msg_arbiter.hpp

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/*
 *  SatNOGS-COMMS MCU software
 *
 *  Copyright (C) 2023, Libre Space Foundation <http://libre.space>
 *
 *  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 <http://www.gnu.org/licenses/>.
 *
 *  SPDX-License-Identifier: GNU General Public License v3.0 or later
 */
 
#pragma once
 
#include "scoped_lock.hpp"
#include "tests/test.hpp"
#include <cstddef>
#include <cstdint>
#include <cstring>
#include <zephyr/kernel.h>
 
namespace satnogs::comms
{

class msg_arbiter
{
public:
  static constexpr size_t mtu                = CONFIG_MAX_MTU;
  static constexpr size_t rx_msgq_size       = CONFIG_RX_MSGQ_SIZE;
  static constexpr size_t can1_tx_msgq_size  = CONFIG_CAN1_TX_MSGQ_SIZE;
  static constexpr size_t can2_tx_msgq_size  = CONFIG_CAN2_TX_MSGQ_SIZE;
  static constexpr size_t uhf_tx_msgq_size   = CONFIG_UHF_TX_MSGQ_SIZE;
  static constexpr size_t sband_tx_msgq_size = CONFIG_SBAND_TX_MSGQ_SIZE;

  static msg_arbiter &
  get_instance()
  {
    static msg_arbiter instance;
    return instance;
  }

  enum class subsys : uint8_t
  {
    CAN1        = 0,
    CAN2        = 1,
    RADIO_UHF   = 2,
    RADIO_SBAND = 3,
    SPI         = 4,
    UART_PC104  = 5
  };

  class msg
  {
  public:
    alignas(16) uint8_t data[mtu]; 
    subsys iface; 
    size_t len;   
  };
 
  /* Singleton */
  msg_arbiter(msg_arbiter const &) = delete;
 
  void
  operator=(msg_arbiter const &) = delete;
 
  int
  push(const msg_arbiter::msg &m,
       k_timeout_t             wait = K_MSEC(CONFIG_MSG_ARBITER_TIMEOUT_MS));
 
  int
  pull(msg_arbiter::msg &m, subsys s,
       k_timeout_t wait = K_MSEC(CONFIG_MSG_ARBITER_TIMEOUT_MS));
 
  int
  fwd(const msg_arbiter::msg &m, subsys s,
      k_timeout_t wait = K_MSEC(CONFIG_MSG_ARBITER_TIMEOUT_MS));
 
  int
  fwd(uint8_t mapid, uint8_t vcid, const msg_arbiter::msg &m, subsys s,
      k_timeout_t wait = K_MSEC(CONFIG_MSG_ARBITER_TIMEOUT_MS));
 
  uint32_t
  backpressure(subsys s);
 
  void
  start();
 
private:
  static void
  parse_thread(void *arg1, void *arg2, void *arg3);
 
  msg_arbiter();
 
  msg_arbiter::msg m_msg;
  k_tid_t          m_tid;
  struct k_mutex   m_mtx;
};
 
} // namespace satnogs::comms