Added UART 9 bit files

Signed-off-by: Bernardo Carvalho <bernardo.carvalho@tecnico.ulisboa.pt>

DataSources/UARTOutput/Makefile.inc

@@ -22,7 +22,7 @@
 #
 #############################################################
 
-OBJSX=UARTOutput.x
+OBJSX=UARTOutput.x UART9Bit.x
 
 PACKAGE=Components/DataSources
 

DataSources/UARTOutput/UART9Bit.cpp

@@ -0,0 +1,375 @@
+/**
+ * @file UART9Bit.cpp
+ * @brief Source file for class UART9Bit.
+ * @date 07/08/2018
+ * @author Andre Neto
+ * @author Pedro Lourenco
+ *
+ * @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
+ * the Development of Fusion Energy ('Fusion for Energy').
+ * Licensed under the EUPL, Version 1.1 or - as soon they will be approved
+ * by the European Commission - subsequent versions of the EUPL (the "Licence")
+ * You may not use this work except in compliance with the Licence.
+ * You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
+ *
+ * @warning Unless required by applicable law or agreed to in writing,
+ * software distributed under the Licence is distributed on an "AS IS"
+ * basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
+ * or implied. See the Licence permissions and limitations under the Licence.
+ *
+ * @details This source file contains the definition of all the methods for
+ * the class UART9Bit (public, protected, and private). Be aware that some
+ * methods, such as those inline could be defined on the header file, instead.
+ */
+
+/*---------------------------------------------------------------------------*/
+/*                         Standard header includes                          */
+/*---------------------------------------------------------------------------*/
+
+/*---------------------------------------------------------------------------*/
+/*                         Project header includes                           */
+/*---------------------------------------------------------------------------*/
+#include "UART9Bit.h"
+
+/*---------------------------------------------------------------------------*/
+/*                           Static definitions                              */
+/*---------------------------------------------------------------------------*/
+/*lint -e628 []. Justification: Argument 'errno' of 'strerror()' provided
+        via <errno.h>.*/
+/*lint -e10 []. Justification: '}' present.*/
+
+/*lint -e{9141} [MISRA C++ Rule 7-3-1]. Justification: 'SpeedTable' declared "
+    "as global.*/
+struct SpeedTable {
+  MARTe::int32 code;
+  MARTe::uint32 speed;
+};
+
+/*lint -e{9141} [MISRA C++ Rule 7-3-1]. Justification: 'speedTable' declared "
+    "as global.*/
+const SpeedTable speedTable[] = {{B0, 0u},
+                                 {B50, 50u},
+                                 {B75, 75u},
+                                 {B110, 110u},
+                                 {B134, 134u},
+                                 {B150, 150u},
+                                 {B200, 200u},
+                                 {B300, 300u},
+                                 {B600, 600u},
+                                 {B1200, 1200u},
+                                 {B1800, 1800u},
+                                 {B2400, 2400u},
+                                 {B4800, 4800u},
+                                 {B9600, 9600u},
+                                 {B19200, 19200u},
+                                 {B38400, 38400u},
+                                 {B57600, 57600u},
+                                 {B115200, 115200u},
+                                 {B230400, 230400u},
+                                 {B460800, 460800u},
+                                 {B500000, 500000u},
+                                 {B576000, 576000u},
+                                 {B921600, 921600u},
+                                 {B1000000, 1000000u},
