Diff: UsaPack.hpp

Revision:

0:8adbff0ff843

Child:

1:7d6e751f5986

diff -r 000000000000 -r 8adbff0ff843 UsaPack.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UsaPack.hpp	Fri Apr 23 18:53:23 2021 +0000
@@ -0,0 +1,64 @@
+#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
\ No newline at end of file