Problems setting up UART component

[tbkevin]

Hello everyone.

I'm building a project to learn how to use the "LinuxUartDriver" component. My idea is to deploy it to a raspberry pi and use that component to communicate with another raspberry or beagle through uart.
I'm using the RPI from the F prime repository "https://github.com/nasa/fprime/tree/devel/RPI" for some inspiration. I manage to compile the software but when i try to run it onto the raspberry, the program crash, showing the next logs:

Hit Ctrl-C to quit
EVENT: (1280) (2:1721908282,273024) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x500 registered to port 0 slot 0
EVENT: (1280) (2:1721908282,273087) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x501 registered to port 0 slot 1
EVENT: (1280) (2:1721908282,273117) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x502 registered to port 0 slot 2
EVENT: (1280) (2:1721908282,273145) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x503 registered to port 0 slot 3
EVENT: (1280) (2:1721908282,273174) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x600 registered to port 1 slot 4
EVENT: (1280) (2:1721908282,273202) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x601 registered to port 1 slot 5
EVENT: (1280) (2:1721908282,273229) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x602 registered to port 1 slot 6
EVENT: (1280) (2:1721908282,273256) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x603 registered to port 1 slot 7
EVENT: (1280) (2:1721908282,273284) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x604 registered to port 1 slot 8
EVENT: (1280) (2:1721908282,273312) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x605 registered to port 1 slot 9
EVENT: (1280) (2:1721908282,273339) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x606 registered to port 1 slot 10
EVENT: (1280) (2:1721908282,273366) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x607 registered to port 1 slot 11
EVENT: (1280) (2:1721908282,273396) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0xb00 registered to port 2 slot 12
EVENT: (1280) (2:1721908282,273423) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0xb02 registered to port 2 slot 13
EVENT: (1280) (2:1721908282,273451) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0xb03 registered to port 2 slot 14
EVENT: (1280) (2:1721908282,273479) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x800 registered to port 3 slot 15
EVENT: (1280) (2:1721908282,273507) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x801 registered to port 3 slot 16
EVENT: (1280) (2:1721908282,273535) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x802 registered to port 3 slot 17
EVENT: (1280) (2:1721908282,273562) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x900 registered to port 4 slot 18
EVENT: (1280) (2:1721908282,273594) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x901 registered to port 4 slot 19
EVENT: (1280) (2:1721908282,273623) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x902 registered to port 4 slot 20
EVENT: (1280) (2:1721908282,273651) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x903 registered to port 4 slot 21
EVENT: (1280) (2:1721908282,273679) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x904 registered to port 4 slot 22
EVENT: (1280) (2:1721908282,273706) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x905 registered to port 4 slot 23
EVENT: (1280) (2:1721908282,273735) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x906 registered to port 4 slot 24
EVENT: (1280) (2:1721908282,273763) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x2000 registered to port 5 slot 25
EVENT: (1280) (2:1721908282,273791) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x2001 registered to port 5 slot 26
EVENT: (1280) (2:1721908282,273819) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x2002 registered to port 5 slot 27
EVENT: (1280) (2:1721908282,273848) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0xe00 registered to port 6 slot 28
EVENT: (1280) (2:1721908282,273876) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0xd00 registered to port 7 slot 29
EVENT: (1280) (2:1721908282,273904) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x4a00 registered to port 8 slot 30
EVENT: (1280) (2:1721908282,273932) DIAGNOSTIC: (cmdDisp) OpCodeRegistered : Opcode 0x4a01 registered to port 8 slot 31
EVENT: (3334) (2:1721908282,274014) WARNING_HI: (prmDb) PrmFileReadError : Parameter file read failed in stage OPEN (0) with record 0 and error 1
Buffer Manager Setup, Manager Id 200 !
[WARNING] High task priority of 140 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 101 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 65536 being clamped to 99
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 120 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
[WARNING] High task priority of 119 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
EVENT: (512) (2:1721908282,276653) DIAGNOSTIC: (rateGroup1) RateGroupStarted : Rate group started.
[WARNING] High task priority of 118 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
EVENT: (768) (2:1721908282,276876) DIAGNOSTIC: (rateGroup2) RateGroupStarted : Rate group started.
[WARNING] Stack size 65536 too small, setting to minimum of 131072
EVENT: (1024) (2:1721908282,277165) DIAGNOSTIC: (rateGroup3) RateGroupStarted : Rate group started.
[WARNING] High task priority of 100 being clamped to 99
[WARNING] Stack size 65536 too small, setting to minimum of 131072
Invoking bufferGetCallee_handler, Manager Id: 0
Assert: "/home/ruben/FPrime/NCTS_OBC/fprime/Svc/BufferManager/BufferManagerComponentImpl.cpp:127"
FATAL 16896 handled.
[WARNING] Failed to open port with status -4 and errno 111
[WARNING] Failed to open port with status -4 and errno 111
Exiting with abort signal and core dump file.
Aborte

The line that points the error in "BufferManagerComponentImpl.cpp" is:

In my topology.fpp i have 2 instances of "BufferManager", the one that is automatically generated by fprime, "bufferManager" and the one that i need for the "LinuxUartDriver" component, "uartBufferManager" .
The connection for the uart is:

In instances.fpp i have the next for the initilization of "uartBufferManager":

I dont know if i missing an extra step.

Thanks.

[LeStarch]

I think the issue is in the UART driver setup code. Can you post that?

My guess is you have the "start thread" call for the UART driver in the "configComponents" phase instead of the "start components" phase. This means the thread there may run and request buffers before the "configComponents" phase gets into the buffer manager setup call.

[tbkevin]

This is what i got for the uart driver in instance.fpp:

instance uartDrv: Drv.LinuxUartDriver base id 0x4C00 \
  {

    phase Fpp.ToCpp.Phases.configComponents """
    {
      const bool status = uartDrv.open("/dev/serial0",
          Drv::LinuxUartDriver::BAUD_19200,
          Drv::LinuxUartDriver::NO_FLOW,
          Drv::LinuxUartDriver::PARITY_NONE,
          1024
      );
      if (!status) {
        printf("[NCTS-OBC][ERROR]: Could not open UART driver\\n");
        Init::status = false;
      }else printf("[NCTS-OBC]: Successfully opened UART driver\\n");
    }
    """

    phase Fpp.ToCpp.Phases.startTasks """
    if (Init::status) {
      printf("[NCTS-OBC]: Starting read thread\\n");
      uartDrv.startReadThread();
    }
    else {
      printf("[NCTS-OBC][ERROR]: Initialization failed; not starting UART driver\\n");
    }
    """

    phase Fpp.ToCpp.Phases.stopTasks """
    uartDrv.quitReadThread();
    """

  }

In the file generated after building, "NCTSObcTopologyAc.cpp", "configComponents()" is properly set up i think:

  void configComponents(const TopologyState& state) {
    {
      Svc::BufferManager::BufferBins bufferBins;
      memset(&bufferBins, 0, sizeof(bufferBins));
      using namespace ConfigConstants::uartBufferManager;
      bufferBins.bins[0].bufferSize = STORE_SIZE;
      bufferBins.bins[0].numBuffers = QUEUE_SIZE;
      printf("[NCTS-OBC]----> Calling uartBufferManager's setup\n");
      uartBufferManager.setup(
          MGR_ID,
          0,
          Allocation::mallocator,
          // OK to supply a local object here: BufferManager makes a copy
          bufferBins
      );
    }
    {
      const bool status = uartDrv.open("/dev/serial0",
          Drv::LinuxUartDriver::BAUD_19200,
          Drv::LinuxUartDriver::NO_FLOW,
          Drv::LinuxUartDriver::PARITY_NONE,
          1024
      );
      if (!status) {
        printf("[ERROR][NCTS-OBC]: Could not open UART driver\n");
        Init::status = false;
      }else printf("[NCTS-OBC]: Successfully opened UART driver\n");
    }
  }

But i believe that never is being called, but "startTasks()" it is, because i put a print in it and i can see it logged.

