMATCH;
 	}
-			} else {
-				return DeviceHandlerIF::LENGTH_MISSMATCH;
-			}
-		} else {
-			return DeviceHandlerIF::LENGTH_MISSMATCH;
-		}
-	} else {
-		return IGNORE_REPLY_DATA;
-	}
 }
 
 ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		const uint8_t *packet) {
 
-	DataSet ArduinoDataSet;
+	/* The data stored in the read buffer are here copied in the variables with the SPC format.
-
+	 * (The structures are defined in the header)
-	//sif::debug<<"DEBUG_DH: interprete for reply"<<std::endl;
+	 * The data of temperature, environment and orientation are then stored in three separated vectors.
-	// The data stored in the read buffer are here copied in the variables with the SPC format.
+	 * These vectors will be then saved in the framework datapool in order to be used by the controller.
-	// After copying, the data of temperature, environment and accelerometer are stored in three separated vectors.
+	 */
 	printf(
 			"\n***********************************************************************************************\n");
 	printf("TEMPERATURE parameters are: ");
@@ -114,6 +97,11 @@ 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);
+		/* The data (temperature, timestamp) are here saved in the datapool.
+		 * They will be exploited by the thermal controller.
+		 */
+		memcpy(&TempValueVec[i], &Temp_ch.temperature, 4);
+		memcpy(&TempTimeVec[i], &Temp_ch.Timestamp, 4);
 		// The data are here printed (useful for tests).
 		printf("\n\nStart: %7s", Temp_ch.start_string);
 		printf("\nTyp: %u", Temp_ch.Typ);
@@ -124,7 +112,13 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		printf("\nEnd: %7s", Temp_ch.end_string);
 		vecTemp.emplace_back(Temp_ch);
 	}
-	printf(
+	ArduinoDataSet.commit(PoolVariableIF::VALID);
+	/* The environment and orientation data reading and printing
+	 * are currently commented out because they are not needed.
+	 * Anyway they are available and they can be used if necessary.
+	 */
+
+	/*printf(
 			"\n\n***********************************************************************************************\n");
 	printf("ENVIRONMENTAL parameters are: ");
 	for (int j = 0; j < 9; j++) {
@@ -138,11 +132,9 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		// The data are here printed (useful for tests).
 		if (j == 0 || j == 3 || j == 6) {
 			printf("\n\nHUMIDITY: ");
-		}
+		} else if (j == 1 || j == 4 || j == 7) {
-		else if (j == 1 || j == 4 || j == 7) {
 			printf("\n\nPRESSURE: ");
-		}
+		} else {
-		else {
 			printf("\n\nTEMPERATURE: ");
 		}
 		printf("\n\nStart: %7s", Env_ch.start_string);
@@ -185,11 +177,9 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 		}
 		if (k == 0 || k == 3 || k == 6 || k == 9 || k == 12) {
 			printf("\n\nX ==> ");
-		}
+		} else if (k == 1 || k == 4 || k == 7 || k == 10 || k == 13) {
-		else if (k == 1 || k == 4 || k == 7 || k == 10 || k == 13) {
 			printf("\n\nY ==> ");
-		}
+		} else {
-		else {
 			printf("\n\nZ ==> ");
 		}
 		printf("\nStart: %7s", Ornt_ch.start_string);
@@ -207,54 +197,8 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
 
 	std::cout << "\n\nEnd reading data.\n" << std::endl;
 
-	// The data are here written to the data pool where they would be available to be used for other objects
-	
-	/*PoolVector <float, 36> TempValueVec(datapool::Temperature_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
-	for (int i = 0; i < 36; i++) {
-		memcpy(&TempValueVec[i], &vecTemp[i].temperature, 4);
-	}
-	ArduinoDataSet.commit(PoolVariableIF::VALID);*/
-	
-
-	/*PoolVector <unsigned int, 36> TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
-	for (int i = 0; i < 36; i++) {
-		memcpy(&TempTimeVec[i], &vecTemp[i].Timestamp, 4);
-	}
-	ArduinoDataSet.commit(PoolVariableIF::VALID);
-	
-	sif::debug<<"\nDEBUG_DHi: End of copy to datapool"<<std::endl;
-
-	PoolVector <float, 9> EnvValueVec(datapool::Environmental_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
-	for (int j = 0; j < 9; j++) {
-		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[j].Timestamp, 4);
-	}
-	ArduinoDataSet.commit(PoolVariableIF::VALID);
-	
-	sif::debug<<"\nDEBUG_DHj: End of copy to datapool"<<std::endl;
-
-	PoolVector <float, 15> AccValueVec(datapool::Accelerometer_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
-	for (int k = 0; k < 15; k++) {
-		memcpy(&AccValueVec[k], &vecOrnt[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], &vecOrnt[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;
 }
 
