[nasa/nos3#381] Fixed Reaction Wheel Checkout app and main app/device…

… to work with device as intended

fsw/cfs/src/generic_reaction_wheel_app.c

@@ -22,6 +22,15 @@
 */
 GENERIC_RW_AppData_t GENERIC_RW_AppData;
 
+static char deviceName0[] = "/dev/tty2";
+static char deviceName1[] = "/dev/tty3";
+static char deviceName2[] = "/dev/tty4";
+static uart_info_t RW_UART[3] = {
+    {.deviceString = &deviceName0[0], .handle = 2, .isOpen = PORT_CLOSED, .baud = 115200},
+    {.deviceString = &deviceName1[0], .handle = 3, .isOpen = PORT_CLOSED, .baud = 115200},
+    {.deviceString = &deviceName2[0], .handle = 4, .isOpen = PORT_CLOSED, .baud = 115200},
+};
+
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *  * *  * * * * **/
 /* GENERIC_RW_AppMain() -- Application entry point and main process loop      */
 /*                                                                            */
@@ -376,7 +385,7 @@ int32 GENERIC_RW_Current_Momentum( const GENERIC_RW_Noop_t *Msg )
 
     /* Read data from the UARTs for all 3 wheels */
     for (int i = 0; i < 3; i++) {
-        status = GetCurrentMomentum(i, &momentum);
+        status = GetCurrentMomentum(&RW_UART[i], &momentum);
         //OS_printf("GENERIC_RW: GetCurrentMomentum:  status=%d, momentum=%f\n", status, momentum);
         if (status > 0) {
             GENERIC_RW_AppData.HkTlm.Payload.data.momentum[i] = momentum;
@@ -412,7 +421,7 @@ int32_t GENERIC_RW_Set_Torque( const GENERIC_RW_Cmd_t *Msg )
 
     wheel_num = cmd->wheel_number;
 
-    status = SetRWTorque(wheel_num, torque);
+    status = SetRWTorque(&RW_UART[wheel_num], torque);
 
     if (status < 0)
     {

fsw/shared/generic_reaction_wheel_device.c

@@ -14,23 +14,23 @@
 /************************************************************************
 ** Get current momentum data from the UART
 *************************************************************************/
-int32_t GetCurrentMomentum(int wheel_number, double *momentum)
+int32_t GetCurrentMomentum(uart_info_t *wheel, double *momentum)
 {
     uint8_t DataBuffer[1024];
     int32_t DataLen;
     char *reply;
 
     char *request = "CURRENT_MOMENTUM";
-    int32_t status = uart_write_port(&RW_UART[wheel_number], (uint8_t*)request, strlen(request));
+    int32_t status = uart_write_port(wheel, (uint8_t*)request, strlen(request));
     if (status < 0) {
         OS_printf("GetCurrentMomentum: Error writing to UART=%d\n", status);
     }
     /* check how many bytes are waiting on the uart */
-    DataLen = uart_bytes_available(&RW_UART[wheel_number]);
+    DataLen = uart_bytes_available(wheel);
     if (DataLen > 0)
     {
         /* grab the bytes */
-        status = uart_read_port(&RW_UART[wheel_number], DataBuffer, DataLen);
+        status = uart_read_port(wheel, DataBuffer, DataLen);
         if (status < 0) {
            OS_printf("GetCurrentMomentum: Error reading from UART=%d\n", status);
         } else {
@@ -52,13 +52,13 @@ int32_t GetCurrentMomentum(int wheel_number, double *momentum)
 /* SetRWTorque();                                                             */
 /*                                                                            */
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * **/
-int32_t SetRWTorque( uint8_t wheel_num, double torque )
+int32_t SetRWTorque( uart_info_t *wheel, double torque )
 {
     int32_t status;
     char request[22];
 
