Added test cpp Project

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

DataSources/PSUCommunicator/testSerial/psuSendReceive.cpp

@@ -0,0 +1,174 @@
+// C library headers
+// setserial /dev/ttyS0 spd_cust
+// setserial /dev/ttyS0 divisor 16
+// stty -F /dev/ttyS0 921600
+
+#include <cstdint>
+#include <cstdlib>
+#include <stdio.h>
+#include <string.h>
+
+// Linux headers
+#include <errno.h>   // Error integer and strerror() function
+#include <fcntl.h>   // Contains file controls like O_RDWR
+#include <termios.h> // Contains POSIX terminal control definitions
+#include <unistd.h>  // write(), read(), close()
+
+#include "PSUMessages.h"
+
+uint8_t packet[2];
+
+int serial_port;
+
+bool CreateCurrentPacket(unsigned int current) {
+  bool ok = true;
+
+  // Calculate the point in the scale of the current
+  int16_t pointOfCurrent = current;
+
+  // Saturate current
+  if (pointOfCurrent < FA_SCALE_MIN)
+    pointOfCurrent = FA_SCALE_MIN;
+  if (pointOfCurrent > FA_SCALE_MAX)
+    pointOfCurrent = FA_SCALE_MAX;
+
+  // Build packets
+  uint16_t pc = (uint16_t)pointOfCurrent;
+  uint16_t nc = ~pc;
+  packet[0] = (uint8_t)(0x0000 | ((nc & 0x03C0) >> 5) | ((pc & 0x0007) << 5));
+  packet[1] = (uint8_t)(0x0001 | ((pc & 0x03F8) >> 2));
+  nc = (uint16_t)packet[1];
+  nc <<= 8;
+  nc &= 0xFF00;
+  nc |= packet[0];
+  printf("Current: %d, Packet 0x%02X 0x%02X\n", current, packet[0], packet[1]);
+
+  return EXIT_SUCCESS;
+}
+
+int read_msg() {
+  // Allocate memory for read buffer, set size according to your needs
+  char read_buf[4];
+
+  // Normally you wouldn't do this memset() call, but since we will just receive
+  // call printf() easily.
+  memset(&read_buf, '\0', sizeof(read_buf));
+  // wait 1 ms
+  usleep(1000);
+
+  // Read bytes. The behaviour of read() (e.g. does it block?,
+  // how long does it block for?) depends on the configuration
+  // settings above, specifically VMIN and VTIME
+  int num_bytes = read(serial_port, &read_buf, sizeof(read_buf));
+
+  // n is the number of bytes read. n may be 0 if no bytes were received, and
+  // can also be -1 to signal an error.
+  if (num_bytes < 0) {
+    printf("Error reading: %s", strerror(errno));
+    return EXIT_FAILURE;
+  }
+
+  // Here we assume we received ASCII data, but you might be sending raw bytes
+  // (in that case, don't try and print it to the screen like this!)
+  printf("Read %i bytes. \t", num_bytes);
+  for (int i = 0; i < num_bytes; i++) {
+    unsigned int val = read_buf[i] & 0xFF;
+    printf("%i: 0x%02X \t", i, val);
+    // printf("%i: %u \n", i, val);
+  }
+  printf("\n");
+  return EXIT_SUCCESS;
+}
+
+int main() {
+  // Open the serial port. Change device path as needed (currently set to an
+  // standard FTDI USB-UART cable type device)
+  serial_port = open("/dev/ttyS2", O_RDWR);
+  if (serial_port <= 0) {
+    printf("Error %i from open: %s\n", serial_port, strerror(errno));
+    return EXIT_FAILURE;
+  }
+
+  const speed_t baud_rate = B921600;
+  // B115200; // B576000; // B460800; OK// B230400; // B9600;B921600;
+  // const speed_t baud_rate = B115200; // B9600;B921600;
+
+  // Create new termios struct, we call it 'tty' for convention
+  struct termios tty;
+
+  // Read in existing settings, and handle any error
+  if (tcgetattr(serial_port, &tty) != 0) {
+    printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
+    return 1;
+  }
+
+  // tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity (most common)
+  tty.c_cflag |= PARENB;
+  tty.c_cflag |= PARODD;
+  tty.c_cflag |= CSTOPB;
+  // tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in
+  //  communication (most common)
+  tty.c_cflag &= ~CSIZE; // Clear all bits that set the data size
+  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 |=
+      CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
+
+  tty.c_lflag &= ~ICANON;
+  tty.c_lflag &= ~ECHO;   // Disable echo
+  tty.c_lflag &= ~ECHOE;  // Disable erasure
+  tty.c_lflag &= ~ECHONL; // Disable new-line echo
+  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 &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR |
+                   ICRNL); // Disable any special handling of received bytes
+  // write(serial_port, packet, sizeof(packet));
+  // printf("Sent : %lu bytes\n", sizeof(packet));
+
+  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 &= ~OXTABS; // Prevent conversion of tabs to spaces (NOT
+  // PRESENT ON LINUX) tty.c_oflag &= ~ONOEOT; // Prevent removal of C-d chars
+  // (0x004) in output (NOT PRESENT ON LINUX)
+
+  tty.c_cc[VTIME] = 10; // Wait for up to 1s (10 deciseconds), returning as soon
+                        // as any data is received.
+  tty.c_cc[VMIN] = 0;
+
+  // Set in/out baud rate
+  cfsetispeed(&tty, baud_rate);
+  cfsetospeed(&tty, baud_rate);
+
+  // Save tty settings, also checking for error
+  if (tcsetattr(serial_port, TCSANOW, &tty) != 0) {
+    printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
+    return 1;
+  }
+  // clear input port
+  read_msg();
+  // Write to serial port
+  // unsigned char msg[] = {FA_STARTOP_MESSAGE_1, 0xFF};
+  packet[0] = FA_STARTOP_MESSAGE_1;
+  packet[1] = FA_STARTOP_MESSAGE_2;
+  write(serial_port, packet, sizeof(packet));
+  printf("Sent : %lu bytes\n", sizeof(packet));
+  read_msg();
+  CreateCurrentPacket(100);
+  write(serial_port, packet, sizeof(packet));
+  printf("Sent : %lu bytes\n", sizeof(packet));
+  read_msg();
+
+  // Halting the execution for 100000 Microseconds (0.1 seconds)
+  usleep(100000);
+  packet[0] = FA_STOPOP_MESSAGE_1;
+  packet[1] = FA_STOPOP_MESSAGE_2;
+  write(serial_port, packet, sizeof(packet));
+  printf("Sent : %lu bytes\n", sizeof(packet));
+  read_msg();
+  close(serial_port);
+  return 0; // success
+};
+;