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 "free_rtos/ethernet/eth.hpp"
#include "free_rtos/timer/timer.hpp"
#include "free_rtos/profiler/quick_profiler_static.hpp"

#include "free_rtos/ethernet_industry/eth_ecat_datagram.hpp"

namespace free_rtos {

namespace telegram {

enum class EcatTelegramResult : uint16_t {
    SUCCESS = 0,
    BUSY,
    WARNING_TRANSFER_ERROR,
    WARNING_TIMEOUT_ERROR,
    WARNING_WKC_ERROR,
    FATAL_ERROR
};

struct EcatDescription {
    const char* string;
    const size_t length;
};

struct EcatTelegramStatus {
    uint16_t transfer_errors{0x0000};
    uint16_t expected_wkc_errors{0x0000};
    uint16_t attempts_exceeded_errors{0x0000};
    EcatTelegramResult result = EcatTelegramResult::BUSY;

    const EcatDescription& get_description() {
        return descriptions[static_cast<size_t>(result)];
    }

private:
    static const char SuccessString[];
    static const char BusyString[];
    static const char WarningTransferErrorString[];
    static const char WarningTimeoutErrorString[];
    static const char WarningWkcErrorString[];
    static const char FatalErrorString[];

    static const EcatDescription descriptions[];
};

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

    const EcatTelegramStatus& get_status() {
        return status_;
    }

    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, uint32_t period_microsec, uint32_t max_transfer_attempts) {
        port_id_ = port_id;
        period_microsec_ = period_microsec;
        counter_timeout_ticks_ = (semaphore_timeout_ticks_*1000)/period_microsec;
        max_transfer_attempts_ = max_transfer_attempts;
        eth_.getEthStackPtr()->Register(ETH_PROT_ECAT_LE, this);
    }

    static uint32_t diff(uint32_t tick_counter_start, uint32_t tick_counter_current) {
        uint32_t tick_counter_diff;

        if(tick_counter_current >= tick_counter_start) {
            tick_counter_diff = tick_counter_current - tick_counter_start;
        }else{
            tick_counter_diff = tick_counter_current + (0xFFFFFFFF - tick_counter_start);
        }

        return tick_counter_diff;
    }

    bool transfer(datagram::IEcatDatagram& next);
    bool transfer(queue::Queue<datagram::IEcatDatagram>& next);

private:
    static constexpr uint32_t semaphore_timeout_ticks_ = 2;

    Eth& eth_;
    Timer& ecat_timer_;
    EthTxFlowIface& tx_flow_;
    EthStackIface& eth_stack_;

    TEthMacPorts port_id_;
    uint32_t period_microsec_{250};
    uint32_t counter_timeout_ticks_{8};
    uint32_t max_transfer_attempts_{4};

    free_rtos::Semaphore rx_sem_;
    uint8_t idx_{0x00};

    queue::Queue<datagram::IEcatDatagram> datagram_queue_;
    //datagram::IEcatDatagram *datagram_queue_{nullptr};

    EcatTelegramStatus status_{0x0000, 0x0000, 0x0000, EcatTelegramResult::BUSY};

    bool transfer();

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

}


}

#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_ */