-void ArduinoDH::setNormalDatapoolEntriesInvalid() {}
+void ArduinoDH::setNormalDatapoolEntriesInvalid() {
+}

mission/DeviceHandler/ArduinoDeviceHandler.h

@@ -1,28 +1,85 @@
 /*
- * DeviceHandler.h
+ * Title: 	ArduinoDeviceHandler.h
- *
- * Last Modify: 20/09/2021
  * Author: 	Marco Modè
+ * Last version: 24/09/2021
+ * Project: ESBO-DS
+ *
+ * @ brief:		Basic device handler to manage the communication with the Arduino sensor board.
+ * 	 			The data are sent to the serial port of the computer from the Arduino board.
+ * 	 			The device handler read and manages these data exploiting the ComIF and the
+ * 	 			DeviceHandlerBase functions.
+ * @ details: 	The ArduinoDH object is instantiated in the generic factory.
+ * @ author:	Marco Modè
+ * @ ingroup: 	mission/DeviceHandler
+ *-------------------------------------------------------------------------------------------------------------------
+ *
+ */
+
+/*
+ * The structure of data sent is in SPC format, required by the
+ * On-Board Computer.
+ * The structure format is defined below in the class.
+ *
+ * Hereafter, the sensor boards connected to the Arduino Micro are described
+ * with board name, associated pin on the Arduino board and related channels.
+ * This is done to give a clearer understanding of the reading process.
+ *
+ * TEMPERATURE DATA - STRUCTURE
+ * TMB 1, SS = pin 4
+ * Temperature Temp_ch1; Temperature Temp_ch2; Temperature Temp_ch3;
+ * Temperature Temp_ch4; Temperature Temp_ch5; Temperature Temp_ch6;
+ * Temperature Temp_ch7; Temperature Temp_ch8; Temperature Temp_ch9;
+ * TMB 2, SS = pin 5
+ * Temperature Temp_ch11; Temperature Temp_ch12; Temperature Temp_ch13;
+ * Temperature Temp_ch14; Temperature Temp_ch15; Temperature Temp_ch16;
+ * Temperature Temp_ch17; Temperature Temp_ch18; Temperature Temp_ch19;
+ * TMB 3, SS = pin 6
+ * Temperature Temp_ch21; Temperature Temp_ch22; Temperature Temp_ch23;
+ * Temperature Temp_ch24; Temperature Temp_ch25; Temperature Temp_ch26;
+ * Temperature Temp_ch27; Temperature Temp_ch28; Temperature Temp_ch29;
+ * TMB 4, SS = pin 7
+ * Temperature Temp_ch31; Temperature Temp_ch32; Temperature Temp_ch33;
+ * Temperature Temp_ch34; Temperature Temp_ch35; Temperature Temp_ch36;
+ * Temperature Temp_ch37; Temperature Temp_ch38; Temperature Temp_ch39;
+ *
+ * ENVIRONMENTAL DATA - STRUCTURE
+ * BME280_1, SS = pin 8 (pressure, humidity, temperature)
+ * Environmental Env_ch41; Environmental Env_ch42; Environmental Env_ch43;
+ * BME280_2, SS = pin 9 (pressure, humidity, temperature)
+ * Environmental Env_ch51; Environmental Env_ch52; Environmental Env_ch53;
+ * BME280_3, SS = pin 10 (pressure, humidity, temperature)
+ * Environmental Env_ch61; Environmental Env_ch62; Environmental Env_ch63;
+ *
+ * ORIENTATION DATA - STRUCTURE
+ * BNO055_1
+ * ACCELERATION
+ * Orientation Ornt_ch81; Orientation Ornt_ch82; Orientation Ornt_ch83;
+ * GYROSCOPE
+ * Orientation Ornt_ch91; Orientation Ornt_ch92; Orientation Ornt_ch93;
+ * MAGNETOMETER
+ * Orientation Ornt_ch101; Orientation Ornt_ch102; Orientation Ornt_ch103;
+ * LINEAR ACCELERATION
+ * Orientation Ornt_ch111; Orientation Ornt_ch112; Orientation Ornt_ch113;
+ * EULER ANGLES
+ * Orientation Ornt_ch121; Orientation Ornt_ch122; Orientation Ornt_ch123;
  *
  */
 
