371 lines
11 KiB
C++
371 lines
11 KiB
C++
#include "UartComIF.h"
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <cstring>
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#include <fcntl.h>
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#include <errno.h>
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#include <termios.h>
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#include <unistd.h>
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UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
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}
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UartComIF::~UartComIF() {}
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ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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if(cookie == nullptr) {
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return NULLPOINTER;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if(uartDeviceMapIter == uartDeviceMap.end()) {
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int fileDescriptor = configureUartPort(uartCookie);
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if (fileDescriptor < 0) {
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return RETURN_FAILED;
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}
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size_t maxReplyLen = uartCookie->getMaxReplyLen();
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UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
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auto status = uartDeviceMap.emplace(deviceFile, uartElements);
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if (status.second == false) {
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sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
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<< "to UART device map" << std::endl;
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return RETURN_FAILED;
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}
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}
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else {
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sif::debug << "UartComIF::initializeInterface: UART device " << deviceFile << " already in "
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<< "use" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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int UartComIF::configureUartPort(UartCookie* uartCookie) {
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struct termios options;
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std::string deviceFile = uartCookie->getDeviceFile();
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int fd = open(deviceFile.c_str(), O_RDWR);
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if (fd < 0) {
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sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
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<< " error code " << errno << strerror(errno) << std::endl;
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return fd;
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}
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/* Read in existing settings */
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if(tcgetattr(fd, &options) != 0) {
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sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
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<< strerror(errno) << std::endl;
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return fd;
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}
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setParityOptions(&options, uartCookie);
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setStopBitOptions(&options, uartCookie);
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setDatasizeOptions(&options, uartCookie);
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setFixedOptions(&options);
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/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 0;
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configureBaudrate(&options, uartCookie);
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/* Save option settings */
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if (tcsetattr(fd, TCSANOW, &options) != 0) {
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sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
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<< ": " << strerror(errno);
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return fd;
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}
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return fd;
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}
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void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear parity bit */
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options->c_cflag &= ~PARENB;
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switch (uartCookie->getParity()) {
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case Parity::EVEN:
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options->c_cflag |= PARENB;
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options->c_cflag &= ~PARODD;
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break;
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case Parity::ODD:
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options->c_cflag |= PARENB;
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options->c_cflag |= PARODD;
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break;
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default:
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break;
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}
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}
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void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear stop field. Sets stop bit to one bit */
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options->c_cflag &= ~CSTOPB;
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switch (uartCookie->getStopBits()) {
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case StopBits::TWO_STOP_BITS:
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options->c_cflag |= CSTOPB;
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break;
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default:
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break;
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}
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}
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void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
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/* Clear size bits */
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options->c_cflag &= ~CSIZE;
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switch (uartCookie->getBitsPerWord()) {
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case 5:
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options->c_cflag |= CS5;
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break;
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case 6:
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options->c_cflag |= CS6;
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break;
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case 7:
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options->c_cflag |= CS7;
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break;
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case 8:
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options->c_cflag |= CS8;
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break;
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default:
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sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
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break;
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}
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}
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void UartComIF::setFixedOptions(struct termios* options) {
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/* Disable RTS/CTS hardware flow control */
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options->c_cflag &= ~CRTSCTS;
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/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
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options->c_cflag |= CREAD | CLOCAL;
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/* Disable canonical mode */
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options->c_lflag &= ~ICANON;
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/* Disable echo */
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options->c_lflag &= ~ECHO;
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/* Disable erasure */
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options->c_lflag &= ~ECHOE;
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/* Disable new-line echo */
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options->c_lflag &= ~ECHONL;
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/* Disable interpretation of INTR, QUIT and SUSP */
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options->c_lflag &= ~ISIG;
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/* Turn off s/w flow ctrl */
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options->c_iflag &= ~(IXON | IXOFF | IXANY);
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/* Disable any special handling of received bytes */
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options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
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/* Prevent special interpretation of output bytes (e.g. newline chars) */
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options->c_oflag &= ~OPOST;
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/* Prevent conversion of newline to carriage return/line feed */
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options->c_oflag &= ~ONLCR;
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}
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void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
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switch (uartCookie->getBaudrate()) {
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case 50:
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cfsetispeed(options, B50);
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cfsetospeed(options, B50);
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break;
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case 75:
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cfsetispeed(options, B75);
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cfsetospeed(options, B75);
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break;
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case 110:
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cfsetispeed(options, B110);
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cfsetospeed(options, B110);
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break;
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case 134:
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cfsetispeed(options, B134);
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cfsetospeed(options, B134);
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break;
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case 150:
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cfsetispeed(options, B150);
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cfsetospeed(options, B150);
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break;
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case 200:
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cfsetispeed(options, B200);
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cfsetospeed(options, B200);
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break;
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case 300:
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cfsetispeed(options, B300);
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cfsetospeed(options, B300);
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break;
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case 600:
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cfsetispeed(options, B600);
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cfsetospeed(options, B600);
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break;
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case 1200:
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cfsetispeed(options, B1200);
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cfsetospeed(options, B1200);
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break;
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case 1800:
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cfsetispeed(options, B1800);
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cfsetospeed(options, B1800);
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break;
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case 2400:
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cfsetispeed(options, B2400);
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cfsetospeed(options, B2400);
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break;
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case 4800:
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cfsetispeed(options, B4800);
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cfsetospeed(options, B4800);
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break;
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case 9600:
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cfsetispeed(options, B9600);
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cfsetospeed(options, B9600);
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break;
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case 19200:
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cfsetispeed(options, B19200);
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cfsetospeed(options, B19200);
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break;
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case 38400:
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cfsetispeed(options, B38400);
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cfsetospeed(options, B38400);
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break;
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case 57600:
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cfsetispeed(options, B57600);
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cfsetospeed(options, B57600);
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break;
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case 115200:
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cfsetispeed(options, B115200);
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cfsetospeed(options, B115200);
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break;
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case 230400:
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cfsetispeed(options, B230400);
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cfsetospeed(options, B230400);
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break;
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case 460800:
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cfsetispeed(options, B460800);
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cfsetospeed(options, B460800);
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break;
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default:
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sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
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break;
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}
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}
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ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
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const uint8_t *sendData, size_t sendLen) {
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int fd = 0;
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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if(sendData == nullptr) {
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sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
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return RETURN_FAILED;
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}
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if(sendLen == 0) {
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return RETURN_OK;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if(uartCookie == nullptr) {
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sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
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<< std::endl;
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return RETURN_FAILED;
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}
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fd = uartDeviceMapIter->second.fileDescriptor;
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
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<< ": Error description: " << strerror(errno) << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
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return RETURN_OK;
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}
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ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) {
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int fd = 0;
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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uint8_t* bufferPtr;
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if(requestLen == 0) {
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return RETURN_OK;
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}
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if(uartCookie == nullptr) {
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sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
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<< " not in uart map" << std::endl;
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return RETURN_FAILED;
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}
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fd = uartDeviceMapIter->second.fileDescriptor;
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bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
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int bytesRead = read(fd, bufferPtr, requestLen);
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if (bytesRead != static_cast<int>(requestLen)) {
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sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
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<< " of " << requestLen << " bytes" << std::endl;
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return RETURN_FAILED;
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}
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else {
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uartDeviceMapIter->second.replyLen = bytesRead;
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}
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return RETURN_OK;
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}
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ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
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uint8_t **buffer, size_t* size) {
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std::string deviceFile;
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UartDeviceMapIter uartDeviceMapIter;
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if(uartCookie == nullptr) {
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sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
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return NULLPOINTER;
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}
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deviceFile = uartCookie->getDeviceFile();
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uartDeviceMapIter = uartDeviceMap.find(deviceFile);
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if (uartDeviceMapIter == uartDeviceMap.end()) {
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sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
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<< " not in uart map" << std::endl;
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return RETURN_FAILED;
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}
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*buffer = uartDeviceMapIter->second.replyBuffer.data();
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*size = uartDeviceMapIter->second.replyLen;
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/* Length is reset to 0 to prevent reading the same data twice */
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uartDeviceMapIter->second.replyLen = 0;
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return RETURN_OK;
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}
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