telemetry
Dependents: Everything Sequential_Timing FixedPWM FixedPWMWill
telemetry.h@0:aca5a32d2759, 2016-03-18 (annotated)
- Committer:
- vsutardja
- Date:
- Fri Mar 18 22:33:32 2016 +0000
- Revision:
- 0:aca5a32d2759
init
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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vsutardja | 0:aca5a32d2759 | 1 | #ifndef _TELEMETRY_H_ |
vsutardja | 0:aca5a32d2759 | 2 | #define _TELEMETRY_H_ |
vsutardja | 0:aca5a32d2759 | 3 | |
vsutardja | 0:aca5a32d2759 | 4 | #include <stddef.h> |
vsutardja | 0:aca5a32d2759 | 5 | #include <stdint.h> |
vsutardja | 0:aca5a32d2759 | 6 | |
vsutardja | 0:aca5a32d2759 | 7 | // Maximum number of Data objects a Telemetry object can hold. |
vsutardja | 0:aca5a32d2759 | 8 | // Default given here, but can be redefined with a compiler define. |
vsutardja | 0:aca5a32d2759 | 9 | #ifndef TELEMETRY_DATA_LIMIT |
vsutardja | 0:aca5a32d2759 | 10 | #define TELEMETRY_DATA_LIMIT 16 |
vsutardja | 0:aca5a32d2759 | 11 | #endif |
vsutardja | 0:aca5a32d2759 | 12 | |
vsutardja | 0:aca5a32d2759 | 13 | #ifndef TELEMETRY_SERIAL_RX_BUFFER_SIZE |
vsutardja | 0:aca5a32d2759 | 14 | #define TELEMETRY_SERIAL_RX_BUFFER_SIZE 256 |
vsutardja | 0:aca5a32d2759 | 15 | #endif |
vsutardja | 0:aca5a32d2759 | 16 | |
vsutardja | 0:aca5a32d2759 | 17 | namespace telemetry { |
vsutardja | 0:aca5a32d2759 | 18 | // Maximum number of Data objects a Telemetry object can hold. |
vsutardja | 0:aca5a32d2759 | 19 | // Used for array sizing. |
vsutardja | 0:aca5a32d2759 | 20 | const size_t MAX_DATA_PER_TELEMETRY = TELEMETRY_DATA_LIMIT; |
vsutardja | 0:aca5a32d2759 | 21 | |
vsutardja | 0:aca5a32d2759 | 22 | // Maximum payload size for a received telemetry packet. |
vsutardja | 0:aca5a32d2759 | 23 | const size_t MAX_RECEIVE_PACKET_LENGTH = 255; |
vsutardja | 0:aca5a32d2759 | 24 | |
vsutardja | 0:aca5a32d2759 | 25 | // Time after which a partially received packet is discarded. |
vsutardja | 0:aca5a32d2759 | 26 | const uint32_t DECODER_TIMEOUT_MS = 100; |
vsutardja | 0:aca5a32d2759 | 27 | |
vsutardja | 0:aca5a32d2759 | 28 | // Buffer size for received non-telemetry data. |
vsutardja | 0:aca5a32d2759 | 29 | const size_t SERIAL_RX_BUFFER_SIZE = TELEMETRY_SERIAL_RX_BUFFER_SIZE; |
vsutardja | 0:aca5a32d2759 | 30 | } |
vsutardja | 0:aca5a32d2759 | 31 | |
vsutardja | 0:aca5a32d2759 | 32 | #ifdef ARDUINO |
vsutardja | 0:aca5a32d2759 | 33 | #ifdef TELEMETRY_HAL |
vsutardja | 0:aca5a32d2759 | 34 | #error "Multiple telemetry HALs defined" |
vsutardja | 0:aca5a32d2759 | 35 | #endif |
vsutardja | 0:aca5a32d2759 | 36 | #include "telemetry-arduino-hal.h" |
vsutardja | 0:aca5a32d2759 | 37 | #endif |
vsutardja | 0:aca5a32d2759 | 38 | |
vsutardja | 0:aca5a32d2759 | 39 | #if defined(__MBED__) |
vsutardja | 0:aca5a32d2759 | 40 | #ifdef TELEMETRY_HAL |