 #ifndef MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_
 #define MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_
 
-#include <vector>
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
+#include <fsfw/datapool/DataSet.h>
+#include <fsfw/datapool/PoolVector.h>
+#include <bsp_linux/fsfwconfig/datapool/dataPoolInit.h>
+#include <OBSWConfig.h>
+#include <vector>
+#include <cstdlib>
+#include <map>
+
 
-/**
- * @brief 	Basic device handler to manage the communication with the Arduino sensor board.
- * 	 		The data are sent to the serial port of the computer from the Arduino board.
- * 	 		The device handler read and manages these data exploiting the ComIF and the
- * 	 		DeviceHandlerBase functions.
- * @details The ArduinoDH object is instantiated in the generic factory.
- * @author	Marco Modè
- * @ingroup mission/DeviceHandler
- */
 class ArduinoDH: public DeviceHandlerBase {
 public:
 	/**
@@ -31,13 +88,18 @@ public:
 	 * @param comIF The ID of the Communication IF used by test device handler.
 	 * @param cookie Cookie object used by the test device handler. This is
 	 * also used and passed to the comIF object.
-	 * @param onImmediately This will start a transition to MODE_ON immediately
-	 * so the device handler jumps into #doStartUp. Should only be used
-	 * in development to reduce need of commanding while debugging.
 	 */
 	ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie);
 	virtual ~ ArduinoDH();
 
+	/* This header code contains the definition of the structures of data
+	 * (Temperature, Environemntal, Orientation) in which the sensors data are stored.
+	 * These structures are defined in the Arduino IDE code developed for the sensor board.
+	 * The Arduino is the responsible of the management of sensors devices and data.
+	 * Furthermore, the vectors and arrays necessary for the code execution are here
+	 * defined.
+	 */
+
 	/* Definiton of data structure for SPC communication. Three different structures are defined for measurements of:
 	 * - Temperature data,
 	 * - Environmental data,
@@ -99,26 +161,26 @@ public:
 		}
 	};
 
-	// Three vectors are defined to store the three type of classes sequentially
+	/* Three vectors are defined to store the three type of classes sequentially
-	// during the phase of reading copying data from the buffers
+	 * during the phase of reading copying data from the buffers
+	 */
 	std::vector<Temperature> vecTemp;
 	std::vector<Environmental> vecEnv;
 	std::vector<Orientation> vecOrnt;
 
-	// Three dummy child structures are defined. They are used to store the three
+	/* Three dummy child structures are defined. They are used to store the three
-	// different types of data during the measurement loop and then the data are
+	 * different types of data during the measurement loop and then the data are
-	// copied in the vectors above.
+	 * copied in the vectors above.
-	// Then, they are overwritten by the data of next iteration and the process is
+	 * Then, they are overwritten by the data of next iteration and the process is
-	// repeated ,until all the data from the buffer are copied to the three vectors
+	 * repeated ,until all the data from the buffer are copied to the three vectors
-	// using the three different structures.
+	 * using the three different structures.
+	 */
 	Temperature Temp_ch;
 	Environmental Env_ch;
 	Orientation Ornt_ch;
 
 protected:
 
-	//#define BUFFER_ID(id, value, msg);
-
 	// DeviceHandlerBase inherited functions.
 	virtual void doStartUp() override;
 	virtual void doShutDown() override;
@@ -137,6 +199,11 @@ protected:
 			const uint8_t *packet) override;
 	virtual void setNormalDatapoolEntriesInvalid() override;
 
+	// Dataset initialized. It is used for copying the data to the datapool.
+	DataSet ArduinoDataSet;
+	// Here the datapool variables are defined. The needed data will be stored inside them.
+	PoolVector <float, 36> TempValueVec;
+	PoolVector <unsigned int, 36> TempTimeVec;
 };
 
 #endif /* MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_ */