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