+                                 {B1152000, 1152000u},
+                                 {B1500000, 1500000u},
+                                 {B2000000, 2000000u},
+                                 {B2500000, 2500000u},
+                                 {B3000000, 3000000u},
+                                 {B3500000, 3500000u},
+                                 {B4000000, 4000000u}};
+
+/*---------------------------------------------------------------------------*/
+/*                           Method definitions                              */
+/*---------------------------------------------------------------------------*/
+namespace MARTe {
+
+/*lint -e{1401} [MISRA C++ Rule 8-5-1]. Justification: FD_ZERO arguments
+        correctly initialised.*/
+UART9Bit::UART9Bit() {
+
+  properties.fileDescriptor = -1;
+  properties.speedCode = B19200;
+  FD_ZERO(&properties.readFDS);
+  FD_ZERO(&properties.readFDS_done);
+  FD_ZERO(&properties.writeFDS);
+  FD_ZERO(&properties.writeFDS_done);
+}
+
+UART9Bit::~UART9Bit() {
+  /*lint -e{1551} []. Justification: thrown exception non critical.*/
+  Close();
+}
+
+bool UART9Bit::SetSpeed(const uint32 speed) {
+
+  bool ok = (properties.fileDescriptor == -1);
+  if (ok) {
+    int32 ix = 0;
+    while ((speedTable[ix].code != __MAX_BAUD) &&
+           (speed > speedTable[ix].speed)) {
+      ix++;
+    }
+    properties.speedCode = speedTable[ix].code;
+    ok = (speed == speedTable[ix].speed);
+  }
+
+  return ok;
+}
+/*lint -e{952} [MISRA C++ Rule 7-1-1]. Justification: Parameter 'name'
+                kept as non const.*/
+bool UART9Bit::Open(const char8 *name) {
+
+  // Info from termios.h:
+  // c_iflag - input modes;
+  // c_oflag - output modes;
+  // c_cflag - control modes;
+  // c_lflag - local modes;
+  // c_cc[NCCS] - special characters.
+
+  bool ok = (properties.fileDescriptor == -1);
+  if (ok) {
+    ok = (name != NULL);
+  }
+  if (ok) {
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operation over signed type.*/
+    properties.fileDescriptor = open(name, O_RDWR | O_NOCTTY | O_NONBLOCK);
+    if (properties.fileDescriptor == -1) {
+      REPORT_ERROR_STATIC(ErrorManagement::OSError,
+                          "UART9Bit::Open - "
+                          "cannot open serial device %s.",
+                          name);
+      ok = false;
+    }
+    FD_SET(properties.fileDescriptor, &properties.readFDS);
+    FD_SET(properties.fileDescriptor, &properties.writeFDS);
+  }
+  if (ok) {
+    struct termios newtio;
+    // Clean all settings
+    cfmakeraw(&newtio);
+    // Eight Data bits
+    // CSIZE - Character size mask. Values are CS5, CS6, CS7, or CS8.
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9117} [MISRA C++ Rule 5-0-4]. Justification: Known signedness
+            change due to implicit conversion.*/
+    /*lint -e{737} []. Justification: Known loss of signedness.*/
+    newtio.c_cflag = (newtio.c_cflag & ~CSIZE) | CS8 | properties.speedCode;
+    // CLOCAL - Ignore modem control lines.
+    // CREAD - Enable receiver.
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9117} [MISRA C++ Rule 5-0-4]. Justification: Known signedness
+            change due to implicit conversion.*/
+    newtio.c_cflag |= (CLOCAL | CREAD);
+    // No parity:
+    // PARENB - Enable parity generation on output and parity checking for
+    // input.
+    // PARODD - If set, then parity for input and output is odd; otherwise
+    // even parity is used.
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9117} [MISRA C++ Rule 5-0-4]. Justification: Known signedness
+            change due to implicit conversion.*/
+    newtio.c_cflag &= ~(PARENB | PARODD);
+    // No hardware handshake:
+    // CRTSCTS - Enable RTS/CTS (hardware) flow control.
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9105} [MISRA C++ Rule 2-13-3]. Justification: Known U suffix
