Marcelo/protocol transport

.gitignore

@@ -22,6 +22,7 @@
 
 # Executables
 build/
+Debug/*
 *.exe
 *.out
 *.app

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "Components/SoarProtocol/SoarProto"]
+	path = Components/SoarProtocol/SoarProto
+	url = [email protected]:StudentOrganisationForAerospaceResearch/SoarProto.git

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1110344888987081543" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-175912248659748409" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1110342408155303648" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-175911365609942034" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

.settings/stm32cubeide.project.prefs

@@ -1,4 +1,4 @@
 66BE74F758C12D739921AEA421D593D3=0
-8DF89ED150041C4CBC7CB9A9CAA90856=20DC75955B86F89F3643A2AE9216343C
-DC22A860405A8BF2F2C095E5B6529F12=20DC75955B86F89F3643A2AE9216343C
+8DF89ED150041C4CBC7CB9A9CAA90856=FC9055A67881517C9FBBF9ADE1A1E100
+DC22A860405A8BF2F2C095E5B6529F12=FC9055A67881517C9FBBF9ADE1A1E100
 eclipse.preferences.version=1

Components/Communication/Inc/UARTTask.hpp

@@ -16,7 +16,11 @@
 enum UART_TASK_COMMANDS {
 	UART_TASK_COMMAND_NONE = 0,
 	UART_TASK_COMMAND_SEND_DEBUG,
-	UART_TASK_COMMAND_MAX
+	UART_TASK_COMMAND_MAX,
+	UART_TASK_COMMAND_SEND_DMB,
+	UART_TASK_COMMAND_SEND_SOB,
+	UART_TASK_COMMAND_SEND_PBB,
+	UART_TASK_COMMAND_SEND_PI
 };
 
 

Components/Communication/UARTTask.cpp

@@ -74,6 +74,18 @@ void UARTTask::HandleCommand(Command& cm)
 		case UART_TASK_COMMAND_SEND_DEBUG:
 			HAL_UART_Transmit(SystemHandles::UART_Debug, cm.GetDataPointer(), cm.GetDataSize(), DEBUG_SEND_MAX_TIME_MS);
 			break;
+		case UART_TASK_COMMAND_SEND_DMB:
+			HAL_UART_Transmit(SystemHandles::UART_Radio, cm.GetDataPointer(), cm.GetDataSize(), DEBUG_SEND_MAX_TIME_MS);
+			break;
+		case UART_TASK_COMMAND_SEND_SOB:
+			HAL_UART_Transmit(SystemHandles::UART_SOB, cm.GetDataPointer(), cm.GetDataSize(), DEBUG_SEND_MAX_TIME_MS);
+			break;
+		case UART_TASK_COMMAND_SEND_PBB:
+			HAL_UART_Transmit(SystemHandles::UART_Radio, cm.GetDataPointer(), cm.GetDataSize(), DEBUG_SEND_MAX_TIME_MS);
+			break;
+		case UART_TASK_COMMAND_SEND_PI:
+			HAL_UART_Transmit(SystemHandles::UART_PI, cm.GetDataPointer(), cm.GetDataSize(), DEBUG_SEND_MAX_TIME_MS);
+			break;
 		default:
 			SOAR_PRINT("UARTTask - Received Unsupported DATA_COMMAND {%d}\n", cm.GetTaskCommand());
 			break;

Components/Core/Command.cpp

@@ -11,7 +11,7 @@
 #include "Command.hpp"
 #include "SystemDefines.hpp"
 
-#include <cstring> 	// Support for memcpy
+#include <cstring>     // Support for memcpy
 
 /* Static Variable Init ------------------------------------------------------------------*/
 std::atomic<uint16_t> Command::statAllocationCounter; // Static variable init
@@ -83,9 +83,9 @@ Command::Command(GLOBAL_COMMANDS command, uint16_t taskCommand)
 /**
  * @brief Dynamically allocates memory for the command with the given data size
  * @param dataSize Size of array to allocate
- * @return TRUE on success, FALSE on failure (mem already allocated)
+ * @return Pointer to data on success, nullptr on failure (mem already allocated)
 */
-bool Command::AllocateData(uint16_t dataSize)
+uint8_t* Command::AllocateData(uint16_t dataSize)
 {
     // If we don't have anything allocated, allocate and return success
     if (this->data == nullptr && !bShouldFreeData) {
@@ -96,9 +96,9 @@ bool Command::AllocateData(uint16_t dataSize)
 
