94 lines
3.1 KiB
C++
94 lines
3.1 KiB
C++
#ifndef LINUX_POWER_CSPCOMIF_H_
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#define LINUX_POWER_CSPCOMIF_H_
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#include <csp/csp.h>
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#include <csp/csp_autoconfig.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 <pthread.h>
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#include <unordered_map>
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#include <vector>
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/**
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* @brief This class serves as the communication interface to devices
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* supporting the CSP protocol. As physical layer can0 is used
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* in this implementation.
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* @author J. Meier
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*/
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class CspComIF : public DeviceCommunicationIF, public SystemObject {
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public:
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CspComIF(object_id_t objectId, const char *routeTaskName, uint32_t routerRealTimePriority);
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virtual ~CspComIF();
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ReturnValue_t initializeInterface(CookieIF *cookie) override;
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ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF *cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **readData, size_t *readLen) override;
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private:
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#ifdef CSP_USE_RDP
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//! If RDP is enabled, the router needs to awake some times to check timeouts
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static constexpr uint32_t FIFO_TIMEOUT = 100;
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#else
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//! If no RDP, the router can sleep untill data arrives
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static constexpr uint32_t FIFO_TIMEOUT = CSP_MAX_DELAY;
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#endif
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/**
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* @brief This function initiates the CSP transfer.
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*
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* @param cspAddress The CSP address of the target device.
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* @param cspPort The port of the target device.
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* @param timeout The timeout to wait for csp_send and csp_read
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* functions. Specifies how long the functions wait
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* for a successful operation.
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* @param cmdBuffer The data to send.
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* @param cmdLen The number of bytes to send.
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* @param querySize The size of the requested message.
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*/
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ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort, const uint8_t *cmdBuffer,
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int cmdLen, uint16_t querySize);
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typedef uint8_t node_t;
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struct ReplyInfo {
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ReplyInfo(size_t maxLen) : replyBuf(maxLen){};
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std::vector<uint8_t> replyBuf;
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size_t replyLen = 0;
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};
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using VectorBufferMap = std::unordered_map<node_t, ReplyInfo>;
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/* In this map assigns reply buffers to a CSP device */
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VectorBufferMap cspDeviceMap;
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/* This is the CSP address of the OBC. */
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node_t cspOwnAddress = 1;
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pthread_t routerTaskHandle{};
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uint32_t routerRealTimePriority = 0;
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const char *routerTaskName;
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/* Interface struct for csp protocol stack */
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csp_iface_t csp_if;
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char canInterface[5] = "can0";
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int bitrate = 1000;
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/**
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* @brief Function to extract the csp port and the query size from the
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* command buffer.
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*/
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ReturnValue_t getPortAndQuerySize(const uint8_t **sendData, size_t *sendLen, uint8_t *cspPort,
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uint16_t *querySize);
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/**
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* @brief This function initiates the ping request.
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*/
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void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
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ReturnValue_t startRouterTask();
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static void *routerWorkWrapper(void *args);
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};
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#endif /* LINUX_POWER_CSPCOMIF_H_ */
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