clean up op done

linux/power/CspComIF.h

@@ -0,0 +1,93 @@
+#ifndef LINUX_POWER_CSPCOMIF_H_
+#define LINUX_POWER_CSPCOMIF_H_
+
+#include <csp/csp.h>
+#include <csp/csp_autoconfig.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/returnvalues/returnvalue.h>
+#include <pthread.h>
+
+#include <unordered_map>
+#include <vector>
+
+/**
+ * @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
+ */
+class CspComIF : public DeviceCommunicationIF, public SystemObject {
+ public:
+  CspComIF(object_id_t objectId, const char *routeTaskName, uint32_t routerRealTimePriority);
+  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:
+#ifdef CSP_USE_RDP
+  //! If RDP is enabled, the router needs to awake some times to check timeouts
+  static constexpr uint32_t FIFO_TIMEOUT = 100;
+#else
+  //! If no RDP, the router can sleep untill data arrives
+  static constexpr uint32_t FIFO_TIMEOUT = CSP_MAX_DELAY;
+#endif
+  /**
+   * @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 cmdLen   		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 cmdLen, uint16_t querySize);
+
+  typedef uint8_t node_t;
+  struct ReplyInfo {
+    ReplyInfo(size_t maxLen) : replyBuf(maxLen){};
+    std::vector<uint8_t> replyBuf;
+    size_t replyLen = 0;
+  };
+  using VectorBufferMap = std::unordered_map<node_t, ReplyInfo>;
+
+  /* In this map assigns reply buffers to a CSP device */
+  VectorBufferMap cspDeviceMap;
+
+  /* This is the CSP address of the OBC. */
+  node_t cspOwnAddress = 1;
+
+  pthread_t routerTaskHandle{};
+  uint32_t routerRealTimePriority = 0;
+  const char *routerTaskName;
+
+  /* Interface struct for csp protocol stack */
+  csp_iface_t csp_if;
+  char canInterface[5] = "can0";
+  int bitrate = 1000;
+
+  /**
+   * @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);
+
+  ReturnValue_t startRouterTask();
+  static void *routerWorkWrapper(void *args);
+};
+
+#endif /* LINUX_POWER_CSPCOMIF_H_ */