+            missing.*/
+    newtio.c_cflag &= ~CRTSCTS;
+    // One stopbit:
+    // CSTOPB - Set two stop bits, rather than one.
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9117} [MISRA C++ Rule 5-0-4]. Justification: Known signedness
+            change due to implicit conversion.*/
+    newtio.c_cflag &= ~CSTOPB;
+    // IGNBRK - Ignore BREAK condition on input.
+    // newtio.c_iflag = IGNBRK;
+    // Software handshake:
+    // IXON - Enable XON/XOFF flow control on output.
+    // IXANY - Typing any character will restart stopped output.
+    // IXOFF - Enable XON/XOFF flow control on input.
+    // newtio.c_iflag |= (IXON | IXOFF | IXANY);
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9117} [MISRA C++ Rule 5-0-4]. Justification: Known signedness
+            change due to implicit conversion.*/
+    newtio.c_iflag &= ~(IXON | IXOFF | IXANY);
+    // Non cannonical mode
+    // ICANON - Enable canonical mode.
+    // ECHO - Echo input characters.
+    // ECHOE - If ICANON is also set, the ERASE character erases the
+    // preceding input character, and WERASE erases the preceding word.
+    // ISIG - When any of the characters INTR, QUIT, SUSP, or DSUSP are
+    // received, generate the corresponding signal.
+    /*lint -e{9130} [MISRA C++ Rule 5-0-21]. Justification: Known bitwise
+            operations over signed types.*/
+    /*lint -e{9117} [MISRA C++ Rule 5-0-4]. Justification: Known signedness
+            change due to implicit conversion.*/
+    newtio.c_iflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    newtio.c_lflag = 0u;
+    newtio.c_oflag = 0u;
+    // VMIN - Minimum number of characters for noncanonical read (MIN).
+    newtio.c_cc[VMIN] = 1u;
+    // VTIME - Timeout in deciseconds for noncanonical read (TIME).
+    newtio.c_cc[VTIME] = 5u;
+
+    ok = (cfsetspeed(&newtio, static_cast<uint32>(properties.speedCode)) == 0);
+    ErrorManagement::ErrorType errorCode =
+        ok ? ErrorManagement::Information : ErrorManagement::OSError;
+    REPORT_ERROR_STATIC(errorCode,
+                        "UART9Bit::Open - %s serial device %s "
+                        "speed to %u.",
+                        ok ? "successfully set" : "could not set", name,
+                        properties.speedCode);
+
+    if (ok) {
+      ok = (tcsetattr(properties.fileDescriptor, TCSANOW, &newtio) != -1);
+      errorCode = ok ? ErrorManagement::Information : ErrorManagement::OSError;
+      REPORT_ERROR_STATIC(errorCode,
+                          "UART9Bit::Open - %s serial device "
+                          "parameters.",
+                          ok ? "successfully set" : "could not set");
+    }
+  }
+
+  return ok;
+}
+
+void UART9Bit::Close() {
+
+  if (properties.fileDescriptor != -1) {
+    int32 err = close(properties.fileDescriptor);
+    bool ok = (err == 0);
+    ErrorManagement::ErrorType errorCode =
+        ok ? ErrorManagement::Information : ErrorManagement::OSError;
+    REPORT_ERROR_STATIC(errorCode,
+                        "UART9Bit::Close - %s serial "
+                        "interface.",
+                        ok ? "closed" : "failed to close");
+    properties.fileDescriptor = -1;
+  }
+}
+
+/*lint -e{952} [MISRA C++ Rule 7-1-1]. Justification: Parameter 'buffer' kept
+        as non const.*/
+/*lint -e{1762} [MISRA C++ Rule 9-3-3]. Justification: Member function :Read()
+        kept as non const.*/
+bool UART9Bit::Read(char8 *buffer, uint32 &size) {
+
+  size_t readSize = static_cast<size_t>(size);
+  ssize_t readBytes = read(properties.fileDescriptor, buffer, readSize);
+  size = static_cast<uint32>(readBytes);
+  bool ok = (readBytes == static_cast<ssize_t>(size));
+
+  // ErrorManagement::ErrorType errorCode = ok ?
+  //     ErrorManagement::Information :
