eive-obsw/linux/devices/startracker/ArcsecDatalinkLayer.h

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#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
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#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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extern "C" {
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#include "common/misc.h"
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}
/**
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
*/
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class ArcsecDatalinkLayer : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] More data required to complete frame
static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Data too short to represent a valid frame
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Detected CRC failure in received frame
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
static const uint8_t STATUS_OK = 0;
ArcsecDatalinkLayer();
virtual ~ArcsecDatalinkLayer();
/**
* @brief Applies decoding to data referenced by rawData pointer
*
* @param rawData Pointer to raw data received from star tracker
* @param rawDataSize Size of raw data stream
* @param remainingBytes Number of bytes left
*/
ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
/**
* @brief SLIP encodes data pointed to by data pointer.
*
* @param data Pointer to data to encode
* @param length Length of buffer to encode
*/
void encodeFrame(const uint8_t* data, uint32_t length);
/**
* @brief Returns the frame type field of a decoded frame.
*/
uint8_t getReplyFrameType();
/**
* @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
*/
const uint8_t* getReply();
/**
* @brief Returns size of encoded frame
*/
uint32_t getEncodedLength();
/**
* @brief Returns pointer to encoded frame
*/
uint8_t* getEncodedFrame();
/**
* @brief Returns status of reply
*/
uint8_t getStatusField();
/**
* @brief Returns ID of reply
*/
uint8_t getId();
private:
static const uint8_t ID_OFFSET = 1;
static const uint8_t STATUS_OFFSET = 2;
// Used by arcsec slip decoding function process received data
uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
// Decoded frame will be copied to this buffer
uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
// reply
uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
// Size of decoded frame
uint32_t decFrameSize = 0;
// Size of encoded frame
uint32_t encFrameSize = 0;
slip_decode_state slipInfo;
void slipInit();
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};
#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */