usapack public
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
UsaPack.hpp
- Committer:
- cocorlow
- Date:
- 2021-04-24
- Revision:
- 1:7d6e751f5986
- Parent:
- 0:8adbff0ff843
- Child:
- 3:526f824b50ef
File content as of revision 1:7d6e751f5986:
#ifndef __USAPACK_HPP__ #define __USAPACK_HPP__ #include "mbed.h" class UsaPack { private: Serial serial; const int uart_size = 256; char uart_buffer[uart_size]; int uart_index; const int package_types = 64; int package_index; int package_address[package_types]; int package_size[package_types]; void* package_object[package_types]; void Receive(); void Decode(); public: UsaPack(PinName tx, PinName rx, int baud); static void CobsEncode(char data[], int length, char send_data[]); static void CobsDecode(char receive_data[], int length, char data[]); template <typename T> void Subscribe(int address, T* receive_data) { package_address[package_index] = address; package_size[package_index] = sizeof(T); package_object[package_index] = receive_data; package_index++; } template <typename T> void UsaPack::Send(int address, T* send_data) { union _package { struct { int _address; T raw_data; } address_package; char byte_data[sizeof(address_package)]; }; char send_cobs_data[sizeof(_package)+2]; _package package; package.address_package._address = address; package.address_package.raw_data = *send_data; CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data); for (int i = 0; i < sizeof(_package)+2; i++) { serial.putc(send_cobs_data[i]); } } }; #endif