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

This commit is contained in:
mmode 2021-09-24 14:19:27 +02:00
parent a8e498ad3a
commit c70fed0aa9
20 changed files with 468 additions and 409 deletions

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

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

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@ -275,8 +275,27 @@ _obj/linux/debug/mission/core/GenericFactory.o: \
fsfw/devicehandlers/../datapool/../action/../ipc/MessageQueueIF.h \ fsfw/devicehandlers/../datapool/../action/../ipc/MessageQueueIF.h \
fsfw/devicehandlers/../datapool/../events/EventReportingProxyIF.h \ fsfw/devicehandlers/../datapool/../events/EventReportingProxyIF.h \
fsfw/globalfunctions/PeriodicOperationDivider.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/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/DeviceHandler/ArduinoCookie.h \
mission/Controller/ThermalController.h fsfw/action/HasActionsIF.h \ mission/Controller/ThermalController.h fsfw/action/HasActionsIF.h \
fsfw/action/SimpleActionHelper.h fsfw/events/EventReportingProxyIF.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/../tasks/ExecutableObjectIF.h \
fsfw/controller/../datapool/HkSwitchHelper.h \ fsfw/controller/../datapool/HkSwitchHelper.h \
fsfw/datapool/ControllerSet.h fsfw/datapool/DataSet.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 \ fsfw/returnvalues/HasReturnvaluesIF.h \
mission/Controller/ArduinoTCSTemperatureSensor.h \ mission/Controller/ArduinoTCSTemperatureSensor.h \
fsfw/thermal/AbstractTemperatureSensor.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/../timemanager/TimeStamperIF.h \
fsfw/thermal/../monitoring/../parameters/HasParametersIF.h \ fsfw/thermal/../monitoring/../parameters/HasParametersIF.h \
mission/Controller/TCS_Heater.h fsfw/power/PowerSwitchIF.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: mission/core/GenericFactory.h:
bsp_linux/fsfwconfig/OBSWConfig.h: bsp_linux/fsfwconfig/OBSWConfig.h:
bsp_linux/fsfwconfig/datapool/dataPoolInit.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/devicehandlers/../datapool/../events/EventReportingProxyIF.h:
fsfw/globalfunctions/PeriodicOperationDivider.h: fsfw/globalfunctions/PeriodicOperationDivider.h:
fsfw/timemanager/Countdown.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: mission/DeviceHandler/ArduinoComIF.h:
fsfw/devicehandlers/DeviceCommunicationIF.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/DeviceHandler/ArduinoCookie.h:
mission/Controller/ThermalController.h: mission/Controller/ThermalController.h:
fsfw/action/HasActionsIF.h: fsfw/action/HasActionsIF.h:
@ -677,18 +712,7 @@ fsfw/controller/../tasks/ExecutableObjectIF.h:
fsfw/controller/../datapool/HkSwitchHelper.h: fsfw/controller/../datapool/HkSwitchHelper.h:
fsfw/datapool/ControllerSet.h: fsfw/datapool/ControllerSet.h:
fsfw/datapool/DataSet.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/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/health/HealthTableIF.h:
fsfw/returnvalues/HasReturnvaluesIF.h: fsfw/returnvalues/HasReturnvaluesIF.h:
mission/Controller/ArduinoTCSTemperatureSensor.h: mission/Controller/ArduinoTCSTemperatureSensor.h:
@ -762,4 +786,3 @@ mission/Controller/TCS_Heater.h:
fsfw/power/PowerSwitchIF.h: fsfw/power/PowerSwitchIF.h:
fsfw/thermal/Heater.h: fsfw/thermal/Heater.h:
bsp_linux/fsfwconfig/objects/systemObjectList.h: bsp_linux/fsfwconfig/objects/systemObjectList.h:
bsp_linux/fsfwconfig/datapool/dataPoolInit.h:

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

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@ -1,9 +1,7 @@
/* /*
* dataPoolInit.h * 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_ #ifndef DATAPOOLINIT_H_
#define DATAPOOLINIT_H_ #define DATAPOOLINIT_H_
@ -16,19 +14,14 @@ namespace datapool {
// The IDs of the variables of the DH and CONTROLLER are here defined. // The IDs of the variables of the DH and CONTROLLER are here defined.
Temperature_value = 0x100001, Temperature_value = 0x100001,
Temperature_Timestamp = 0x100002, 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
}; };
} }

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@ -1,26 +1,14 @@
/* /*
* ArduinoComIF.cpp * Title: ArduinoComIF.cpp
*
* Last Modify: 20/09/2021
* Author: Marco Modè * Author: Marco Modè
* Last version: 24/09/2021
* Project: ESBO-DS
*-------------------------------------------------------------------------------------------------------------------
* *
*/ */
#include <mission/DeviceHandler/ArduinoComIF.h> #include <mission/DeviceHandler/ArduinoComIF.h>
#include <mission/DeviceHandler/ArduinoCookie.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) : ArduinoComIF::ArduinoComIF(object_id_t objectId) :
SystemObject(objectId) { SystemObject(objectId) {
@ -30,22 +18,25 @@ ArduinoComIF::~ArduinoComIF() {
} }
ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) { ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
ArduinoCookie *Cookie = dynamic_cast<ArduinoCookie*>(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); int serial_port = open("/dev/ttyACM0", O_RDWR);
// Create new termios struc, we call it 'tty' for convention. // 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 |= CS8; // 8 bits per byte (most common)
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control (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_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 &= ~ECHO; // Disable echo
tty.c_lflag &= ~ECHOE; // Disable erasure tty.c_lflag &= ~ECHOE; // Disable erasure
tty.c_lflag &= ~ECHONL; // Disable new-line echo tty.c_lflag &= ~ECHONL; // Disable new-line echo
tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP 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 &= ~(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_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 &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed 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); cfsetispeed(&tty, B115200);
cfsetospeed(&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) { if (tcsetattr(serial_port, TCSANOW, &tty) != 0) {
printf("Error %i from tcsetattr: %s\n", errno, strerror(errno)); printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
return 1; return 1;
} }
printf(
"***********************************************************************************************\n");
printf(
"***********************************************************************************************\n");
printf("\nSerial port set. \n"); printf("\nSerial port set. \n");
// End of Linux serial port set-up. // 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; Cookie->Serial_port_number = serial_port;
return RETURN_OK; return RETURN_OK;
@ -116,119 +112,113 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) { uint8_t **buffer, size_t *size) {
ArduinoCookie *Cookie = dynamic_cast<ArduinoCookie*>(cookie); 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_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_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 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. // The 11 buffer arrays are here concatenated in one single vector.
std::copy(read_buf1, read_buf1 + 255, read_buf); 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_buf29, read_buf29 + 255, read_buf + 28 * 255);
std::copy(read_buf30, read_buf30 + 255, read_buf + 29 * 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_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). // num_bytes is the number of bytes read (n=0: no bytes received, n=-1: error).
if (num_bytes < 0) { if (num_bytes < 0) {
@ -293,16 +262,35 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
printf("Read %i bytes.\n", num_bytes); printf("Read %i bytes.\n", num_bytes);
// Loop to define the adress of the buffer start // 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; int first_index = 0;
while (first_index < 7740) { while (first_index < 7740) {
if (read_buf[first_index] == 91){ // start character: '['
if (read_buf[first_index] == 91) {
// fourth character: 'S' (First variable is the char [ChStr])
if (read_buf[first_index + 3] == 83) { if (read_buf[first_index + 3] == 83) {
// first channel must be channel 1 (SPCChNumber: 1)
if (read_buf[first_index + 9] == 1) { if (read_buf[first_index + 9] == 1) {
if (read_buf[first_index + 27*35 + 9] == 39) { // last channel of temperature board must be channel 39 (SPCChNumber: 39)
if (read_buf[first_index + 27*35 + 22] == 69) { if (read_buf[first_index + 27 * 35 + 9] == 39) {
if (read_buf[first_index + 27*45 + 91*13 + 9] == 122) { // 22nd character of last channel of temperature board: 'E' ([ChEnd])
if (read_buf[first_index + 27*45 + 91*14 + 9] == 123) { if (read_buf[first_index + 27 * 35 + 22] == 69) {
if (read_buf[first_index + 27*45 + 91*14 + 86] == 69) { // second to last channel of orientation board must be channel 122 (SPCChNumber: 122)
if (read_buf[first_index + 27 * 45 + 91 * 13 + 9]
== 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; break;
} else { } else {
first_index++; 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; *size = num_bytes;
*buffer = &read_buf[first_index]; *buffer = &read_buf[first_index];
return RETURN_OK; return RETURN_OK;
} }

View File

@ -1,8 +1,17 @@
/* /*
* Title: ArduinoComIF.h * Title: ArduinoComIF.h
*
* Last Modify: 20/09/2021
* Author: Marco Modè * 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/objectmanager/SystemObject.h>
#include <fsfw/ipc/MessageQueueIF.h> #include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/tmtcservices/AcceptsTelemetryIF.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 <vector>
#include <iostream> #include <iostream>
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <cstdint> #include <cstdint>
#include <map> #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 { class ArduinoComIF: public DeviceCommunicationIF, public SystemObject {
public: public:
ArduinoComIF(object_id_t objectId); ArduinoComIF(object_id_t objectId);
virtual ~ArduinoComIF(); virtual ~ArduinoComIF();
// DeviceCommunicationIF inherited functions.
ReturnValue_t initializeInterface(CookieIF *cookie) override; ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
size_t sendLen) override; size_t sendLen) override;
@ -44,6 +54,51 @@ public:
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override; 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_ */ #endif /* MISSION_DEVICEHANDLER_ARDUINOCOMIF_H_ */

View File

@ -1,16 +1,19 @@
/* /*
* ArduinoCookie.cpp * Title: ArduinoCookie.cpp
*
* Last Modify: 20/09/2021
* Author: Marco Modè * Author: Marco Modè
* Last version: 24/09/2021
* Project: ESBO-DS
*-------------------------------------------------------------------------------------------------------------------
* *
*/ */
#include <mission/DeviceHandler/ArduinoCookie.h> #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() { ArduinoCookie::ArduinoCookie() {
} }

View File

@ -1,8 +1,17 @@
/* /*
* ArduinoCookie.h * Title: ArduinoCookie.h
*
* Last Modify: 20/09/2021
* Author: Marco Modè * 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 <fsfw/devicehandlers/CookieIF.h>
#include <cstddef> #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 { class ArduinoCookie: public CookieIF {
public: public:
ArduinoCookie(); ArduinoCookie();
virtual ~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; int Serial_port_number;
}; };

View File

@ -1,35 +1,31 @@
/* /*
* DeviceHandler.cpp * Title: ArduinoDeviceHandler.cpp
*
* Last Modify: 20/09/2021
* Author: Marco Modè * Author: Marco Modè
* Last version: 24/09/2021
* Project: ESBO-DS
*-------------------------------------------------------------------------------------------------------------------
* *
*/ */
#include <mission/DeviceHandler/ArduinoDeviceHandler.h> #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) : 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; mode = _MODE_START_UP;
} }
ArduinoDH::~ArduinoDH() {} ArduinoDH::~ArduinoDH() {
}
void ArduinoDH::doStartUp() { void ArduinoDH::doStartUp() {
std::cout<<"Arduino device -> Switching-ON"<<std::endl; std::cout << "Arduino device -> Switching-ON" << std::endl;
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
return; return;
} }
void ArduinoDH::doShutDown() { void ArduinoDH::doShutDown() {
std::cout<<"Arduino device -> Switching-OFF"<<std::endl; std::cout << "Arduino device -> Switching-OFF" << std::endl;
setMode(_MODE_SHUT_DOWN); setMode(_MODE_SHUT_DOWN);
return; return;
} }
@ -44,7 +40,7 @@ ReturnValue_t ArduinoDH::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
void ArduinoDH::doTransition(Mode_t modeFrom, Submode_t submodeFrom) { void ArduinoDH::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
if (mode == _MODE_TO_NORMAL) { if (mode == _MODE_TO_NORMAL) {
setMode(_MODE_TO_NORMAL); setMode(_MODE_TO_NORMAL);
std::cout<<"Arduino device is in Normal mode"<<std::endl; std::cout << "Arduino device is in Normal mode" << std::endl;
} else { } else {
setMode(_MODE_TO_NORMAL); setMode(_MODE_TO_NORMAL);
} }
@ -56,53 +52,40 @@ ReturnValue_t ArduinoDH::buildCommandFromCommand(
return HasActionsIF::EXECUTION_FINISHED; return HasActionsIF::EXECUTION_FINISHED;
} }
void ArduinoDH::fillCommandAndReplyMap() {} void ArduinoDH::fillCommandAndReplyMap() {
}
ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len, ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) { 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; *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}}; 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; return APERIODIC_REPLY;
} else { } else {
return DeviceHandlerIF::LENGTH_MISSMATCH; 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, ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { 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( printf(
"\n***********************************************************************************************\n"); "\n***********************************************************************************************\n");
printf("TEMPERATURE parameters are: "); 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.temperature, &packet[27 * i + 11], 4);
memcpy(&Temp_ch.Timestamp, &packet[27 * i + 15], 4); memcpy(&Temp_ch.Timestamp, &packet[27 * i + 15], 4);
memcpy(&Temp_ch.end_string, &packet[27 * i + 19], 8); 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). // The data are here printed (useful for tests).
printf("\n\nStart: %7s", Temp_ch.start_string); printf("\n\nStart: %7s", Temp_ch.start_string);
printf("\nTyp: %u", Temp_ch.Typ); printf("\nTyp: %u", Temp_ch.Typ);
@ -124,7 +112,13 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
printf("\nEnd: %7s", Temp_ch.end_string); printf("\nEnd: %7s", Temp_ch.end_string);
vecTemp.emplace_back(Temp_ch); 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"); "\n\n***********************************************************************************************\n");
printf("ENVIRONMENTAL parameters are: "); printf("ENVIRONMENTAL parameters are: ");
for (int j = 0; j < 9; j++) { for (int j = 0; j < 9; j++) {
@ -136,13 +130,11 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
memcpy(&Env_ch.Timestamp, &packet[27 * (36 + j) + 15], 4); memcpy(&Env_ch.Timestamp, &packet[27 * (36 + j) + 15], 4);
memcpy(&Env_ch.end_string, &packet[27 * (36 + j) + 19], 8); memcpy(&Env_ch.end_string, &packet[27 * (36 + j) + 19], 8);
// The data are here printed (useful for tests). // The data are here printed (useful for tests).
if (j == 0 || j == 3 || j == 6){ if (j == 0 || j == 3 || j == 6) {
printf("\n\nHUMIDITY: "); printf("\n\nHUMIDITY: ");
} } else if (j == 1 || j == 4 || j == 7) {
else if (j == 1 || j == 4 || j == 7) {
printf("\n\nPRESSURE: "); printf("\n\nPRESSURE: ");
} } else {
else {
printf("\n\nTEMPERATURE: "); printf("\n\nTEMPERATURE: ");
} }
printf("\n\nStart: %7s", Env_ch.start_string); printf("\n\nStart: %7s", Env_ch.start_string);
@ -183,13 +175,11 @@ ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
printf("\n\nEULER ANGLES: "); printf("\n\nEULER ANGLES: ");
break; break;
} }
if (k == 0 || k == 3 || k == 6 || k == 9 || k == 12){ if (k == 0 || k == 3 || k == 6 || k == 9 || k == 12) {
printf("\n\nX ==> "); 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 ==> "); printf("\n\nY ==> ");
} } else {
else {
printf("\n\nZ ==> "); printf("\n\nZ ==> ");
} }
printf("\nStart: %7s", Ornt_ch.start_string); 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; 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; return RETURN_OK;
} }
void ArduinoDH::setNormalDatapoolEntriesInvalid() {} void ArduinoDH::setNormalDatapoolEntriesInvalid() {
}

View File

@ -1,28 +1,85 @@
/* /*
* DeviceHandler.h * Title: ArduinoDeviceHandler.h
*
* Last Modify: 20/09/2021
* Author: Marco Modè * 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_ #ifndef MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_
#define MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_ #define MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_
#include <vector>
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.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 { class ArduinoDH: public DeviceHandlerBase {
public: public:
/** /**
@ -31,13 +88,18 @@ public:
* @param comIF The ID of the Communication IF used by test device handler. * @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 * @param cookie Cookie object used by the test device handler. This is
* also used and passed to the comIF object. * 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); ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie);
virtual ~ ArduinoDH(); 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: /* Definiton of data structure for SPC communication. Three different structures are defined for measurements of:
* - Temperature data, * - Temperature data,
* - Environmental 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<Temperature> vecTemp;
std::vector<Environmental> vecEnv; std::vector<Environmental> vecEnv;
std::vector<Orientation> vecOrnt; 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; Temperature Temp_ch;
Environmental Env_ch; Environmental Env_ch;
Orientation Ornt_ch; Orientation Ornt_ch;
protected: protected:
//#define BUFFER_ID(id, value, msg);
// DeviceHandlerBase inherited functions. // DeviceHandlerBase inherited functions.
virtual void doStartUp() override; virtual void doStartUp() override;
virtual void doShutDown() override; virtual void doShutDown() override;
@ -137,6 +199,11 @@ protected:
const uint8_t *packet) override; const uint8_t *packet) override;
virtual void setNormalDatapoolEntriesInvalid() 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_ */ #endif /* MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_ */