Begin work on FlexRay support

include/icsneo/device/extensions/flexray/controller.h

@@ -0,0 +1,74 @@
+#ifndef __FLEXRAYCONTROLLER_H_
+#define __FLEXRAYCONTROLLER_H_
+
+#include <cstdint>
+#include <memory>
+#include <chrono>
+#include <mutex>
+#include "icsneo/communication/message/flexray/control/flexraycontrolmessage.h"
+#include "icsneo/device/extensions/flexray/erayregister.h"
+#include "icsneo/device/extensions/flexray/poccommand.h"
+
+namespace icsneo {
+
+class Device;
+
+namespace FlexRay {
+
+class Controller {
+public:
+	Controller(Device& device, uint8_t index) : device(device), index(index) {}
+	std::shared_ptr<FlexRayControlMessage> getStatus() const;
+	void _setStatus(std::shared_ptr<FlexRayControlMessage> msg);
+
+	bool getAllowColdstart() const { return allowColdstart; }
+	void setAllowColdstart(bool enable) { allowColdstart = enable; }
+
+	bool getWakeupBeforeStart() const { return wakeupBeforeStart; }
+	void setWakeupBeforeStart(bool enable) { wakeupBeforeStart = enable; }
+
+	void getReady();
+	void start();
+
+private:
+	bool isPOCBusy() const { return readRegisterOr(ERAYRegister::SUCC1, 0x00000080) & 0x00000080; }
+	std::pair<bool, FlexRay::POCCommand> getCurrentPOCCommand(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
+	bool setCurrentPOCCommand(
+		FlexRay::POCCommand cmd,
+		bool checkForSuccess = true,
+		std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
+	bool wasCommandSuccessful(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
+
+	std::pair<bool, uint32_t> readRegister(
+		ERAYRegister reg,
+		std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
+	uint32_t readRegisterOr(
+		ERAYRegister reg,
+		uint32_t defaultValue = 0,
+		std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
+	bool writeRegister(
+		ERAYRegister reg,
+		uint32_t value,
+		uint32_t mask,
+		bool waitForPOCReady = true,
+		std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
+	bool writeRegister(
+		ERAYRegister reg,
+		uint32_t value,
+		bool waitForPOCReady = true,
+		std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
+
+	Device& device;
+	uint8_t index;
+	mutable std::mutex statusLock;
+	mutable std::mutex readRegisterLock;
+	std::shared_ptr<FlexRayControlMessage> status;
+	bool allowColdstart = false;
+	bool wakeupBeforeStart = false;
+};
+
+} // namespace FlexRay
+
+} // namespace icsneo
+
+#endif // __FLEXRAYCONTROLLER_H_