eive-obsw/bsp_linux/comIF/CspComIF.h

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#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
#define BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <csp/csp.h>
#include <vector>
#include <unordered_map>
/**
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* @brief This class serves as the communication interface to devices
* supporting the CSP protocol. As physical layer can0 is used
* in this implementation.
* @author J. Meier
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*/
class CspComIF: public DeviceCommunicationIF, public SystemObject {
public:
CspComIF(object_id_t objectId);
virtual ~CspComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **readData, size_t *readLen) override;
private:
/**
* @brief This function initiates the CSP transfer.
*
* @param cspAddress The CSP address of the target device.
* @param cspPort The port of the target device.
* @param timeout The timeout to wait for csp_send and csp_read
* functions. Specifies how long the functions wait
* for a successful operation.
* @param cmdBuffer The data to send.
* @param cmpBuffer The number of bytes to send.
* @param querySize The size of the requested message.
*/
ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort,
const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize);
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enum Ports {
CSP_PING = 1,
CSP_REBOOT = 4,
P60_PORT_RPARAM = 7,
P60_PORT_GNDWDT_RESET = 9
};
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typedef uint8_t node_t;
using vectorBuffer = std::vector<uint8_t>;
using VectorBufferMap = std::unordered_map<node_t, vectorBuffer>;
using vectorBufferIter = VectorBufferMap::iterator;
/* In this map assigns reply buffers to a CSP device */
VectorBufferMap cspDeviceMap;
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uint16_t replySize = 0;
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/* This is the CSP address of the OBC. */
node_t cspClientAddress = 1;
/* Interface struct for csp protocol stack */
csp_iface_t csp_if;
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char canInterface[5] = "can0";
int bitrate = 1000;
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/**
* @brief Function to extract the csp port and the query size from the
* command buffer.
*/
ReturnValue_t getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen,
uint8_t* cspPort, uint16_t* querySize);
/**
* @brief This function initiates the ping request.
*/
void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
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};
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ */