EdgeGrblDeviceBase.hpp

/*
 * Copyright (C) 2022 CERN
 *
 * This software is provided 'as-is', without any express or implied
 * warranty.  In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 *
 * Created on: 2022-03-08
 *     Author: Michal Mysior <mmysior> <michal.mysior@cern.ch>
 *
 */
 
#ifndef EDGEGRBLDEVICEBASE_HPP__
#define EDGEGRBLDEVICEBASE_HPP__
 
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <future>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
 
#include <fmc_mfe/libfmc_mfe.h>
 
#include "util/grbl/GrblDeviceBase.hpp"
 
namespace edge {
class EdgeGrblDeviceBase : public grbl::GrblDeviceBase
{
public:
    explicit EdgeGrblDeviceBase(int lun,
                                const std::string &driverPath = std::string());
 
    ~EdgeGrblDeviceBase();
 
    void read() override;
    void write(const std::string &data) override;
    bool wait(const std::chrono::milliseconds &timeout) override;
    void wake() override;
 
    inline void read(struct edge_reg *reg, uint32_t &value)
    {
        return read(reg, 0, value);
    }
 
    void read(struct edge_reg *reg, size_t offset, uint32_t &value);
 
    void read(struct edge_reg *reg, std::vector<uint32_t> &values);
 
    inline void write(struct edge_reg *reg, uint32_t value)
    {
        return write(reg, 0, value);
    }
 
    void write(struct edge_reg *reg, size_t offset, uint32_t value);
 
    inline struct fmc_mfe_hdl *getDrv() const { return m_edgeDrvHdl; }
 
protected:
    EdgeGrblDeviceBase();
 
    void init(int lun, const std::string &driverPath);
    void irqLoop();
 
    bool waitIrq(const std::chrono::milliseconds &timeout,
                 const struct edge_reg *const expectedReg,
                 uint32_t expectedBit);
 
    void drvOpen(int lun, const std::string &simPath, bool isSim);
 
    void drvClose();
 
    int m_wakeFd[2];
 
    struct fmc_mfe_hdl *m_edgeDrvHdl;
    std::vector<char> m_fifoBytes;
 
    static const std::string loggerCat;
};
 
} /* namespace edge */
 
#endif