+  //     ErrorManagement::OSError;
+  // REPORT_ERROR_STATIC(errorCode, "UART9Bit::Read - read %d bytes, "
+  //     "requested %u.", static_cast<int32>(readBytes),
+  //     static_cast<uint32>(readSize));
+
+  return ok;
+}
+
+/*lint -e{952} [MISRA C++ Rule 7-1-1]. Justification: Parameter 'buffer' kept
+        as non const.*/
+bool UART9Bit::Read(char8 *buffer, uint32 &size, const uint32 timeoutUsec) {
+
+  bool ok = true;
+  size_t leftToRead = static_cast<size_t>(size);
+  void *rbuffer = &buffer[0u];
+  while ((leftToRead > 0u) && (ok)) {
+    ok = WaitRead(timeoutUsec);
+    if (ok) {
+      ssize_t readBytes = read(properties.fileDescriptor, rbuffer, leftToRead);
+      ok = (readBytes > 0);
+      if (ok) {
+        leftToRead -= static_cast<size_t>(readBytes);
+        uint32 idx = size - static_cast<uint32>(leftToRead);
+        rbuffer = &buffer[idx];
+      }
+      ErrorManagement::ErrorType errorCode =
+          ok ? ErrorManagement::Information : ErrorManagement::OSError;
+      StreamString errorMessage;
+      /*lint -e{1055} [MISRA C++ Rule 14-8-2]. Justification: Symbol
+              'strerror' declared.*/
+      /*lint -e{746} []. Justification: Prototype not present in
+              MARTe::strerror().*/
+      (void)errorMessage.Printf(" with error %s.", strerror(errno));
+      // Error only verbosity, comment condition if needed.
+      if (!ok) {
+        /*lint -e{578} [MISRA C++ Rule 2-10-2]. Justification: Symbol
+            'Buffer' has an identical name as a global
+            symbol 'buffer'.*/
+        REPORT_ERROR_STATIC(errorCode,
+                            "UART9Bit::Read - %s read %d "
+                            "bytes%s",
+                            ok ? "" : "failed to",
+                            static_cast<int32>(readBytes),
+                            ok ? "." : errorMessage.Buffer());
+      }
+    }
+  }
+  size = (size - static_cast<uint32>(leftToRead));
+
+  return ok;
+}
+
+/*lint -e{952} [MISRA C++ Rule 7-1-1]. Justification: Parameter 'size' kept as
+        non const.*/
+/*lint -e{1762} [MISRA C++ Rule 9-3-3]. Justification: Member function :Read()
+        kept as non const.*/
+/*lint -e{818} [MISRA C++ Rule 7-1-1]. Justification: Parameter 'size' kept as
+        non const.*/
+bool UART9Bit::Write(char8 *buffer, uint32 size) {
+
+  size_t writeSize = static_cast<size_t>(size);
+  ssize_t writtenBytes = write(properties.fileDescriptor, buffer, writeSize);
+  bool ok = (writtenBytes == static_cast<ssize_t>(writeSize));
+
+  // ErrorManagement::ErrorType errorCode = ok ?
+  //     ErrorManagement::Information :
+  //     ErrorManagement::OSError;
+  // REPORT_ERROR_STATIC(errorCode, "UART9Bit::Write - wrote %d bytes, "
+  //     "requested %u.", static_cast<int32>(writtenBytes), size);
+
+  return ok;
+}
+
+bool UART9Bit::WaitRead(const uint32 timeoutUsec) {
+
+  struct timeval timeWait;
+  uint32 tmp = timeoutUsec / 1000000u;
+  timeWait.tv_sec = static_cast<time_t>(tmp);
+  tmp = timeoutUsec % 1000000u;
+  timeWait.tv_usec = static_cast<suseconds_t>(tmp);
+  properties.readFDS_done = properties.readFDS;
+  int32 readyCount =
+      select(properties.fileDescriptor + 1, &properties.readFDS_done,
+             NULL_PTR(fd_set *), NULL_PTR(fd_set *), &timeWait);
+
+  return (readyCount > 0);
+}
+
+bool UART9Bit::WaitWrite(const uint32 timeoutUsec) {
+
+  struct timeval timeWait;
+  uint32 tmp = timeoutUsec / 1000000u;
+  timeWait.tv_sec = static_cast<time_t>(tmp);
+  tmp = timeoutUsec % 1000000u;
+  timeWait.tv_usec = static_cast<suseconds_t>(tmp);
+  properties.writeFDS_done = properties.writeFDS;
+  int32 readyCount =
+      select(properties.fileDescriptor + 1, NULL_PTR(fd_set *),
+             &properties.writeFDS_done, NULL_PTR(fd_set *), &timeWait);
+
+  return (readyCount > 0);
+}
+
+} // namespace MARTe