vsutardja | 0:aca5a32d2759 | 41 | #error "Multiple telemetry HALs defined" |
vsutardja | 0:aca5a32d2759 | 42 | #endif |
vsutardja | 0:aca5a32d2759 | 43 | #include "telemetry-mbed-hal.h" |
vsutardja | 0:aca5a32d2759 | 44 | #endif |
vsutardja | 0:aca5a32d2759 | 45 | |
vsutardja | 0:aca5a32d2759 | 46 | #ifndef TELEMETRY_HAL |
vsutardja | 0:aca5a32d2759 | 47 | #error "No telemetry HAL defined" |
vsutardja | 0:aca5a32d2759 | 48 | #endif |
vsutardja | 0:aca5a32d2759 | 49 | |
vsutardja | 0:aca5a32d2759 | 50 | #include "protocol.h" |
vsutardja | 0:aca5a32d2759 | 51 | #include "packet.h" |
vsutardja | 0:aca5a32d2759 | 52 | #include "queue.h" |
vsutardja | 0:aca5a32d2759 | 53 | |
vsutardja | 0:aca5a32d2759 | 54 | namespace telemetry { |
vsutardja | 0:aca5a32d2759 | 55 | // Abstract base class for telemetry data objects. |
vsutardja | 0:aca5a32d2759 | 56 | class Data { |
vsutardja | 0:aca5a32d2759 | 57 | public: |
vsutardja | 0:aca5a32d2759 | 58 | Data(const char* internal_name, const char* display_name, |
vsutardja | 0:aca5a32d2759 | 59 | const char* units): |
vsutardja | 0:aca5a32d2759 | 60 | internal_name(internal_name), |
vsutardja | 0:aca5a32d2759 | 61 | display_name(display_name), |
vsutardja | 0:aca5a32d2759 | 62 | units(units) {}; |
vsutardja | 0:aca5a32d2759 | 63 | |
vsutardja | 0:aca5a32d2759 | 64 | virtual ~Data() {} |
vsutardja | 0:aca5a32d2759 | 65 | |
vsutardja | 0:aca5a32d2759 | 66 | // Returns the data type code. |
vsutardja | 0:aca5a32d2759 | 67 | virtual uint8_t get_data_type() = 0; |
vsutardja | 0:aca5a32d2759 | 68 | |
vsutardja | 0:aca5a32d2759 | 69 | // Returns the length of the header KVRs, in bytes. Does not include the |
vsutardja | 0:aca5a32d2759 | 70 | // terminator header. |
vsutardja | 0:aca5a32d2759 | 71 | virtual size_t get_header_kvrs_length(); |
vsutardja | 0:aca5a32d2759 | 72 | // Writes the header KVRs to the transmit packet. Does not write the |
vsutardja | 0:aca5a32d2759 | 73 | // terminiator header. |
vsutardja | 0:aca5a32d2759 | 74 | virtual void write_header_kvrs(TransmitPacket& packet); |
vsutardja | 0:aca5a32d2759 | 75 | |
vsutardja | 0:aca5a32d2759 | 76 | // Returns the length of the payload, in bytes. Should be "fast". |
vsutardja | 0:aca5a32d2759 | 77 | virtual size_t get_payload_length() = 0; |
vsutardja | 0:aca5a32d2759 | 78 | // Writes the payload to the transmit packet. Should be "fast". |
vsutardja | 0:aca5a32d2759 | 79 | virtual void write_payload(TransmitPacket& packet) = 0; |
vsutardja | 0:aca5a32d2759 | 80 | |
vsutardja | 0:aca5a32d2759 | 81 | // Sets my value from the received packet, interpreting the current packet |
vsutardja | 0:aca5a32d2759 | 82 | // read position as my data type. |
vsutardja | 0:aca5a32d2759 | 83 | virtual void set_from_packet(ReceivePacketBuffer& packet) = 0; |
vsutardja | 0:aca5a32d2759 | 84 | |
vsutardja | 0:aca5a32d2759 | 85 | protected: |
vsutardja | 0:aca5a32d2759 | 86 | const char* internal_name; |
vsutardja | 0:aca5a32d2759 | 87 | const char* display_name; |
vsutardja | 0:aca5a32d2759 | 88 | const char* units; |
vsutardja | 0:aca5a32d2759 | 89 | }; |
vsutardja | 0:aca5a32d2759 | 90 | |
vsutardja | 0:aca5a32d2759 | 91 | // Telemetry Server object. |
vsutardja | 0:aca5a32d2759 | 92 | class Telemetry { |
vsutardja | 0:aca5a32d2759 | 93 | public: |
vsutardja | 0:aca5a32d2759 | 94 | Telemetry(HalInterface& hal) : |
vsutardja | 0:aca5a32d2759 | 95 | hal(hal), |
vsutardja | 0:aca5a32d2759 | 96 | data_count(0), |
vsutardja | 0:aca5a32d2759 | 97 | received_packet(ReceivePacketBuffer(hal)), |
vsutardja | 0:aca5a32d2759 | 98 | decoder_state(SOF), |
vsutardja | 0:aca5a32d2759 | 99 | decoder_pos(0), |
vsutardja | 0:aca5a32d2759 | 100 | packet_length(0), |
vsutardja | 0:aca5a32d2759 | 101 | decoder_last_received(false), |
vsutardja | 0:aca5a32d2759 | 102 | decoder_last_receive_ms(0), |
vsutardja | 0:aca5a32d2759 | 103 | header_transmitted(false), |
vsutardja | 0:aca5a32d2759 | 104 | packet_tx_sequence(0), |
vsutardja | 0:aca5a32d2759 | 105 | packet_rx_sequence(0) {}; |
vsutardja | 0:aca5a32d2759 | 106 | |
vsutardja | 0:aca5a32d2759 | 107 | // Associates a DataInterface with this object, returning the data ID. |
vsutardja | 0:aca5a32d2759 | 108 | size_t add_data(Data& new_data); |
vsutardja | 0:aca5a32d2759 | 109 | |
vsutardja | 0:aca5a32d2759 | 110 | // Marks a data ID as updated, to be transmitted in the next packet. |
vsutardja | 0:aca5a32d2759 | 111 | void mark_data_updated(size_t data_id); |
vsutardja | 0:aca5a32d2759 | 112 | |
vsutardja | 0:aca5a32d2759 | 113 | // Transmits header data. Must be called after all add_data calls are done |
vsutardja | 0:aca5a32d2759 | 114 | // and before and IO is done. |
vsutardja | 0:aca5a32d2759 | 115 | void transmit_header(); |
vsutardja | 0:aca5a32d2759 | 116 | |
vsutardja | 0:aca5a32d2759 | 117 | // Does IO, including transmitting telemetry packets. Should be called on |
vsutardja | 0:aca5a32d2759 | 118 | // a regular basis. Since this does IO, this may block depending on the HAL |
vsutardja | 0:aca5a32d2759 | 119 | // semantics. |
vsutardja | 0:aca5a32d2759 | 120 | void do_io(); |
vsutardja | 0:aca5a32d2759 | 121 | |
vsutardja | 0:aca5a32d2759 | 122 | // TODO: better docs defining in-band receive. |
vsutardja | 0:aca5a32d2759 | 123 | // Returns whether or not read_receive will return valid data. |
vsutardja | 0:aca5a32d2759 | 124 | bool receive_available(); |
vsutardja | 0:aca5a32d2759 | 125 | // Returns the next byte in the receive stream. |
vsutardja | 0:aca5a32d2759 | 126 | uint8_t read_receive(); |