         //TODO: May want to print out whenever we have an imbalance in statAllocationCounter by more than ~5 or so.
         SOAR_ASSERT(statAllocationCounter < MAX_NUMBER_OF_COMMAND_ALLOCATIONS);
-        return true;
+        return this->data;
     }
-    return false;
+    return nullptr;
 }
 
 /**
@@ -127,14 +127,14 @@ bool Command::SetCommandToStaticExternalBuffer(uint8_t* existingPtr, uint16_t si
  */
 bool Command::CopyDataToCommand(uint8_t* dataSrc, uint16_t size)
 {
-	// If we successfully allocate, copy the data and return success
+    // If we successfully allocate, copy the data and return success
     if(this->AllocateData(size)
-		&& this->data != nullptr) {
-		memcpy(this->data, dataSrc, size);
-		return true;
-	}
+        && this->data != nullptr) {
+        memcpy(this->data, dataSrc, size);
+        return true;
+    }
 
-	return false;
+    return false;
 }
 
 /**
@@ -145,6 +145,8 @@ void Command::Reset()
     if(bShouldFreeData && data != nullptr) {
         soar_free(data);
         statAllocationCounter -= 1;
+		data = nullptr;
+        bShouldFreeData = false;
     }
 }
 

Components/Core/Inc/Command.hpp

@@ -2,7 +2,7 @@
  ******************************************************************************
  * File Name          : Command.hpp
  * Description        : Command is a unique object used to communicate information
- *	to and between tasks.
+ *    to and between tasks.
  ******************************************************************************
 */
 #ifndef AVIONICS_INCLUDE_SOAR_CORE_COMMAND_H
@@ -21,7 +21,8 @@ enum GLOBAL_COMMANDS : uint8_t
 	TASK_SPECIFIC_COMMAND,	// Runs a task specific command when given this object
 	DATA_COMMAND,			// Data command, used to send data to a task. Target is stored in taskCommand
     CONTROL_ACTION,			// Control actions, used in Rocket State Machine, direct translation to RCU<->DMB Protocol
-	REQUEST_COMMAND			// Request command
+	REQUEST_COMMAND,			// Request command
+    PROTOCOL_COMMAND,           // Protocol command, used for commands to the Protocol Task
 };
 
 /* Class -----------------------------------------------------------------*/
@@ -36,44 +37,45 @@ enum GLOBAL_COMMANDS : uint8_t
 class Command
 {
 public:
-	Command(void);
-	Command(GLOBAL_COMMANDS command);
-	Command(uint16_t taskCommand);
-	Command(GLOBAL_COMMANDS command, uint16_t taskCommand);
+    Command(void);
+    Command(GLOBAL_COMMANDS command);
+    Command(uint16_t taskCommand);
+    Command(GLOBAL_COMMANDS command, uint16_t taskCommand);
 
-	//~Command();	// We can't handle memory like this, since the object would be 'destroyed' after copying to the RTOS queue
+    //~Command();    // We can't handle memory like this, since the object would be 'destroyed' after copying to the RTOS queue
 
-	// Functions
-	bool AllocateData(uint16_t dataSize);	// Dynamically allocates data for the command
-	bool CopyDataToCommand(uint8_t* dataSrc, uint16_t size);	// Copies the data into the command, into newly allocated memory
-	bool SetCommandToStaticExternalBuffer(uint8_t* existingPtr, uint16_t size);	// Set data pointer to a pre-allocated buffer, if bFreeMemory is set to true, responsibility for freeing memory will fall on Command
+    // Functions
+    uint8_t* AllocateData(uint16_t dataSize);    // Dynamically allocates data for the command
+    bool CopyDataToCommand(uint8_t* dataSrc, uint16_t size);    // Copies the data into the command, into newly allocated memory
+    bool SetCommandToStaticExternalBuffer(uint8_t* existingPtr, uint16_t size);    // Set data pointer to a pre-allocated buffer, if bFreeMemory is set to true, responsibility for freeing memory will fall on Command
 
-	void Reset();	// Reset the command, equivalent of a destructor that must be called, counts allocations and deallocations, asserts an error if the allocation count is too high
+    void Reset();    // Reset the command, equivalent of a destructor that must be called, counts allocations and deallocations, asserts an error if the allocation count is too high
 
-	// Getters
-	uint16_t GetDataSize() const;
-	uint8_t* GetDataPointer() const { return data; }
-	GLOBAL_COMMANDS GetCommand() const { return command; }
-	uint16_t GetTaskCommand() const { return taskCommand; }
+    // Getters
+    uint16_t GetDataSize() const;
+    uint8_t* GetDataPointer() const { return data; }
+    GLOBAL_COMMANDS GetCommand() const { return command; }
+    uint16_t GetTaskCommand() const { return taskCommand; }
 
-	// Setters
-	void SetTaskCommand(uint16_t taskCommand) { this->taskCommand = taskCommand; }
+    // Setters
+    void SetTaskCommand(uint16_t taskCommand) { this->taskCommand = taskCommand; }
+    void SetDataSize(uint16_t size) { dataSize = size; }
 
 
 protected:
-	// Data -- note each insertion and removal from a queue will do a full copy of this object, so this data should be as small as possible
-	GLOBAL_COMMANDS command;	// General GLOBAL command, each task must be able to handle these types of commands
-	uint16_t taskCommand;		// Task specific command, the task this command event is sent to needs to handle this
+    // Data -- note each insertion and removal from a queue will do a full copy of this object, so this data should be as small as possible
+    GLOBAL_COMMANDS command;    // General GLOBAL command, each task must be able to handle these types of commands
+    uint16_t taskCommand;        // Task specific command, the task this command event is sent to needs to handle this
 
-	uint8_t* data;				// Pointer to optional data
-	uint16_t dataSize;			// Size of optional data
+    uint8_t* data;                // Pointer to optional data
+    uint16_t dataSize;            // Size of optional data
 
 private:
-	bool bShouldFreeData;		// Should the Command handle freeing the data pointer (necessary to enable Command object to handle static memory ptrs)
+    bool bShouldFreeData;        // Should the Command handle freeing the data pointer (necessary to enable Command object to handle static memory ptrs)
 
-	static std::atomic<uint16_t> statAllocationCounter;	// Static allocation counter shared by all command objects
+    static std::atomic<uint16_t> statAllocationCounter;    // Static allocation counter shared by all command objects
 
-	Command(const Command&);	// Prevent copy-construction
+    Command(const Command&);    // Prevent copy-construction
 };
 
 #endif /* AVIONICS_INCLUDE_SOAR_CORE_COMMAND_H */

Components/Core/Inc/DMAController.hpp

@@ -21,17 +21,17 @@
 class DMAController
 {
 public:
-	// Constructors
-	DMAController(void);
+    // Constructors
+    DMAController(void);
 
-	// Functions
+    // Functions
 
-	// Getters
+    // Getters
 
-	// Setters
+    // Setters
 
-	// Static/Setup
-	static void SetupCallbacks();	// Register the DMA callbacks
+    // Static/Setup
+    static void SetupCallbacks();    // Register the DMA callbacks
 
 protected:
 

Components/Core/Inc/Mutex.hpp

@@ -20,16 +20,16 @@
 class Mutex
 {
 public:
-	// Constructors / Destructor
-	Mutex();
-	~Mutex();
+    // Constructors / Destructor
+    Mutex();
+    ~Mutex();
 
-	// Public functions
-	bool Lock(uint32_t timeout_ms = portMAX_DELAY);
-	bool Unlock();
+    // Public functions
+    bool Lock(uint32_t timeout_ms = portMAX_DELAY);
+    bool Unlock();
 
 private:
-	SemaphoreHandle_t rtSemaphoreHandle;
+    SemaphoreHandle_t rtSemaphoreHandle;
 
 };
 

Components/Core/Inc/Task.hpp

@@ -26,6 +26,7 @@ class Task {
 
     Queue* GetEventQueue() const { return qEvtQueue; }
     void SendCommand(Command cmd) { qEvtQueue->Send(cmd); }
+    void SendCommandReference(Command& cmd) { qEvtQueue->Send(cmd); }
 
 protected:
     //RTOS