Merge pull request #62 from lsst-ts/tickets/DM-42107

DM-42107: MPU C++ redesign

doc/version-history.rst

@@ -8,6 +8,7 @@ v1.11.0
   to FPGA class.
 * Improved documentation.
 * Public constants to explain meaning of the numbers
+* mpuCommands redesign
 
 v1.10.1
 -------

include/Modbus/Buffer.h

@@ -107,6 +107,13 @@ class Buffer : public std::vector<uint8_t> {
     template <typename dt>
     void write(dt data);
 
+    template <typename vt>
+    inline void writeVector(std::vector<vt> data) {
+        for (auto d : data) {
+            write<vt>(d);
+        }
+    }
+
     /**
      * Writes 24bit signed integer.
      *
@@ -254,9 +261,12 @@ inline void Buffer::write(float data) {
 
 template <>
 inline void Buffer::write(std::vector<uint8_t> data) {
-    for (auto d : data) {
-        write<uint8_t>(d);
-    }
+    writeVector<uint8_t>(data);
+}
+
+template <>
+inline void Buffer::write(std::vector<uint16_t> data) {
+    writeVector<uint16_t>(data);
 }
 
 }  // namespace Modbus

include/Modbus/BusList.h

@@ -165,9 +165,9 @@ class BusList : public std::vector<CommandRecord> {
      * the @glos{FPGA}, which is responsible to pass it to the hardware
      * controller.
      *
-     * @param address ModBus/@glos{ILC} address @param func ModBus/@glos{ILC}
-     * function code @param timing function call timing in microseconds
-     * (1/10^-6 second)
+     * @param address ModBus/@glos{ILC} address
+     * @param func ModBus/@glos{ILC} function code
+     * @param timing function call timing in microseconds (1/10^-6 second)
      */
     void callFunction(uint8_t address, uint8_t func, uint32_t timming) {
         emplace(end(), CommandRecord(Buffer(address, func), timming));

include/Modbus/Parser.h

@@ -42,7 +42,7 @@ namespace Modbus {
  * @param len length of the buffer
  */
 template <typename dt>
-static const std::string hexDump(dt *buf, size_t len) {
+static const std::string hexDump(const dt *buf, size_t len) {
     std::ostringstream os;
     os << std::setfill('0') << std::hex;
     for (size_t i = 0; i < len; i++) {
@@ -55,6 +55,11 @@ static const std::string hexDump(dt *buf, size_t len) {
     return os.str();
 }
 
+template <typename dt>
+static const std::string hexDump(const std::vector<dt> &data) {
+    return hexDump<dt>(data.data(), data.size());
+}
+
 /**
  * Exception thrown when calculated CRC doesn't match received CRC.
  */

include/cRIO/CliApp.h

@@ -115,9 +115,10 @@ class CliApp : public Application {
     /**
      * Construct CliApp.
      *
-     * @param _description a short description of the application
+     * @param name command line application name
+     * @param description a short description of the application
      */
-    CliApp(const char* name, const char* description) : Application(name, description), _history_fn(NULL) {}
+    CliApp(const char* name, const char* description);
 
     /**
      * Class destructor. Subclasses are encouraged to include all destruction
@@ -242,6 +243,8 @@ get_the_answer command.
 
     /**
      * Process unmatched commands.
+     *
+     * @param cmds commands to be processed
      */
     virtual int processUnmached(command_vec cmds);
 
@@ -250,6 +253,13 @@ get_the_answer command.
      */
     void printCommands();
 
+    /**
+     * Exits the application.
+     *
+     * @param cmds commands to be processed
+     */
+    virtual int _exit(command_vec cmds);
+
     int verbose;
 
 private:

include/cRIO/FPGA.h

@@ -37,6 +37,20 @@ namespace cRIO {
 
 class MPU;
 
+/**
+ * Commands for FPGA MPU unit.
+ */
+enum MPUCommands {
+    WRITE = 1,
+    READ_US = 2,
+    READ_MS = 3,
+    WAIT_US = 100,
+    WAIT_MS = 101,
+    IRQ = 240,
+    TELEMETRY = 254,
+    RESET = 255,
+};
+
 /**
  * Interface class for cRIO FPGA. Subclasses can talk either to the real HW, or
  * be a software simulator.
@@ -109,13 +123,12 @@ class FPGA : public SimpleFPGA {
     void mpuCommands(MPU& mpu, const std::chrono::duration<double>& timeout = 500ms);
 
     /**
-     * Commands FPGA to write to MPU commands buffer. Data to write are passed
-     * along in mpu parameter - you need to fill the MPU commands prior to
-     * calling this method.
+     * Commands FPGA to write to MPU commands buffer.
      *
-     * @param mpu Modbus Processing Unit to write
+     * @param data data to write to the MPU command buffer
+     * @param timeout timeout in milliseconds
      */
-    virtual void writeMPUFIFO(MPU& mpu) = 0;
+    virtual void writeMPUFIFO(const std::vector<uint8_t>& data, uint32_t timeout) = 0;
 
     /**
      * Commands FPGA to copy MPU output FIFO to FPGA-C/C++ output FIFO. This