extended uart com if

linux/uart/UartComIF.cpp

@@ -1,6 +1,7 @@
 #include "UartComIF.h"
+#include "OBSWConfig.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <cstring>
 #include <fcntl.h>
@@ -15,12 +16,12 @@ UartComIF::~UartComIF() {}
 
 ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
 
-	std::string deviceFile;
+    std::string deviceFile;
-	UartDeviceMapIter uartDeviceMapIter;
+    UartDeviceMapIter uartDeviceMapIter;
 
-	if(cookie == nullptr) {
+    if(cookie == nullptr) {
-		return NULLPOINTER;
+        return NULLPOINTER;
-	}
+    }
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if (uartCookie == nullptr) {
@@ -31,32 +32,32 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
     deviceFile = uartCookie->getDeviceFile();
 
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-	if(uartDeviceMapIter == uartDeviceMap.end()) {
+    if(uartDeviceMapIter == uartDeviceMap.end()) {
-	    int fileDescriptor = configureUartPort(uartCookie);
+        int fileDescriptor = configureUartPort(uartCookie);
-	    if (fileDescriptor < 0) {
+        if (fileDescriptor < 0) {
-	        return RETURN_FAILED;
+            return RETURN_FAILED;
-	    }
+        }
-	    size_t maxReplyLen = uartCookie->getMaxReplyLen();
+        size_t maxReplyLen = uartCookie->getMaxReplyLen();
-		UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
+        UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
-		auto status = uartDeviceMap.emplace(deviceFile, uartElements);
+        auto status = uartDeviceMap.emplace(deviceFile, uartElements);
         if (status.second == false) {
             sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
                     deviceFile << "to UART device map" << std::endl;
             return RETURN_FAILED;
         }
-	}
+    }
-	else {
+    else {
-		sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
+        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
-		        " already in use" << std::endl;
+                " already in use" << std::endl;
-		return RETURN_FAILED;
+        return RETURN_FAILED;
-	}
+    }
 
-	return RETURN_OK;
+    return RETURN_OK;
 }
 
 int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
-    struct termios options;
+    struct termios options = {};
 
     std::string deviceFile = uartCookie->getDeviceFile();
     int fd = open(deviceFile.c_str(), O_RDWR);
@@ -78,6 +79,9 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     setStopBitOptions(&options, uartCookie);
     setDatasizeOptions(&options, uartCookie);
     setFixedOptions(&options);
+    if(uartCookie->getInputShouldBeFlushed()) {
+        tcflush(fd, TCIFLUSH);
+    }
 
     /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
     options.c_cc[VTIME] = 0;
@@ -255,46 +259,46 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
 ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
         const uint8_t *sendData, size_t sendLen) {
 
-	int fd = 0;
+    int fd = 0;
-	std::string deviceFile;
+    std::string deviceFile;
-	UartDeviceMapIter uartDeviceMapIter;
+    UartDeviceMapIter uartDeviceMapIter;
 
-	if(sendData == nullptr) {
+    if(sendData == nullptr) {
         sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
-	    return RETURN_FAILED;
+        return RETURN_FAILED;
-	}
+    }
 
-	if(sendLen == 0) {
+    if(sendLen == 0) {
-		return RETURN_OK;
+        return RETURN_OK;
-	}
+    }
 
-	UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-	if(uartCookie == nullptr) {
+    if(uartCookie == nullptr) {
         sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
-		return NULLPOINTER;
+        return NULLPOINTER;
-	}
+    }
 
-	deviceFile = uartCookie->getDeviceFile();
+    deviceFile = uartCookie->getDeviceFile();
-	uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-	if (uartDeviceMapIter == uartDeviceMap.end()) {
+    if (uartDeviceMapIter == uartDeviceMap.end()) {
-		sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
+        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
-		        "not in UART map" << std::endl;
+                "not in UART map" << std::endl;
-		return RETURN_FAILED;
+        return RETURN_FAILED;
-	}
+    }
 
-	fd = uartDeviceMapIter->second.fileDescriptor;
+    fd = uartDeviceMapIter->second.fileDescriptor;
 
-	if (write(fd, sendData, sendLen) != (int)sendLen) {
+    if (write(fd, sendData, sendLen) != (int)sendLen) {
-		sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
+        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
-		        errno << ": Error description: " << strerror(errno) << std::endl;
+                errno << ": Error description: " << strerror(errno) << std::endl;
-		return RETURN_FAILED;
+        return RETURN_FAILED;
-	}
+    }
 
-	return RETURN_OK;
+    return RETURN_OK;
 }
 
 ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
-	return RETURN_OK;
+    return RETURN_OK;
 }
 
 ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
@@ -325,10 +329,53 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
     fd = uartDeviceMapIter->second.fileDescriptor;
     bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
     if (uartMode == UartModes::CANONICAL) {
-        int bytesRead = read(fd, bufferPtr, uartCookie->getMaxReplyLen());
+        uint8_t maxReadCycles = uartCookie->getReadCycles();
-        uartDeviceMapIter->second.replyLen = bytesRead;
+        uint8_t currentReadCycles = 0;
+        int bytesRead = 0;
+        size_t currentBytesRead = 0;
+        size_t maxReplySize = uartCookie->getMaxReplyLen();
+        do {
+            size_t allowedReadSize = 0;
+            if(currentBytesRead >= maxReplySize) {
+                // Overflow risk. Emit warning, trigger event and break. If this happens,
+                // the reception buffer is not large enough or data is not polled often enough.
+                // TODO: Emit event
+                // TODO: Return error?
+#if OBSW_VERBOSE_LEVEL >= 1
+                sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+                        << std::endl;
+#endif
+                break;
+            }
+            else {
+                allowedReadSize = maxReplySize - currentBytesRead;
+            }
+
+            bytesRead = read(fd, bufferPtr, allowedReadSize);
+            if (bytesRead < 0) {
+                return RETURN_FAILED;
+            }
+            else if (bytesRead != static_cast<int>(requestLen)) {
+                sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
+                        " of " << requestLen << " bytes" << std::endl;
+                return RETURN_FAILED;
+            }
+            else if(bytesRead > 0) {
+                uartDeviceMapIter->second.replyLen += bytesRead;
+                bufferPtr += bytesRead;
+                currentBytesRead += bytesRead;
+            }
+            currentReadCycles++;
+        } while(bytesRead > 0 and currentReadCycles < maxReadCycles);
     }
     else if (uartMode == UartModes::NON_CANONICAL) {
+        // Size check to prevent buffer overflow
+        if(requestLen > uartCookie->getMaxReplyLen()) {
+            // TODO: Emit warning
+            // TODO: Emit event
+            // TODO: Better returnvalue
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
         int bytesRead = read(fd, bufferPtr, requestLen);
         if (bytesRead < 0) {
             return RETURN_FAILED;
@@ -346,18 +393,18 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
 }
 
 ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
-		uint8_t **buffer, size_t* size) {
+        uint8_t **buffer, size_t* size) {
 
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-	if(uartCookie == nullptr) {
+    if(uartCookie == nullptr) {
         sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
-		return NULLPOINTER;
+        return NULLPOINTER;
-	}
+    }
 
-	deviceFile = uartCookie->getDeviceFile();
+    deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
         sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
@@ -365,13 +412,13 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
         return RETURN_FAILED;
     }
 
-	*buffer = uartDeviceMapIter->second.replyBuffer.data();
+    *buffer = uartDeviceMapIter->second.replyBuffer.data();
-	*size = uartDeviceMapIter->second.replyLen;
+    *size = uartDeviceMapIter->second.replyLen;
 
-	/* Length is reset to 0 to prevent reading the same data twice */
+    /* Length is reset to 0 to prevent reading the same data twice */
-	uartDeviceMapIter->second.replyLen = 0;
+    uartDeviceMapIter->second.replyLen = 0;
 
-	return RETURN_OK;
+    return RETURN_OK;
 }
 
 void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {

linux/uart/UartComIF.h

@@ -98,6 +98,7 @@ private:
 	void configureBaudrate(struct termios* options, UartCookie* uartCookie);
 
 	void setUartMode(struct termios* options, UartCookie& uartCookie);
+
 };
 
 #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

linux/uart/UartCookie.cpp

@@ -66,3 +66,19 @@ void UartCookie::setOneStopBit() {
 UartModes UartCookie::getUartMode() const {
     return uartMode;
 }
+
+void UartCookie::setReadCycles(uint8_t readCycles) {
+    this->readCycles = readCycles;
+}
+
+void UartCookie::setToFlushInput(bool enable) {
+    this->flushInput = enable;
+}
+
+uint8_t UartCookie::getReadCycles() const {
+    return readCycles;
+}
+
+bool UartCookie::getInputShouldBeFlushed() {
+    return this->flushInput;
+}

linux/uart/UartCookie.h

@@ -56,6 +56,22 @@ public:
 	uint8_t getBitsPerWord() const;
 	StopBits getStopBits() const;
 	UartModes getUartMode() const;
+	/**
+	 * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
+     * The user can specify how many of those read cycles are performed for one device handler
+     * communication cycle. An example use-case would be to read all available GPS NMEA strings
+     * at once.
+	 * @param readCycles
+	 */
+	void setReadCycles(uint8_t readCycles);
+	uint8_t getReadCycles() const;
+
+	/**
+	 * Allows to flush the data which was received but has not been read yet. This is useful
+	 * to discard obsolete data at software startup.
+	 */
+	void setToFlushInput(bool enable);
+	bool getInputShouldBeFlushed();
 
 	/**
 	 * Functions two enable parity checking.
@@ -78,10 +94,12 @@ private:
 
 	std::string deviceFile;
 	const UartModes uartMode;
+	bool flushInput = false;
 	uint32_t baudrate;
 	size_t maxReplyLen = 0;
 	Parity parity = Parity::NONE;
 	uint8_t bitsPerWord = 8;
+	uint8_t readCycles = 1;
 	StopBits stopBits = StopBits::ONE_STOP_BIT;
 };