continue rw refactoring

linux/devices/RwPollingTask.h

@@ -0,0 +1,78 @@
+#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/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:
+  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, 524> replyBuf{};
+  int32_t currentRwSpeed = 0;
+  uint16_t currentRampTime = 0;
+  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::NONE;
+  uint8_t rwIdx;
+};
+
+class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
+ public:
+  RwPollingTask(object_id_t objectId, SpiComIF* spiIF);
+
+  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;
+  SpiComIF* spiIF;
+  std::array<RwCookie*, 4> rwCookies;
+  std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
+  size_t writeLen = 0;
+  std::array<uint8_t, 256> processingBuf;
+  //! This is the end and start marker of the frame datalinklayer
+  static constexpr uint8_t FLAG_BYTE = 0x7E;
+  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(const uint8_t* sendData, size_t sendDataLen);
+  ReturnValue_t writeOneRw(uint8_t rwIdx);
+  ReturnValue_t readAllRws(int fd, MutexIF* spiLock, const char* dev);
+  ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie, MutexIF* spiLock, const uint8_t* data,
+                               size_t dataLen);
+  ReturnValue_t readNextReply(const char* spiDev, RwCookie& rwCookie, MutexIF* spiLock,
+                              uint8_t* replyBuf);
+  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(const std::string& devname, int flags, int& fd);
+  ReturnValue_t pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
+  void prepareSimpleCommand(DeviceCommandId_t id);
+  ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
+
+  void pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
+  void closeSpi(int);
+};
+
+#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */