support linux for uart and ccsds on SILS

Examples/2nd_obc_user/src/src_user/IfWrapper/CMakeLists.txt

@@ -29,7 +29,8 @@ if(USE_SCI_COM_WINGS AND NOT USE_SILS_MOCKUP)
   add_definitions(-DUSE_SCI_COM_WINGS)
   #target_sources(${PROJECT_NAME} PUBLIC
   list(APPEND C2A_SRCS
-    Sils/uart_sils_sci_if.cpp
+    Sils/sils_sci_if.cpp
+    Sils/sils_sci_uart_if.cpp
   )
   message("USE SCI_COM_UART")
 endif()

Examples/2nd_obc_user/src/src_user/IfWrapper/Sils/sils_sci_if.cpp

@@ -0,0 +1,180 @@
+#pragma section REPRO
+/**
+ * @file
+ * @brief   sils_sci_if
+ * @details SCI COMでやりとりするIF
+ */
+
+#include "sils_sci_if.hpp"
+
+#ifdef _WIN32
+SCIComPort::SCIComPort(int port)
+{
+  char port_name[15];
+  snprintf(port_name, 15, "%s%d", "\\\\.\\COM", port);
+  myHComPort_ = CreateFile(port_name, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
+
+  if ((int)myHComPort_ == -1)
+  {
+    // 正常にポートオープンできていない場合は終了
+    CloseHandle(myHComPort_);
+    init_success = false;
+    return;
+  }
+
+  // どうやら正常ポートopenにならないっぽく，これが必要
+  init_success = true;
+
+  // ポートのボーレート、パリティ等を設定
+  config_.BaudRate = 115200;
+  config_.Parity = PARITY_NONE;
+  config_.ByteSize = 8;
+  config_.StopBits = STOPBITS_10;
+
+  // Parity、StopBits、DataBitsも同様に設定
+  SetCommState(myHComPort_, &config_);
+}
+
+SCIComPort::~SCIComPort(void)
+{
+  if (init_success == true)
+  {
+    CloseHandle(myHComPort_);
+  }
+}
+
+int SCIComPort::Send(unsigned char* buffer, size_t offset, size_t count)
+{
+  DWORD toWriteBytes = count; // 送信したいバイト数
+  DWORD writeBytes;           // 実際に送信されたバイト数
+
+  if (init_success == true)
+  {
+    WriteFile(myHComPort_, buffer + offset, toWriteBytes, &writeBytes, NULL);
+    return writeBytes;
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+int SCIComPort::Receive(unsigned char* buffer, size_t offset, size_t count)
+{
+  DWORD fromReadBytes = count; // 受信したいバイト数
+  DWORD dwErrors;
+  COMSTAT ComStat;
+  DWORD dwCount;               // 受信したバイト数
+
+  if (init_success == true)
+  {
+    ClearCommError(myHComPort_, &dwErrors, &ComStat);
+    dwCount = ComStat.cbInQue;
+
+    if (dwCount > 0)
+    {
+      if (dwCount < count)
+      {
+        fromReadBytes = dwCount;
+        ReadFile(myHComPort_, buffer + offset, fromReadBytes, &dwCount, NULL);
+      }
+      else
+      {
+        fromReadBytes = count; // 読み込みすぎるとデータが失われるので読み込む量を制御
+        ReadFile(myHComPort_, buffer + offset, fromReadBytes, &dwCount, NULL);
+      }
+    }
+
+    return dwCount;
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+#else
+
+SCIComPort::SCIComPort(int port)
+{
+  char port_name[13];
+  snprintf(port_name, 13, "%s%d", "/dev/tnt", port);
+  if ((myHComPort_ = open(port_name, O_RDWR | O_NOCTTY | O_NONBLOCK)) < 0)
+  {
+    close(myHComPort_);
+    init_success = false;
+    return;
+  }
+
+  // どうやら正常ポートopenにならないっぽく，これが必要
+  init_success = true;
+
+  cfsetispeed(&config_, 115200);
+  cfsetospeed(&config_, 115200);
+  config_.c_cflag     &=  ~PARENB;            // No Parity
+  config_.c_cflag     &=  ~CSTOPB;            // 1 Stop Bit
+  config_.c_cflag     &=  ~CSIZE;
+  config_.c_cflag     |=  CS8;                // 8 Bits
+  tcsetattr(myHComPort_, TCSANOW, &config_);
+}
+
+SCIComPort::~SCIComPort(void)
+{
+  if (init_success == true)
+  {
+    close(myHComPort_);
+  }
+}
+
+int SCIComPort::Send(unsigned char* buffer, size_t offset, size_t count)
+{
+  unsigned long toWriteBytes = count; // 送信したいバイト数
+  unsigned long writeBytes;           // 実際に送信されたバイト数
+
+  if (init_success == true)
+  {
+    writeBytes = write(myHComPort_, buffer + offset, toWriteBytes);
+    return writeBytes;
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+int SCIComPort::Receive(unsigned char* buffer, size_t offset, size_t count)
+{
+  unsigned long fromReadBytes = count; // 受信したいバイト数
+  unsigned long dwErrors;
+  unsigned long ComStat_cbInQue;
+  unsigned long dwCount;               // 受信したバイト数
+
+  if (init_success == true)
+  {
+    dwCount = ComStat_cbInQue;
+
+    if (dwCount > 0)
+    {
+      if (dwCount < count)
+      {
+        fromReadBytes = dwCount;
+        dwCount = read(myHComPort_, buffer + offset, fromReadBytes);
+      }
+      else
+      {
+        fromReadBytes = count; // 読み込みすぎるとデータが失われるので読み込む量を制御
+        dwCount = read(myHComPort_, buffer + offset, fromReadBytes);
+      }
+    }
+
+    return dwCount;
+  }
+  else
+  {
+    return 0;
+  }
+}
+
+#endif
+
+#pragma section