     sprintf(request, "SET_TORQUE=%10.4f", torque);
-    status = uart_write_port(&RW_UART[wheel_num], (uint8_t*)request, strlen(request));
+    status = uart_write_port(wheel, (uint8_t*)request, strlen(request));
     //OS_printf("Generic Reaction Wheel: Sending command:%s\n", request);
     if (status < 0) {
         OS_printf("Generic Reaction Wheel: Error writing to UART=%d\n", status);
@@ -67,10 +67,10 @@ int32_t SetRWTorque( uint8_t wheel_num, double torque )
         uint8_t DataBuffer[1024];
         int32_t DataLen;
         /* check how many bytes are waiting on the uart */
-        DataLen = uart_bytes_available(&RW_UART[wheel_num]);
+        DataLen = uart_bytes_available(wheel);
         if (DataLen > 0)
         {
-            uart_read_port(&RW_UART[wheel_num], DataBuffer, DataLen);
+            uart_read_port(wheel, DataBuffer, DataLen);
             DataBuffer[DataLen] = 0; // Ensure null termination
             //OS_printf("Generic Reaction Wheel: Response on UART=%s\n", (char *)DataBuffer);
         }

fsw/shared/generic_reaction_wheel_device.h

@@ -15,14 +15,8 @@
 #include "hwlib.h"
 #include "generic_reaction_wheel_platform_cfg.h"
 
-static uart_info_t RW_UART[3] = {
-    {.deviceString = &GENERIC_REACTION_WHEEL_1_CFG_STRING[0], .handle = GENERIC_REACTION_WHEEL_1_CFG_HANDLE, .isOpen = GENERIC_REACTION_WHEEL_1_CFG_IS_OPEN, .baud = GENERIC_REACTION_WHEEL_1_CFG_BAUDRATE_HZ},
-    {.deviceString = &GENERIC_REACTION_WHEEL_2_CFG_STRING[0], .handle = GENERIC_REACTION_WHEEL_2_CFG_HANDLE, .isOpen = GENERIC_REACTION_WHEEL_2_CFG_IS_OPEN, .baud = GENERIC_REACTION_WHEEL_2_CFG_BAUDRATE_HZ},
-    {.deviceString = &GENERIC_REACTION_WHEEL_3_CFG_STRING[0], .handle = GENERIC_REACTION_WHEEL_3_CFG_HANDLE, .isOpen = GENERIC_REACTION_WHEEL_3_CFG_IS_OPEN, .baud = GENERIC_REACTION_WHEEL_3_CFG_BAUDRATE_HZ},
-};
-
 /* Forward declarations */
-int32_t GetCurrentMomentum(int wheel_number, double *momentum);
-int32_t SetRWTorque(uint8_t wheel_num, double torque);
+int32_t GetCurrentMomentum(uart_info_t *wheel, double *momentum);
+int32_t SetRWTorque(uart_info_t *wheel, double torque);
 
 #endif /* _SAMPLE_DEVICE_H_ */

fsw/standalone/generic_reaction_wheel_checkout.c

@@ -15,8 +15,12 @@
 /*
 ** Global Variables
 */
-
-double RwData;
+static uart_info_t RW_UART[3] = {
+    {.deviceString = &GENERIC_REACTION_WHEEL_1_CFG_STRING[0], .handle = GENERIC_REACTION_WHEEL_1_CFG_HANDLE, .isOpen = GENERIC_REACTION_WHEEL_1_CFG_IS_OPEN, .baud = GENERIC_REACTION_WHEEL_1_CFG_BAUDRATE_HZ},
+    {.deviceString = &GENERIC_REACTION_WHEEL_2_CFG_STRING[0], .handle = GENERIC_REACTION_WHEEL_2_CFG_HANDLE, .isOpen = GENERIC_REACTION_WHEEL_2_CFG_IS_OPEN, .baud = GENERIC_REACTION_WHEEL_2_CFG_BAUDRATE_HZ},
+    {.deviceString = &GENERIC_REACTION_WHEEL_3_CFG_STRING[0], .handle = GENERIC_REACTION_WHEEL_3_CFG_HANDLE, .isOpen = GENERIC_REACTION_WHEEL_3_CFG_IS_OPEN, .baud = GENERIC_REACTION_WHEEL_3_CFG_BAUDRATE_HZ},
+};
+int32_t RwData;
 
