eive-obsw/hosted/comIF/ArduinoComIF.h

70 lines
2.0 KiB
C++

#ifndef MISSION_ARDUINOCOMMINTERFACE_H_
#define MISSION_ARDUINOCOMMINTERFACE_H_
#include <fsfw/container/FixedMap.h>
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <cstdint>
#include <map>
#ifdef WIN32
#include <windows.h>
#endif
//Forward declaration, so users don't peek
class ArduinoCookie;
class ArduinoComIF: public SystemObject,
public DeviceCommunicationIF {
public:
static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
static const uint8_t MAX_PACKET_SIZE = 64;
static const uint8_t COMMAND_INVALID = -1;
static const uint8_t COMMAND_SPI = 1;
ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
const char *serialDevice = nullptr);
void setBaudrate(uint32_t baudRate);
virtual ~ArduinoComIF();
/** DeviceCommunicationIF overrides */
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
private:
#ifdef LINUX
#elif WIN32
HANDLE hCom = INVALID_HANDLE_VALUE;
#endif
// remembering if the initialization in the ctor worked
// if not, all calls are disabled
bool initialized = false;
int serialPort = 0;
// Default baud rate is 9600 for now.
uint32_t baudRate = 9600;
//used to know where to put the data if a reply is received
std::map<uint8_t, ArduinoCookie> spiMap;
SimpleRingBuffer rxBuffer;
ReturnValue_t sendMessage(uint8_t command, uint8_t address,
const uint8_t *data, size_t dataLen);
void handleSerialPortRx();
void handlePacket(uint8_t *packet, size_t packetLen);
};
#endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */