uartinterface.c

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/*---- "module header" ----------------------------------------------------------------*/
#include "toposens/linux/uartinterface.h"
/*---- <system includes> --------------------------------------------------------------*/
#include <fcntl.h>  //Used for UART
#include <pthread.h>
#include <semaphore.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>  //Used for UART
#include <unistd.h>
 
/*---- "library includes" -------------------------------------------------------------*/
#include "toposens/uart_wrapper.h"
/*---- "project includes" -------------------------------------------------------------*/
 
/*---- local macros and constants -----------------------------------------------------*/
#define UART_TIMEOUT 1
 
#define UART_TIMEOUT_US 0
#define UART_MAX_PAYLOAD_SIZE 10
#define UART_LOOP_WAIT_TIME 500
/*---- local types --------------------------------------------------------------------*/
typedef struct UartInterface_t
{
  uint8_t InterfaceId_u8;
  char InterfaceName[DEVICE_NAME_LEN];
  uint32_t InterfaceBitrate_u32;
} UartInterface_t;
/*---- local functions prototypes -----------------------------------------------------*/
 
static int SetupInterface(char* InterfaceName_cp, uint32_t InterfaceBitrate_u32);
 
static void StartReceiverThread(uint8_t InterfaceId_u8, uint32_t InterfaceBitrate_u32,
                                char* InterfaceName_cp);
 
int ReceiverThreadShouldRunUART_b();
 
void* Receiver(void* arg);
 
static ssize_t ReadMsg(uint8_t* Msg_pu8, int InterfaceFS_i);
 
static void PrintUARTPayload(uint8_t* Payload_pu8, uint8_t Length_u8);
 
static void PrintPayload(uint8_t* Payload_pu8, uint8_t Length_u8);
/*---- local inline functions ---------------------------------------------------------*/
 
/*---- local variables (static) -------------------------------------------------------*/
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
static pthread_t receiver_thread_id;
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
static bool ReceiverThreadShouldRun = false;
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
static sem_t thread_sem;
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
static pthread_mutex_t mutex_uart_receiver = PTHREAD_MUTEX_INITIALIZER;
// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
static void (*ReadCallback)(uint8_t* UARTMsg_pu8, uint16_t DataSize_u16,
                            uint8_t InterfaceId_u8) = NULL;
static int uart_fs;
static bool ConnectedToUART_b = false;
static int UART_fs[MAX_NUMBER_OF_SENSORS_ON_BUS] = {-1};
/*---- public variables ---------------------------------------------------------------*/
 
/*---- functions ----------------------------------------------------------------------*/
 
void RegisterUARTReadCallback(void (*Callback)(uint8_t* UARTMsg_pu8, uint16_t UARTMsgSize_u16,
                                               uint8_t InterfaceId_u8))
{
  MPRINTF("RegisterReadCallback\n");
  ReadCallback = Callback;
}
 
static ssize_t ReadMsg(uint8_t* Msg_pu8, int InterfaceFS_i)
{
  ssize_t Length = 0;
  Length = read(InterfaceFS_i, Msg_pu8, UART_MAX_BUF_LEN);
  return Length;
}
 
int WriteUARTPayload(uint8_t* Payload_pu8, uint8_t Length_u8, uint8_t InterfaceId_u8)
{
  PrintUARTPayload(Payload_pu8, Length_u8);
  int16_t BytesWritten_i16 = 0;
  BytesWritten_i16 = write(UART_fs[InterfaceId_u8], Payload_pu8, Length_u8);
  if (BytesWritten_i16 < 0)
  {
    perror("Write");
    return 1;
  }
  MPRINTF("Wrote %d Bytes\n", BytesWritten_i16);
  return 0;
}
 
static void PrintPayload(uint8_t* Payload_pu8, uint8_t Length_u8)
{
  for (int i = 0; i < Length_u8; i++)
  {
    MPRINTF("%02X ", Payload_pu8[i]);
  }
  MPRINTF("\r\n");
}
 
static int SetupInterface(char* InterfaceName_cp, uint32_t InterfaceBitrate_u32)
{
  MPRINTF("SetupInterface\n");
 
  uart_fs = -1;
  uart_fs = open(InterfaceName_cp, O_RDWR | O_NOCTTY | O_CLOEXEC);
 
  if (uart_fs == -1)
  {
    MPRINTF("Error - Unable to open UART.  Ensure it is not in use by another application\n");
  }
  else
  {
    struct termios options;
    memset(&options, 0x00, sizeof(options));
    tcgetattr(uart_fs, &options);
    options.c_cflag = InterfaceBitrate_u32 | CS8 | CLOCAL | CREAD;  //<Set baud rate
    options.c_iflag = IGNPAR;
    options.c_oflag = 0;
    options.c_lflag = 0;
    tcflush(uart_fs, TCIFLUSH);
    tcsetattr(uart_fs, TCSANOW, &options);
  }
  return uart_fs;
}
 
int SetupUARTPort(char* InterfaceName_cp, uint32_t InterfaceBitrate_u32, uint8_t InterfaceId_u8)
{
  sem_init(&thread_sem, 0, 1);
  pthread_mutex_lock(&mutex_uart_receiver);
  ReceiverThreadShouldRun = true;
  pthread_mutex_unlock(&mutex_uart_receiver);
  sem_wait(&thread_sem);
  StartReceiverThread(InterfaceId_u8, InterfaceBitrate_u32, InterfaceName_cp);
  sem_wait(&thread_sem);
  sem_post(&thread_sem);
 
