Fix problems with COBC-EDU protocol (#243)

SpaceTeam · Dec 27, 2023 · 9cc32f4 · 9cc32f4
2 parents 1f6186f + 06c7d9a
commit 9cc32f4
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Showing 6 changed files with 57 additions and 9 deletions.
diff --git a/Sts1CobcSw/Edu/Edu.cpp b/Sts1CobcSw/Edu/Edu.cpp
@@ -41,8 +41,8 @@ constexpr auto resultsReadyCode = 0x02_b;
 
 // Status types byte counts
 constexpr auto nNoEventBytes = 1;
-constexpr auto nProgramFinishedBytes = 6;
-constexpr auto nResultsReadyBytes = 5;
+constexpr auto nProgramFinishedBytes = 8;
+constexpr auto nResultsReadyBytes = 7;
 
 // TODO: Check real timeouts
 // Max. time for the EDU to respond to a request
@@ -93,7 +93,7 @@ auto TurnOn() -> void
     eduEnableGpioPin.Set();
 
     // TODO: Test how high we can set the baudrate without problems (bit errors, etc.)
-    constexpr auto baudRate = 921'600;
+    constexpr auto baudRate = 115'200;
     hal::Initialize(&uart, baudRate);
 }
 
@@ -329,13 +329,13 @@ auto GetStatusCommunication() -> Result<Status>
 }
 
 
-auto ReturnResult() -> Result<ResultInfo>
+auto ReturnResult(ReturnResultData const & data) -> Result<ResultInfo>
 {
     // DEBUG
     RODOS::PRINTF("ReturnResult()\n");
     // END DEBUG
 
-    OUTCOME_TRY(SendData(Serialize(returnResultId)));
+    OUTCOME_TRY(SendData(Serialize(data)));
 
     // DEBUG
     // RODOS::PRINTF("\nStart receiving result\n");
@@ -363,6 +363,11 @@ auto ReturnResult() -> Result<ResultInfo>
         if(returnResultRetryResult.value().eofIsReached)
         {
             RODOS::PRINTF(" ReturnResultRetry() reached EOF\n");
+
+            // TODO: This is a dummy implementation. Store the result instead.
+            RODOS::AT(RODOS::NOW() + 1 * RODOS::MILLISECONDS);
+            SendCommand(cmdAck);
+
             return ResultInfo{.eofIsReached = true, .resultSize = totalResultSize};
         }
 
@@ -373,6 +378,7 @@ auto ReturnResult() -> Result<ResultInfo>
         totalResultSize += returnResultRetryResult.value().resultSize;
         nPackets++;
     }
+
     return ResultInfo{.eofIsReached = false, .resultSize = totalResultSize};
 }
 

diff --git a/Sts1CobcSw/Edu/Edu.hpp b/Sts1CobcSw/Edu/Edu.hpp
@@ -26,6 +26,6 @@ auto TurnOff() -> void;
 [[nodiscard]] auto StopProgram() -> Result<void>;
 // TODD: Find better name (or maybe even mechanism) for GetStatus
 [[nodiscard]] auto GetStatus() -> Result<Status>;
-[[nodiscard]] auto ReturnResult() -> Result<ResultInfo>;
+[[nodiscard]] auto ReturnResult(ReturnResultData const & data) -> Result<ResultInfo>;
 [[nodiscard]] auto UpdateTime(UpdateTimeData const & data) -> Result<void>;
 }
diff --git a/Sts1CobcSw/Edu/Structs.hpp b/Sts1CobcSw/Edu/Structs.hpp
@@ -43,6 +43,14 @@ struct ExecuteProgramData
 };
 
 
+struct ReturnResultData
+{
+    static constexpr auto id = returnResultId;
+    std::uint16_t programId = 0U;
+    std::int32_t startTime = 0U;
+};
+
+
 struct UpdateTimeData
 {
     static constexpr auto id = updateTimeId;
@@ -109,6 +117,12 @@ inline constexpr std::size_t serialSize<edu::ExecuteProgramData> =
                     decltype(edu::ExecuteProgramData::startTime),
                     decltype(edu::ExecuteProgramData::timeout)>;
 
+template<>
+inline constexpr std::size_t serialSize<edu::ReturnResultData> =
+    totalSerialSize<decltype(edu::ReturnResultData::id),
+                    decltype(edu::ReturnResultData::programId),
+                    decltype(edu::ReturnResultData::startTime)>;
+
 template<>
 inline constexpr std::size_t serialSize<edu::UpdateTimeData> =
     totalSerialSize<decltype(edu::UpdateTimeData::id), decltype(edu::UpdateTimeData::currentTime)>;
@@ -128,6 +142,8 @@ template<std::endian endianness>
 template<std::endian endianness>
 [[nodiscard]] auto SerializeTo(void * destination, ExecuteProgramData const & data) -> void *;
 template<std::endian endianness>
+[[nodiscard]] auto SerializeTo(void * destination, ReturnResultData const & data) -> void *;
+template<std::endian endianness>
 [[nodiscard]] auto SerializeTo(void * destination, UpdateTimeData const & data) -> void *;
 }
 }

diff --git a/Sts1CobcSw/Edu/Structs.ipp b/Sts1CobcSw/Edu/Structs.ipp
@@ -58,6 +58,16 @@ auto SerializeTo(void * destination, ExecuteProgramData const & data) -> void *
 }
 
 
+template<std::endian endianness>
+auto SerializeTo(void * destination, ReturnResultData const & data) -> void *
+{
+    destination = SerializeTo<endianness>(destination, ReturnResultData::id);
+    destination = SerializeTo<endianness>(destination, data.programId);
+    destination = SerializeTo<endianness>(destination, data.startTime);
+    return destination;
+}
+
+
 template<std::endian endianness>
 auto SerializeTo(void * destination, UpdateTimeData const & data) -> void *
 {

diff --git a/Sts1CobcSw/EduListenerThread.cpp b/Sts1CobcSw/EduListenerThread.cpp
@@ -100,7 +100,8 @@ class EduListenerThread : public RODOS::StaticThread<>
                             // Edu wants to send result file
                             // Send return result to Edu, Communicate, and interpret the results to
                             // update the S&H Entry from 3 or 4 to 5.
-                            auto returnResultResult = edu::ReturnResult();
+                            auto returnResultResult = edu::ReturnResult(
+                                {.programId = status.programId, .startTime = status.startTime});
                             if(returnResultResult.has_error())
                             {
                                 /*

diff --git a/Tests/HardwareTests/EduCommands.test.cpp b/Tests/HardwareTests/EduCommands.test.cpp
@@ -138,8 +138,23 @@ class EduCommandsTest : public RODOS::StaticThread<>
                 }
                 case 'r':
                 {
-                    PRINTF("Sending ReturnResult()\n");
-                    auto returnResultResult = edu::ReturnResult();
+                    PRINTF("Please enter a program ID (1 character)\n");
+                    auto userInput = ReadCharacters<1>();
+                    std::uint16_t programId = 0;
+                    std::from_chars(begin(userInput), end(userInput), programId);
+
+                    PRINTF("Please enter a start time (1 character)\n");
+                    userInput = ReadCharacters<1>();
+                    std::int32_t startTime = 0;
+                    std::from_chars(begin(userInput), end(userInput), startTime);
+
+                    PRINTF("\n");
+                    PRINTF("Sending ReturnResult(programId = %" PRIu16 ", startTime = %" PRIi32
+                           ")\n",
+                           programId,
+                           startTime);
+                    auto returnResultResult = edu::ReturnResult(
+                        edu::ReturnResultData{.programId = programId, .startTime = startTime});
                     PRINTF("Returned result info:\n");
                     if(returnResultResult.has_error())
                     {