sitara_depot/components/free_rtos/ethernet_industry/eth_ecat_telegram.hpp

/*
 * eth_ecat_telegram.hpp
 *
 *  Created on: Jun 5, 2023
 *      Author: algin
 */

#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_
#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_

#include "ethernet/eth.hpp"

#include "ethernet_industry/eth_ecat_datagram.hpp"

namespace free_rtos {

namespace telegram {

class EcatTelegram : public Handler {
public:
    EcatTelegram(Eth& eth)
    : eth_{eth}
    , tx_flow_{*eth.getTxFlowPtr()}
    , eth_stack_{*eth.getEthStackPtr()} { }

    virtual int32_t Process(uint8_t *p_data, uint32_t len) override;
    virtual uint32_t Sender(uint8_t *p_data, size_t scatter_segment) override;

    void init(TEthMacPorts port_id) {
        port_id_ = port_id;
        eth_.getEthStackPtr()->Register(ETH_PROT_ECAT_LE, this);
    }

    void transfer(datagram::IEcatDatagram& first);

private:
    Eth& eth_;
    EthTxFlowIface& tx_flow_;
    EthStackIface& eth_stack_;
    TEthMacPorts port_id_;

    free_rtos::Semaphore rx_sem_;

    datagram::IEcatDatagram *datagram_queue_{nullptr};

    uint8_t* pack(uint8_t *raw);
    uint8_t* unpack(uint8_t *raw);
};

}


}

#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_ */