  ConnectedToUART_b = true;
  return 0;
}
 
int DeinitUARTPort()
{
  pthread_mutex_lock(&mutex_uart_receiver);
  ReceiverThreadShouldRun = false;
  pthread_mutex_unlock(&mutex_uart_receiver);
  (void)pthread_join(receiver_thread_id, NULL);
  return 0;
}
 
static void StartReceiverThread(uint8_t InterfaceId_u8, uint32_t InterfaceBitrate_u32,
                                char* InterfaceName_cp)
{
  MPRINTF("StartReceiverThread\n");
  UartInterface_t* NewInterface_pt = malloc(sizeof(*NewInterface_pt));
  memcpy(NewInterface_pt->InterfaceName, InterfaceName_cp, DEVICE_NAME_LEN);
  NewInterface_pt->InterfaceId_u8 = InterfaceId_u8;
  NewInterface_pt->InterfaceBitrate_u32 = InterfaceBitrate_u32;
  int err = 0;
  err = pthread_create(&(receiver_thread_id), NULL, &Receiver, NewInterface_pt);
  if (err != 0)
  {
    MPRINTF("\ncan't create thread :[%s]", strerror(err));
  }
  else
  {
    MPRINTF("UART-Receiver Thread created successfully\n");
  }
}
 
int ReceiverThreadShouldRunUART_b()
{
  int value = 0;
 
  pthread_mutex_lock(&mutex_uart_receiver);
  value = ReceiverThreadShouldRun;
  pthread_mutex_unlock(&mutex_uart_receiver);
 
  return value;
}
 
void* Receiver(void* arg)
{
  UartInterface_t* NewInterface_pt = (UartInterface_t*)arg;
  UartInterface_t NewInterface;
  memcpy(&NewInterface, NewInterface_pt, sizeof(NewInterface));
  free(arg);
  uint32_t Bitrate_u32 = NewInterface.InterfaceBitrate_u32;
#ifndef NOREALPRINTF
  uint8_t InterfaceId_u8 = NewInterface.InterfaceId_u8;
#endif
  char* InterfaceName = NewInterface.InterfaceName;
  MPRINTF("--------------------\n");
  MPRINTF("Add New Interface: \n");
  MPRINTF("Bitrate: %d\n", Bitrate_u32);
#ifndef NOREALPRINTF
  MPRINTF("InterfaceId_u8: %d\n", InterfaceId_u8);
#endif
  MPRINTF("InterfaceName: %s\n", InterfaceName);
  int InterfaceFS_i = SetupInterface(InterfaceName, Bitrate_u32);
  MPRINTF("InterfaceFS_i: %d\n", InterfaceFS_i);
  MPRINTF("--------------------\n");
  UART_fs[NewInterface.InterfaceId_u8] = InterfaceFS_i;
  if (InterfaceFS_i > 0)
  {
    MPRINTF("Interface setup successful\n");
  }
  else
  {
    MPRINTF("Interface setup failed\n");
  }
  sem_post(&thread_sem);
  uint8_t Payload_pu8[UART_MAX_BUF_LEN] = {0};
  while (ReceiverThreadShouldRunUART_b())
  {
    ssize_t Size = ReadMsg(Payload_pu8, InterfaceFS_i);
    MPRINTF("Test Size: %zd\n", Size);
    if (Size > 0)
    {
      PrintUARTPayload(Payload_pu8, Size);
      if (ReadCallback != NULL)
      {
        if (Size < UINT8_MAX)
        {
          uint8_t Size_u8 = (uint8_t)Size;
          ReadCallback(Payload_pu8, Size_u8, NewInterface.InterfaceId_u8);
        }
      }
    }
    usleep(UART_LOOP_WAIT_TIME);
  }
  close(InterfaceFS_i);
  MPRINTF("End Receiver\n");
  return NULL;
}
 
static void PrintUARTPayload(uint8_t* Payload_pu8, uint8_t Length_u8)
{
  MPRINTF("Payload: \n ");
  for (uint8_t Idx_u8 = 0; Idx_u8 < Length_u8; Idx_u8++)
  {
    MPRINTF("%02X ", Payload_pu8[Idx_u8]);
  }
  MPRINTF("\n");
}