eive-obsw/linux/devices/RwPollingTask.h

#ifndef LINUX_DEVICES_RWPOLLINGTASK_H_
#define LINUX_DEVICES_RWPOLLINGTASK_H_

#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>

#include "mission/devices/devicedefinitions/rwHelpers.h"

class RwCookie : public SpiCookie {
  friend class RwPollingTask;

 public:
  static constexpr size_t REPLY_BUF_LEN = 524;
  RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
           spi::SpiModes spiMode, uint32_t spiSpeed)
      : SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}

 private:
  std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
  bool setSpeed = true;
  int32_t currentRwSpeed = 0;
  uint16_t currentRampTime = 0;
  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
  uint8_t rwIdx;
};

class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
 public:
  RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);

  ReturnValue_t performOperation(uint8_t operationCode) override;
  ReturnValue_t initialize() override;

 private:
  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
  SemaphoreIF* semaphore;
  bool debugMode = false;
  bool modeAndSpeedWasSet = false;
  MutexIF* ipcLock;
  MutexIF* spiLock;
  const char* spiDev;
  GpioIF& gpioIF;
  std::array<bool, 4> skipCommandingForRw;
  std::array<DeviceCommandId_t, 4> specialRequestIds;
  std::array<RwCookie*, 4> rwCookies;
  std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
  std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;

  size_t writeLen = 0;
  static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
  static constexpr uint32_t TIMEOUT_MS = 20;
  static constexpr uint8_t MAX_RETRIES_REPLY = 5;

  ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
  ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
  ReturnValue_t readAllRws(DeviceCommandId_t id);

  ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
  ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
  void handleSpecialRequests();

  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** buffer, size_t* size) override;
  ReturnValue_t openSpi(int flags, int& fd);
  ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
  void prepareSimpleCommand(DeviceCommandId_t id);
  ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);

  size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
  void fillSpecialRequestArray();
  void setAllReadFlagsFalse();

  void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
  void closeSpi(int);
};

#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */