eive-obsw/linux/csp/CspComIF.h
Robin Mueller efb0bce718
Some checks failed
EIVE/eive-obsw/pipeline/head There was a failure building this commit
finally it works
2022-08-26 03:20:44 +02:00

77 lines
2.6 KiB
C++

#ifndef LINUX_CSP_CSPCOMIF_H_
#define LINUX_CSP_CSPCOMIF_H_
#include <csp/csp.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.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);
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:
/**
* @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;
using vectorBuffer = std::vector<uint8_t>;
using VectorBufferMap = std::unordered_map<node_t, vectorBuffer>;
using vectorBufferIter = VectorBufferMap::iterator;
/* In this map assigns reply buffers to a CSP device */
VectorBufferMap cspDeviceMap;
uint16_t replySize = 0;
/* This is the CSP address of the OBC. */
node_t cspOwnAddress = 1;
/* 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);
};
#endif /* LINUX_CSP_CSPCOMIF_H_ */