 /*
 ** Component Functions
@@ -77,7 +81,7 @@ int process_command(int cc, int num_tokens, char tokens[MAX_INPUT_TOKENS][MAX_IN
 {
     int32_t status = OS_SUCCESS;
     int32_t exit_status = OS_SUCCESS;
-    int32_t torque;
+    uint32_t torque;
 
     /* Process command */
     switch(cc) 
@@ -93,16 +97,16 @@ int process_command(int cc, int num_tokens, char tokens[MAX_INPUT_TOKENS][MAX_IN
         case CMD_GET_MOMENTUM:
             if (check_number_arguments(num_tokens, 0) == OS_SUCCESS)
             {
-                for ( int i = 0; i < sizeof(RW_UART); i++)
+                for ( int i = 0; i < 3; i++)
                 {
-                    status = GetCurrentMomentum(i, &RwData);
-                    if (status == OS_SUCCESS)
+                    status = GetCurrentMomentum(&RW_UART[i], &RwData);
+                    if (status < 0)
                     {
-                        OS_printf("RW_GetCurrentMomentum: Success! Momentum: %d\n", &RwData);
+                        OS_printf("GENERIC_REACTION_WHEEL_RequestData command failed for RW %d!\n", i);
                     }
                     else
                     {
-                        OS_printf("GENERIC_REACTION_WHEEL_RequestData command failed!\n");
+                        OS_printf("RW_GetCurrentMomentum: Success for RW %d! Momentum: %ld\n", i, RwData);
                     }
                 }
             }
@@ -111,18 +115,18 @@ int process_command(int cc, int num_tokens, char tokens[MAX_INPUT_TOKENS][MAX_IN
         case CMD_SET_TORQUE:
             if (check_number_arguments(num_tokens, 3) == OS_SUCCESS)
             {
-                for (uint8_t i = 0; i < sizeof(RW_UART); i++)
-                {
-                torque = atoi(tokens[i]);
-                status = SetRWTorque(i, torque);
-                if (status == OS_SUCCESS)
+                for (int i = 0; i < 3; i++)
                 {
-                    OS_printf("RW %d torque successfully set to %d\n", i, torque);
-                }
-                else
-                {
-                    OS_printf("Configuration command failed!\n");
-                }
+                    torque = atoi(tokens[i]);
+                    status = SetRWTorque(&RW_UART[i], torque);
+                    if (status < 0)
+                    {   
+                        OS_printf("GENERIC_REACTION_WHEEL_SetTorque command failed for RW %d!\n", i);
+                    }
+                    else
+                    {
+                        OS_printf("RW %d torque successfully set to %ld\n", i, torque);
+                    }
                 }
             }
             break;
@@ -150,21 +154,22 @@ int main(int argc, char *argv[])
         nos_init_link();
     #endif
 
-    /* Open device specific protocols */
-    for (int i = 0; i < sizeof(RW_UART); i++)
+     /* Connect to the UART */
+    status = uart_init_port(&RW_UART[0]);
+    if(status != OS_SUCCESS)
     {
-        status = uart_init_port(&RW_UART[i]);
-
-        if (status == OS_SUCCESS)
-        {
-            printf("UART device %s configured with baudrate %d \n", RW_UART[i].deviceString, RW_UART[i].baud);
-        }
-        else
-        {
-            printf("UART device %s failed to initialize! \n", RW_UART[i].deviceString);
-            run_status = OS_ERROR;
-        }
-    }
+    	OS_printf("GENERIC_RW Checkout: UART 0 port initialization error!\n");
+    }    
+    status = uart_init_port(&RW_UART[1]);
+    if(status != OS_SUCCESS)
+    {
+    	OS_printf("GENERIC_RW Checkout: UART 1 port initialization error!\n");
+    }    
+    status = uart_init_port(&RW_UART[2]);
+    if(status != OS_SUCCESS)
+    {
+    	OS_printf("GENERIC_RW Checkout: UART 2 port initialization error!\n");
+    }    
 
     /* Main loop */
     print_help();
@@ -203,7 +208,7 @@ int main(int argc, char *argv[])
     }
 
     // Close the devices
-    for ( int i = 0; i < sizeof(RW_UART); i++ )
+    for ( int i = 0; i < 3; i++ )
     {
         uart_close_port(&RW_UART[i]);
     }