Examples/2nd_obc_user/src/src_user/IfWrapper/Sils/sils_sci_if.hpp

@@ -0,0 +1,41 @@
+/**
+ * @file
+ * @brief   sils_sci_if
+ * @details SCI COMでやりとりするIF
+ */
+#ifndef SILS_SCI_IF_HPP_
+#define SILS_SCI_IF_HPP_
+
+#ifdef _WIN32
+#include <Windows.h>
+#else
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#endif
+
+#include <stddef.h>
+#include <stdio.h>
+
+class SCIComPort
+{
+public:
+  SCIComPort(int port);
+  virtual ~SCIComPort(void);
+
+  int Send(unsigned char* buffer, size_t length, size_t offset);
+  int Receive(unsigned char* buffer, size_t length, size_t offset);
+
+private:
+#ifdef _WIN32
+  HANDLE myHComPort_;
+  DCB config_;
+#else
+  int myHComPort_;
+  struct termios config_;
+#endif
+  bool init_success;
+};
+
+#endif
+

Examples/2nd_obc_user/src/src_user/IfWrapper/Sils/sils_sci_uart_if.cpp

@@ -0,0 +1,35 @@
+#pragma section REPRO
+/**
+ * @file
+ * @brief   sils_sci_uart_if
+ * @details SILSでDriverのテストをするように作った
+ */
+
+#include "sils_sci_uart_if.hpp"
+
+
+// 最初だけ初期化して、プログラム終了時にポートを閉じるようにしたい
+#ifdef _WIN32
+static SCIComPortUart SILS_SCI_UART_IF_sci_com_(14);
+#else
+static SCIComPortUart SILS_SCI_UART_IF_sci_com_(4);
+#endif
+
+
+int SILS_SCI_UART_IF_init(void)
+{
+  return 0;
+}
+
+int SILS_SCI_UART_IF_tx(unsigned char* data_v, int count)
+{
+  SILS_SCI_UART_IF_sci_com_.Send(data_v, 0, count);
+  return 0;
+}
+
+int SILS_SCI_UART_IF_rx(unsigned char* data_v, int count)
+{
+  return SILS_SCI_UART_IF_sci_com_.Receive(data_v, 0, count);
+}
+
+#pragma section

Examples/2nd_obc_user/src/src_user/IfWrapper/Sils/sils_sci_uart_if.hpp

@@ -0,0 +1,23 @@
+/**
+ * @file
+ * @brief   sils_sci_uart_if
+ * @details SILSでDriverのテストをするように作った
+            sils_sci_ccsds_if.c/hのほぼコピー
+ */
+#ifndef SILS_SCI_UART_IF_HPP_
+#define SILS_SCI_UART_IF_HPP_
+
+#include "sils_sci_if.hpp"
+
+class SCIComPortUart : public SCIComPort
+{
+public:
+    SCIComPortUart(int port) : SCIComPort(port) {};
+    ~SCIComPortUart(void) {};
+};
+
+int SILS_SCI_UART_IF_init();
+int SILS_SCI_UART_IF_tx(unsigned char* data_v, int count);
+int SILS_SCI_UART_IF_rx(unsigned char* data_v, int count);
+
+#endif

Examples/2nd_obc_user/src/src_user/IfWrapper/Sils/uart_sils.cpp

@@ -3,7 +3,7 @@
 #include "../../Settings/port_config.h"
 
 #ifdef USE_SCI_COM_WINGS
-#include "uart_sils_sci_if.hpp"
+#include "sils_sci_uart_if.hpp"
 #endif
 
 int OBC_C2A_SendFromObc(int port_id, unsigned char* buffer, int offset, int count);
@@ -24,7 +24,7 @@ int UART_rx(void* my_uart_v, void* data_v, int buffer_size)
   }
 
 #ifdef USE_SCI_COM_WINGS
-  return SILS_SCI_UART_IF_RX((unsigned char*)data_v, buffer_size);
+  return SILS_SCI_UART_IF_rx((unsigned char*)data_v, buffer_size);
 #else
   return OBC_C2A_ReceivedByObc(my_uart->ch, (unsigned char*)data_v, 0, buffer_size);
 #endif
@@ -46,7 +46,7 @@ int UART_tx(void* my_uart_v, void* data_v, int data_size)
     }
   }
 #ifdef USE_SCI_COM_WINGS
-  SILS_SCI_UART_IF_TX((unsigned char*)data_v, data_size);
+  SILS_SCI_UART_IF_tx((unsigned char*)data_v, data_size);
 #else
   if (OBC_C2A_SendFromObc(my_uart->ch, (unsigned char*)data_v, 0, data_size) < 0)
   {