ModbusBuffer.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef MODBUSBUFFER_H_
#define MODBUSBUFFER_H_
 
#include <cRIO/DataTypes.h>
#include <string>
#include <vector>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
class ModbusBuffer {
public:
    ModbusBuffer();
    virtual ~ModbusBuffer();
 
    int32_t getIndex();
    void setIndex(int32_t index);
    void incIndex(int32_t inc);
    void skipToNextFrame();
    uint16_t *getBuffer();
    void set(int32_t index, uint16_t data);
    void setLength(int32_t length);
    int32_t getLength();
 
    void reset();
    bool endOfBuffer();
    bool endOfFrame();
 
    std::vector<uint8_t> getReadData(int32_t length);
 
    static uint16_t calculateCRC(std::vector<uint8_t> data);
 
    uint16_t calculateCRC(int32_t length);
 
    uint16_t readLength();
    int32_t readI32();
    uint8_t readU8();
    uint16_t readU16();
    uint32_t readU32();
    uint64_t readU48();
    float readSGL();
    std::string readString(int32_t length);
    uint16_t readCRC();
    double readTimestamp();
 
    static inline uint8_t readInstructionByte(uint16_t instruction) {
        return (uint8_t)((instruction >> 1) & 0xFF);
    }
 
    void readEndOfFrame();
 
    void writeSubnet(uint8_t data);
    void writeLength(uint16_t data);
    void writeI8(int8_t data);
    void writeI16(int16_t data);
    void writeI24(int32_t data);
    void writeI32(int32_t data);
    void writeU8(uint8_t data);
    void writeU16(uint16_t data);
    void writeU32(uint32_t data);
    void writeSGL(float data);
    void writeCRC(int32_t length);
 
    static inline uint16_t writeByteInstruction(uint8_t data) { return (((uint16_t)data) << 1) | 0x1200; };
 
    void writeDelay(uint32_t delayMicros);
    void writeEndOfFrame();
    void writeSoftwareTrigger();
    void writeTimestamp();
    void writeTriggerIRQ();
    void writeWaitForRx(uint32_t timeoutMicros);
 
    void pullModbusResponse(uint16_t request, uint64_t &beginTs, uint64_t &endTs, std::vector<uint8_t> &data);
 
private:
    uint16_t _buffer[5120];
    uint8_t _floatPointBuffer[8];
    uint8_t _stringBuffer[256];
    int32_t _index;
    int32_t _length;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* MODBUSBUFFER_H_ */