usapack public
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
UsaPack.hpp
- Committer:
- cocorlow
- Date:
- 2021-04-23
- Revision:
- 0:8adbff0ff843
- Child:
- 1:7d6e751f5986
File content as of revision 0:8adbff0ff843:
#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(); public: UsaPack(PinName tx, PinName rx, int baud); static void CobsEncode(uint8_t data[], int length, uint8_t send_data[]); static void CobsDecode(uint8_t receive_data[], int length, uint8_t 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; uint8_t byte_data[sizeof(T)]; }; uint8_t send_cobs_data[sizeof(T)+2]; _package package; package.address_package._address = address; package.address_package.raw_data = send_data; CobsEncode(package.byte_data, (int)sizeof(T), send_cobs_data); for (int i = 0; i < sizeof(T)+2; i++) { serial.putc(send_cobs_data[i]); } } }; #endif