vsutardja | 0:aca5a32d2759 | 127 | |
vsutardja | 0:aca5a32d2759 | 128 | // Calls the HAL's error function if some condition is false. |
vsutardja | 0:aca5a32d2759 | 129 | void do_error(const char* message) { |
vsutardja | 0:aca5a32d2759 | 130 | hal.do_error(message); |
vsutardja | 0:aca5a32d2759 | 131 | } |
vsutardja | 0:aca5a32d2759 | 132 | |
vsutardja | 0:aca5a32d2759 | 133 | protected: |
vsutardja | 0:aca5a32d2759 | 134 | // Transmits any updated data. |
vsutardja | 0:aca5a32d2759 | 135 | void transmit_data(); |
vsutardja | 0:aca5a32d2759 | 136 | |
vsutardja | 0:aca5a32d2759 | 137 | // Handles received data, splitting regular UART data from in-band packet |
vsutardja | 0:aca5a32d2759 | 138 | // data and processing received telemetry packets. |
vsutardja | 0:aca5a32d2759 | 139 | void process_received_data(); |
vsutardja | 0:aca5a32d2759 | 140 | |
vsutardja | 0:aca5a32d2759 | 141 | // Handles a received packet in received_packet. |
vsutardja | 0:aca5a32d2759 | 142 | void process_received_packet(); |
vsutardja | 0:aca5a32d2759 | 143 | |
vsutardja | 0:aca5a32d2759 | 144 | HalInterface& hal; |
vsutardja | 0:aca5a32d2759 | 145 | |
vsutardja | 0:aca5a32d2759 | 146 | // Array of associated DataInterface objects. The index+1 is the |
vsutardja | 0:aca5a32d2759 | 147 | // DataInterface's data ID field. |
vsutardja | 0:aca5a32d2759 | 148 | Data* data[MAX_DATA_PER_TELEMETRY]; |
vsutardja | 0:aca5a32d2759 | 149 | // Whether each data has been updated or not. |
vsutardja | 0:aca5a32d2759 | 150 | bool data_updated[MAX_DATA_PER_TELEMETRY]; |
vsutardja | 0:aca5a32d2759 | 151 | // Count of associated DataInterface objects. |
vsutardja | 0:aca5a32d2759 | 152 | size_t data_count; |
vsutardja | 0:aca5a32d2759 | 153 | |
vsutardja | 0:aca5a32d2759 | 154 | // Buffer holding the receive packet being assembled / parsed. |
vsutardja | 0:aca5a32d2759 | 155 | ReceivePacketBuffer received_packet; |
vsutardja | 0:aca5a32d2759 | 156 | |
vsutardja | 0:aca5a32d2759 | 157 | enum DecoderState { |
vsutardja | 0:aca5a32d2759 | 158 | SOF, // reading start-of-frame sequence (or just non-telemetry data) |
vsutardja | 0:aca5a32d2759 | 159 | LENGTH, // reading packet length |
vsutardja | 0:aca5a32d2759 | 160 | DATA, // reading telemetry packet data |
vsutardja | 0:aca5a32d2759 | 161 | DATA_DESTUFF, // reading a stuffed byte |
vsutardja | 0:aca5a32d2759 | 162 | DATA_DESTUFF_END // last stuffed byte in a packet |
vsutardja | 0:aca5a32d2759 | 163 | } decoder_state; |
vsutardja | 0:aca5a32d2759 | 164 | |
vsutardja | 0:aca5a32d2759 | 165 | size_t decoder_pos; |
vsutardja | 0:aca5a32d2759 | 166 | size_t packet_length; |
vsutardja | 0:aca5a32d2759 | 167 | bool decoder_last_received; |
vsutardja | 0:aca5a32d2759 | 168 | uint32_t decoder_last_receive_ms; |
vsutardja | 0:aca5a32d2759 | 169 | |
vsutardja | 0:aca5a32d2759 | 170 | Queue<uint8_t, SERIAL_RX_BUFFER_SIZE> rx_buffer; |
vsutardja | 0:aca5a32d2759 | 171 | |
vsutardja | 0:aca5a32d2759 | 172 | bool header_transmitted; |
vsutardja | 0:aca5a32d2759 | 173 | |
vsutardja | 0:aca5a32d2759 | 174 | // Sequence number of the next packet to be transmitted. |
vsutardja | 0:aca5a32d2759 | 175 | uint8_t packet_tx_sequence; |
vsutardja | 0:aca5a32d2759 | 176 | uint8_t packet_rx_sequence; // TODO use this somewhere |
vsutardja | 0:aca5a32d2759 | 177 | }; |
vsutardja | 0:aca5a32d2759 | 178 | |
vsutardja | 0:aca5a32d2759 | 179 | template <typename T> |
vsutardja | 0:aca5a32d2759 | 180 | class Numeric : public Data { |
vsutardja | 0:aca5a32d2759 | 181 | public: |
vsutardja | 0:aca5a32d2759 | 182 | Numeric(Telemetry& telemetry_container, |
vsutardja | 0:aca5a32d2759 | 183 | const char* internal_name, const char* display_name, |
vsutardja | 0:aca5a32d2759 | 184 | const char* units, T init_value): |
vsutardja | 0:aca5a32d2759 | 185 | Data(internal_name, display_name, units), |
vsutardja | 0:aca5a32d2759 | 186 | telemetry_container(telemetry_container), |
vsutardja | 0:aca5a32d2759 | 187 | value(init_value), min_val(init_value), max_val(init_value) { |
vsutardja | 0:aca5a32d2759 | 188 | data_id = telemetry_container.add_data(*this); |
vsutardja | 0:aca5a32d2759 | 189 | } |
vsutardja | 0:aca5a32d2759 | 190 | |
vsutardja | 0:aca5a32d2759 | 191 | T operator = (T b) { |
vsutardja | 0:aca5a32d2759 | 192 | value = b; |
vsutardja | 0:aca5a32d2759 | 193 | telemetry_container.mark_data_updated(data_id); |
vsutardja | 0:aca5a32d2759 | 194 | return b; |
vsutardja | 0:aca5a32d2759 | 195 | } |
vsutardja | 0:aca5a32d2759 | 196 | |
vsutardja | 0:aca5a32d2759 | 197 | operator T() { |
vsutardja | 0:aca5a32d2759 | 198 | return value; |
vsutardja | 0:aca5a32d2759 | 199 | } |
vsutardja | 0:aca5a32d2759 | 200 | |
vsutardja | 0:aca5a32d2759 | 201 | Numeric<T>& set_limits(T min, T max) { |
vsutardja | 0:aca5a32d2759 | 202 | min_val = min; |
vsutardja | 0:aca5a32d2759 | 203 | max_val = max; |
vsutardja | 0:aca5a32d2759 | 204 | return *this; |
vsutardja | 0:aca5a32d2759 | 205 | } |
vsutardja | 0:aca5a32d2759 | 206 | |
vsutardja | 0:aca5a32d2759 | 207 | uint8_t get_data_type() { return protocol::DATATYPE_NUMERIC; } |
vsutardja | 0:aca5a32d2759 | 208 | |
vsutardja | 0:aca5a32d2759 | 209 | size_t get_header_kvrs_length() { |
vsutardja | 0:aca5a32d2759 | 210 | return Data::get_header_kvrs_length() |
vsutardja | 0:aca5a32d2759 | 211 | + 1 + 1 // subtype |
vsutardja | 0:aca5a32d2759 | 212 | + 1 + 1 // data length |
vsutardja | 0:aca5a32d2759 | 213 | + 1 + sizeof(value) + sizeof(value); // limits |
vsutardja | 0:aca5a32d2759 | 214 | } |
vsutardja | 0:aca5a32d2759 | 215 | |
vsutardja | 0:aca5a32d2759 | 216 | void write_header_kvrs(TransmitPacket& packet) { |
vsutardja | 0:aca5a32d2759 | 217 | Data::write_header_kvrs(packet); |
vsutardja | 0:aca5a32d2759 | 218 | packet.write_uint8(protocol::RECORDID_NUMERIC_SUBTYPE); |
vsutardja | 0:aca5a32d2759 | 219 | packet.write_uint8(protocol::numeric_subtype<T>()); |
vsutardja | 0:aca5a32d2759 | 220 | packet.write_uint8(protocol::RECORDID_NUMERIC_LENGTH); |
vsutardja | 0:aca5a32d2759 | 221 | packet.write_uint8(sizeof(value)); |
vsutardja | 0:aca5a32d2759 | 222 | packet.write_uint8(protocol::RECORDID_NUMERIC_LIMITS); |
vsutardja | 0:aca5a32d2759 | 223 | serialize_data(min_val, packet); |
vsutardja | 0:aca5a32d2759 | 224 | serialize_data(max_val, packet); |
vsutardja | 0:aca5a32d2759 | 225 | } |
vsutardja | 0:aca5a32d2759 | 226 | |
vsutardja | 0:aca5a32d2759 | 227 | size_t get_payload_length() { return sizeof(value); } |
vsutardja | 0:aca5a32d2759 | 228 | void write_payload(TransmitPacket& packet) { serialize_data(value, packet); } |
vsutardja | 0:aca5a32d2759 | 229 | void set_from_packet(ReceivePacketBuffer& packet) { |
vsutardja | 0:aca5a32d2759 | 230 | value = deserialize_data(packet); |
vsutardja | 0:aca5a32d2759 | 231 | telemetry_container.mark_data_updated(data_id); } |
vsutardja | 0:aca5a32d2759 | 232 | |
vsutardja | 0:aca5a32d2759 | 233 | void serialize_data(T value, TransmitPacket& packet) { |
vsutardja | 0:aca5a32d2759 | 234 | packet.write<T>(value); |
vsutardja | 0:aca5a32d2759 | 235 | } |
vsutardja | 0:aca5a32d2759 | 236 | T deserialize_data(ReceivePacketBuffer& packet) { |
vsutardja | 0:aca5a32d2759 | 237 | return packet.read<T>(); |
vsutardja | 0:aca5a32d2759 | 238 | } |
vsutardja | 0:aca5a32d2759 | 239 | |
vsutardja | 0:aca5a32d2759 | 240 | |
vsutardja | 0:aca5a32d2759 | 241 | protected: |
vsutardja | 0:aca5a32d2759 | 242 | Telemetry& telemetry_container; |
vsutardja | 0:aca5a32d2759 | 243 | size_t data_id; |
vsutardja | 0:aca5a32d2759 | 244 | T value; |
vsutardja | 0:aca5a32d2759 | 245 | T min_val, max_val; |
vsutardja | 0:aca5a32d2759 | 246 | }; |
vsutardja | 0:aca5a32d2759 | 247 | |
vsutardja | 0:aca5a32d2759 | 248 | template <typename T, uint32_t array_count> |
vsutardja | 0:aca5a32d2759 | 249 | class NumericArrayAccessor; |
vsutardja | 0:aca5a32d2759 | 250 | |
vsutardja | 0:aca5a32d2759 | 251 | template <typename T, uint32_t array_count> |
vsutardja | 0:aca5a32d2759 | 252 | class NumericArray : public Data { |
vsutardja | 0:aca5a32d2759 | 253 | friend class NumericArrayAccessor<T, array_count>; |
vsutardja | 0:aca5a32d2759 | 254 | public: |
vsutardja | 0:aca5a32d2759 | 255 | NumericArray(Telemetry& telemetry_container, |
vsutardja | 0:aca5a32d2759 | 256 | const char* internal_name, const char* display_name, |
vsutardja | 0:aca5a32d2759 | 257 | const char* units, T elem_init_value): |