[LeStarch]

It is possible that this is being bypassed. How did you create the deployment project:

1. Using new --project fprime-util new --deployment (fprime-bootstrap tool or similar)
2. Copying RPI out of fprime
3. Editing RPI directly in fprime
4. Some other way

I am trying to figure out if you have a Topology.cpp file that is performing some setup. This happens in choice 1 above. If you copied or edited (2, 3) RPI directly you'd likely not have a Topology.cpp.

Note: Topology.cpp in RPI is unused and will need to be deleted.

The crux of the issue is that you are using phases (shown above) but may also be using manually configured code (Topology.cpp from fprime-util new --deployment new --project ). It is possible, and often advantageous, to blend the two models, but we need to make sure the phase configuration code is called.

The manually configured topology looks like:

fprime/Ref/Top/RefTopology.cpp

Lines 144 to 168 in a31f557

	void setupTopology(const TopologyState& state) {
	// Autocoded initialization. Function provided by autocoder.
	initComponents(state);
	// Autocoded id setup. Function provided by autocoder.
	setBaseIds();
	// Autocoded connection wiring. Function provided by autocoder.
	connectComponents();
	// Autocoded command registration. Function provided by autocoder.
	regCommands();
	// Project-specific component configuration. Function provided above. May be inlined, if desired.
	configureTopology();
	// Autocoded parameter loading. Function provided by autocoder.
	loadParameters();
	// Autocoded task kick-off (active components). Function provided by autocoder.
	startTasks(state);
	// Startup TLM and Config verbosity for Versions
	version.config(true);
	// Initialize socket client communication if and only if there is a valid specification
	if (state.hostname != nullptr && state.port != 0) {
	Os::TaskString name("ReceiveTask");
	// Uplink is configured for receive so a socket task is started
	comm.configure(state.hostname, state.port);
	comm.start(name, true, COMM_PRIORITY, Default::STACK_SIZE);
	}
	}

If you are running the hand-coded topology, then you need to add configComponents(state) to that code as shown in the patch to the code above.

--- a/Ref/Top/RefTopology.cpp
+++ b/Ref/Top/RefTopology.cpp
@@ -150,6 +150,8 @@ void setupTopology(const TopologyState& state) {
     connectComponents();
     // Autocoded command registration. Function provided by autocoder.
     regCommands();
+    // Autocoded configuration. Function provided by autocoder.
+    configComponents(state);
     // Project-specific component configuration. Function provided above. May be inlined, if desired.
     configureTopology();
     // Autocoded parameter loading. Function provided by autocoder.

[LeStarch]

This also implies that we need to add this patch to Ref and our new --deployment new --project.

[LeStarch]

This is actualy a deployment code problem. Did you use. fprime-util new --deployment to create the deployment.

[tbkevin]

I create the deployment using "fprime-util new --deployment" and yes, in my case, i have NCTSObcTopology.cpp that its doing some setup as you said.

I add configComponents(state) in setupTopology, it worked but appear new errors on console:

EVENT: (19712) (2:1722331389,570203) WARNING_HI: (uartBufferManager) NoBuffsAvailable : No available buffers of size 1024
EVENT: (19461) (2:1722331389,570546) WARNING_HI: (uartDrv) NoBuffers : UART Device /dev/serial0 ran out of buffers
EVENT: (19713) (2:1722331389,570894) WARNING_HI: (uartBufferManager) ZeroSizeBuffer : Received zero size buffer

I fixed it by increasing the buffer size of the first bin from 300 to 3000 in bufferBins.bins[0].bufferSize = STORE_SIZE.

And now the uart is working.

Thanks a lot for you answers!

[LeStarch]

Glad you solved it!