DataSources/UARTOutput/UART9Bit.h

@@ -0,0 +1,164 @@
+/**
+ * @file UART9Bit.h
+ * @brief Header file for class UART9Bit.
+ * @date 16/08/2021
+ * @author Filippo Sartori
+ * @author Pedro Lourenco
+ *
+ * @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
+ * the Development of Fusion Energy ('Fusion for Energy').
+ * Licensed under the EUPL, Version 1.1 or - as soon they will be approved
+ * by the European Commission - subsequent versions of the EUPL (the "Licence")
+ * You may not use this work except in compliance with the Licence.
+ * You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
+ *
+ * @warning Unless required by applicable law or agreed to in writing,
+ * software distributed under the Licence is distributed on an "AS IS"
+ * basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
+ * or implied. See the Licence permissions and limitations under the Licence.
+ *
+ * @details This header file contains the declaration of the class UART9Bit
+ * with all of its public, protected and private members. It may also include
+ * definitions for inline methods which need to be visible to the compiler.
+ */
+
+#ifndef UART9BIT_H_
+#define UART9BIT_H_
+
+/*---------------------------------------------------------------------------*/
+/*                        Standard header includes                           */
+/*---------------------------------------------------------------------------*/
+
+/*---------------------------------------------------------------------------*/
+/*                        Project header includes                            */
+/*---------------------------------------------------------------------------*/
+#include "AdvancedErrorManagement.h"
+#include "CompilerTypes.h"
+#include "GeneralDefinitions.h"
+#include "StreamString.h"
+#include INCLUDE_FILE_ENVIRONMENT(FileSystem, L1Portability, ENVIRONMENT, BasicUARTProperties.h)
+
+/*---------------------------------------------------------------------------*/
+/*                           Class declaration                               */
+/*---------------------------------------------------------------------------*/
+
+namespace MARTe {
+
+/**
+ * @brief UART implementation based on the Linux general terminal interface
+ * that is provided to control asynchronous communications ports.
+ * @details Some of termio parameters are hard-coded as follows:
+ *     - eight data bits;
+ *     - no parity bit;
+ *     - one stop bit;
+ *     - noncanonical input processing mode.
+ */
+class DLL_API UART9Bit {
+public:
+  /**
+   * @brief Default constructor.
+   * @details FD_ZERO the file descriptors.
+   */
+  UART9Bit();
+
+  /**
+   * @brief Destructor.
+   * @details Calls Close().
+   */
+  virtual ~UART9Bit();
+
+  /**
+   * @brief Sets the speed of the UART. Shall be called before the Open
+   * method.
+   * @param[in] serial the speed to set.
+   * @return true if the speed was successfully updated.
+   */
+  bool SetSpeed(const uint32 speed);
+
+  /**
+   * @brief Opens the UART described by the provided \a name.
+   * @details The UART is open in read/write mode. Many of the UART
+   * properties are hard-coded for the CRIO use-case.
+   * @param[in] name the UART file descriptor location.
+   * @pre
+   *   SetSpeed
+   */
+  bool Open(const char8 *name);
+
+  /**
+   * @brief Closes the UART.
+   * @pre
+   *   Open
+   */
+  void Close();
+
+  /**
+   * @brief Reads \a size bytes into the \a buffer.
+   * @param[in] buffer the memory where to write the read bytes.
+   * @param[in,out] size the number of bytes to read and the number of bytes
+   * that were actually read.
+   * @return true if the Read operation completes successfully (and reads all
+   * the requested bytes).
+   * @pre
+   *   Open
+   */
+  bool Read(char8 *buffer, uint32 &size);
+
+  /**
+   * @brief Reads \a size bytes into the \a buffer within \a timeoutUsec
+   * micro-seconds.
+   * @param[in] buffer the memory where to write the read bytes.
+   * @param[in,out] size the number of bytes to read and the number of bytes
+   * that were actually read.
+   * @param[in] timeoutUsec the maximum time to complete the read operation.
+   * @return true if the Read operation completes successfully within the
+   * timeout (and reads all the requested bytes).
+   * @pre
+   *   Open
+   */
+  bool Read(char8 *buffer, uint32 &size, const uint32 timeoutUsec);
+
+  /**
+   * @brief Waits \a timeoutUsec micro-seconds for data to be available for
+   * reading in the UART.
+   * @param[in] timeoutUsec the maximum time to wait for data to be
+   * available.
+   * @return true if data is available to be read within the timeout.
+   */
+  bool WaitRead(const uint32 timeoutUsec);
+
+  /**
+   * @brief Writes \a size bytes from the \a buffer.
+   * @param[in] buffer the memory where to read the bytes to write.
+   * @param[in] size the number of bytes to write.
+   * @param[in] timeoutUsec the maximum time to complete the read operation.
+   * @return true if the Read operation completes successfully within the
+   * timeout (and reads all the requested bytes).
+   * @pre
+   *   Open
+   */
+  bool Write(char8 *buffer, uint32 size);
+
+  /**
+   * @brief Waits \a timeoutUsec micro-seconds for the UART to be available
+   * for writing data.
+   * @param[in] timeoutUsec the maximum time to wait for the write to be
+   * available.
+   * @return true if the UART is available to write within the timeout.
+   */
+  bool WaitWrite(const uint32 timeoutUsec);
+
+private:
+  /**
+   * Structure with variables/parameters for different Environments.
+   */
+  BasicUARTProperties properties;
+};
+
+} // namespace MARTe
+
+/*---------------------------------------------------------------------------*/
+/*                        Inline method definitions                          */
+/*---------------------------------------------------------------------------*/
+
+#endif /* UART9BIT_H_ */

DataSources/UARTOutput/UARTOutput.h

@@ -35,7 +35,6 @@
 /*---------------------------------------------------------------------------*/
 /*                        Project header includes                            */
 /*---------------------------------------------------------------------------*/
-#include "BasicUART.h"
 #include "DataSourceI.h"
 #include "EmbeddedServiceMethodBinderI.h"
 #include "EventSem.h"
@@ -43,6 +42,7 @@
 #include "RegisteredMethodsMessageFilter.h"
 #include "SingleThreadService.h"
 
+#include "UART9Bit.h"
 /*---------------------------------------------------------------------------*/
 /*                           Class declaration                               */
 /*---------------------------------------------------------------------------*/
@@ -211,7 +211,7 @@ private:
   /**
    * The UART interface.
    */
-  BasicUART serial;
+  UART9Bit serial;
 
   /**
    * Timeout to wait for data to be available.