vsutardja | 0:aca5a32d2759 | 258 | Data(internal_name, display_name, units), |
vsutardja | 0:aca5a32d2759 | 259 | telemetry_container(telemetry_container), |
vsutardja | 0:aca5a32d2759 | 260 | min_val(elem_init_value), max_val(elem_init_value) { |
vsutardja | 0:aca5a32d2759 | 261 | for (size_t i=0; i<array_count; i++) { |
vsutardja | 0:aca5a32d2759 | 262 | value[i] = elem_init_value; |
vsutardja | 0:aca5a32d2759 | 263 | } |
vsutardja | 0:aca5a32d2759 | 264 | data_id = telemetry_container.add_data(*this); |
vsutardja | 0:aca5a32d2759 | 265 | } |
vsutardja | 0:aca5a32d2759 | 266 | |
vsutardja | 0:aca5a32d2759 | 267 | NumericArrayAccessor<T, array_count> operator[] (const int index) { |
vsutardja | 0:aca5a32d2759 | 268 | // TODO: add bounds checking here? |
vsutardja | 0:aca5a32d2759 | 269 | return NumericArrayAccessor<T, array_count>(*this, index); |
vsutardja | 0:aca5a32d2759 | 270 | } |
vsutardja | 0:aca5a32d2759 | 271 | |
vsutardja | 0:aca5a32d2759 | 272 | NumericArray<T, array_count>& set_limits(T min, T max) { |
vsutardja | 0:aca5a32d2759 | 273 | min_val = min; |
vsutardja | 0:aca5a32d2759 | 274 | max_val = max; |
vsutardja | 0:aca5a32d2759 | 275 | return *this; |
vsutardja | 0:aca5a32d2759 | 276 | } |
vsutardja | 0:aca5a32d2759 | 277 | |
vsutardja | 0:aca5a32d2759 | 278 | uint8_t get_data_type() { return protocol::DATATYPE_NUMERIC_ARRAY; } |
vsutardja | 0:aca5a32d2759 | 279 | |
vsutardja | 0:aca5a32d2759 | 280 | size_t get_header_kvrs_length() { |
vsutardja | 0:aca5a32d2759 | 281 | return Data::get_header_kvrs_length() |
vsutardja | 0:aca5a32d2759 | 282 | + 1 + 1 // subtype |
vsutardja | 0:aca5a32d2759 | 283 | + 1 + 1 // data length |
vsutardja | 0:aca5a32d2759 | 284 | + 1 + 4 // array length |
vsutardja | 0:aca5a32d2759 | 285 | + 1 + sizeof(value[0]) + sizeof(value[0]); // limits |
vsutardja | 0:aca5a32d2759 | 286 | } |
vsutardja | 0:aca5a32d2759 | 287 | |
vsutardja | 0:aca5a32d2759 | 288 | void write_header_kvrs(TransmitPacket& packet) { |
vsutardja | 0:aca5a32d2759 | 289 | Data::write_header_kvrs(packet); |
vsutardja | 0:aca5a32d2759 | 290 | packet.write_uint8(protocol::RECORDID_NUMERIC_SUBTYPE); |
vsutardja | 0:aca5a32d2759 | 291 | packet.write_uint8(protocol::numeric_subtype<T>()); |
vsutardja | 0:aca5a32d2759 | 292 | packet.write_uint8(protocol::RECORDID_NUMERIC_LENGTH); |
vsutardja | 0:aca5a32d2759 | 293 | packet.write_uint8(sizeof(value[0])); |
vsutardja | 0:aca5a32d2759 | 294 | packet.write_uint8(protocol::RECORDID_ARRAY_COUNT); |
vsutardja | 0:aca5a32d2759 | 295 | packet.write_uint32(array_count); |
vsutardja | 0:aca5a32d2759 | 296 | packet.write_uint8(protocol::RECORDID_NUMERIC_LIMITS); |
vsutardja | 0:aca5a32d2759 | 297 | serialize_data(min_val, packet); |
vsutardja | 0:aca5a32d2759 | 298 | serialize_data(max_val, packet); |
vsutardja | 0:aca5a32d2759 | 299 | } |
vsutardja | 0:aca5a32d2759 | 300 | |
vsutardja | 0:aca5a32d2759 | 301 | size_t get_payload_length() { return sizeof(value); } |
vsutardja | 0:aca5a32d2759 | 302 | void write_payload(TransmitPacket& packet) { |
vsutardja | 0:aca5a32d2759 | 303 | for (size_t i=0; i<array_count; i++) { serialize_data(this->value[i], packet); } } |
vsutardja | 0:aca5a32d2759 | 304 | void set_from_packet(ReceivePacketBuffer& packet) { |
vsutardja | 0:aca5a32d2759 | 305 | for (size_t i=0; i<array_count; i++) { value[i] = deserialize_data(packet); } |
vsutardja | 0:aca5a32d2759 | 306 | telemetry_container.mark_data_updated(data_id); } |
vsutardja | 0:aca5a32d2759 | 307 | |
vsutardja | 0:aca5a32d2759 | 308 | void serialize_data(T data, TransmitPacket& packet) { |
vsutardja | 0:aca5a32d2759 | 309 | packet.write<T>(data); } |
vsutardja | 0:aca5a32d2759 | 310 | T deserialize_data(ReceivePacketBuffer& packet) { |
vsutardja | 0:aca5a32d2759 | 311 | return packet.read<T>(); } |
vsutardja | 0:aca5a32d2759 | 312 | |
vsutardja | 0:aca5a32d2759 | 313 | protected: |
vsutardja | 0:aca5a32d2759 | 314 | Telemetry& telemetry_container; |
vsutardja | 0:aca5a32d2759 | 315 | size_t data_id; |
vsutardja | 0:aca5a32d2759 | 316 | T value[array_count]; |
vsutardja | 0:aca5a32d2759 | 317 | T min_val, max_val; |
vsutardja | 0:aca5a32d2759 | 318 | }; |
vsutardja | 0:aca5a32d2759 | 319 | |
vsutardja | 0:aca5a32d2759 | 320 | template <typename T, uint32_t array_count> |
vsutardja | 0:aca5a32d2759 | 321 | class NumericArrayAccessor { |
vsutardja | 0:aca5a32d2759 | 322 | public: |
vsutardja | 0:aca5a32d2759 | 323 | NumericArrayAccessor(NumericArray<T, array_count>& container, size_t index) : |
vsutardja | 0:aca5a32d2759 | 324 | container(container), index(index) { } |
vsutardja | 0:aca5a32d2759 | 325 | |
vsutardja | 0:aca5a32d2759 | 326 | T operator = (T b) { |
vsutardja | 0:aca5a32d2759 | 327 | container.value[index] = b; |
vsutardja | 0:aca5a32d2759 | 328 | container.telemetry_container.mark_data_updated(container.data_id); |
vsutardja | 0:aca5a32d2759 | 329 | return b; |
vsutardja | 0:aca5a32d2759 | 330 | } |
vsutardja | 0:aca5a32d2759 | 331 | |
vsutardja | 0:aca5a32d2759 | 332 | operator T() { |
vsutardja | 0:aca5a32d2759 | 333 | return container.value[index]; |
vsutardja | 0:aca5a32d2759 | 334 | } |
vsutardja | 0:aca5a32d2759 | 335 | |
vsutardja | 0:aca5a32d2759 | 336 | protected: |
vsutardja | 0:aca5a32d2759 | 337 | NumericArray<T, array_count>& container; |
vsutardja | 0:aca5a32d2759 | 338 | size_t index; |
vsutardja | 0:aca5a32d2759 | 339 | }; |
vsutardja | 0:aca5a32d2759 | 340 | |
vsutardja | 0:aca5a32d2759 | 341 | } |
vsutardja | 0:aca5a32d2759 | 342 | |
vsutardja | 0:aca5a32d2759 | 343 | #endif |