Revision 1:e51abb43c074, committed 2016-01-28

Comitter:

Overdrivr

Date:

Thu Jan 28 10:00:45 2016 +0000

Parent:

0:3a30eba5d8f7

Child:

2:b7a3ac7bcec8

Commit message:

Wrote wrapper to simplify use

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver.cpp	Thu Jan 28 10:00:45 2016 +0000
@@ -0,0 +1,136 @@
+#include "MODSERIAL.h"
+#include "driver.hpp"
+
+static MODSERIAL pc(USBTX, USBRX);
+
+// Physical driver
+
+int32_t read(void * buf, uint32_t sizeToRead)
+{
+    *(uint8_t*)(buf) = pc.getc();
+    return 1;
+}
+
+int32_t readable()
+{
+    return pc.rxBufferGetCount();
+}
+
+int32_t write(void * buf, uint32_t sizeToWrite)
+{
+    char * ptr = (char *)buf;
+    for(uint32_t i = 0 ; i < sizeToWrite ; i++)
+    {
+        pc.putc(ptr[i]);
+    }
+    return 0;
+}
+
+int32_t writeable()
+{
+    return pc.writeable();
+}
+
+// C++ interface
+
+Telemetry::Telemetry(TM_state* userData)
+{
+    transport.read = read;
+    transport.write = write;
+    transport.readable = readable;
+    transport.writeable = writeable;
+    
+    init_telemetry(userData, &transport);
+    
+    pc.baud(9600);
+}
+    
+uint32_t Telemetry::cast(TM_msg * m, char * buf, size_t bufSize)
+{
+    return emplace(m,buf,bufSize);   
+}
+
+uint32_t Telemetry::cast_u8(TM_msg * m, uint8_t * dst)
+{
+    return emplace_u8(m,dst);
+}
+
+uint32_t Telemetry::cast_u16(TM_msg * m, uint16_t * dst)
+{
+    return emplace_u16(m,dst);
+}
+
+uint32_t Telemetry::cast_u32(TM_msg * m, uint32_t * dst)
+{
+    return emplace_u32(m,dst);
+}
+
+uint32_t Telemetry::cast_i8(TM_msg * m, int8_t * dst)
+{
+    return emplace_i8(m,dst);
+}
+
+uint32_t Telemetry::cast_i16(TM_msg * m, int16_t * dst)
+{
+    return emplace_i16(m,dst);
+}
+
+uint32_t Telemetry::cast_i32(TM_msg * m, int32_t * dst)
+{
+    return emplace_i32(m,dst);
+}
+
+uint32_t Telemetry::cast_f32(TM_msg * m, float * dst)
+{
+    return emplace_f32(m,dst);
+}
+
+void Telemetry::pub(const char * topic, char * msg)
+{
+    publish(topic,msg);
+}
+
+void Telemetry::pub_u8(const char * topic, uint8_t msg)
+{
+    publish_u8(topic,msg);
+}
+
+void Telemetry::pub_u16(const char * topic, uint16_t msg)
+{
+    publish_u16(topic,msg);
+}
+
+void Telemetry::pub_u32(const char * topic, uint32_t msg)
+{
+    publish_u32(topic,msg);
+}
+
+void Telemetry::pub_i8(const char * topic, int8_t msg)
+{
+    publish_i8(topic,msg);
+}
+
+void Telemetry::pub_i16(const char * topic, int16_t msg)
+{
+    publish_i16(topic,msg);
+}
+
+void Telemetry::pub_i32(const char * topic, int32_t msg)
+{
+    publish_i32(topic,msg);
+}
+
+void Telemetry::pub_f32(const char * topic, float msg)
+{
+    publish_f32(topic,msg);
+}
+
+void Telemetry::sub(void (*callback)(TM_state * s, TM_msg * m))
+{
+    subscribe(callback);
+}
+
+void Telemetry::update()
+{
+    update_telemetry(0);
+}
\ No newline at end of file

--- a/driver.hpp	Wed Jan 27 17:39:36 2016 +0000
+++ b/driver.hpp	Thu Jan 28 10:00:45 2016 +0000
@@ -1,44 +1,37 @@
-#include "MODSERIAL.h"
+#include "mbed.h"
+#include "telemetry/telemetry.hpp"
 
-// Driver implementation for telemetry (github.com/Overdrivr/Telemetry)
-// Don't forget in your main to aggregate the driver to telemetry (see below)
-/*
-  // Add this code to your main 
-  
-  TM_transport transport;
-  transport.read = read;
-  transport.write = write;
-  transport.readable = readable;
-  transport.writeable = writeable;
+// C++ Wrapper and driver implementation for telemetry (github.com/Overdrivr/Telemetry)
 
-  // Feed to transport to telemetry on init
-  init_telemetry(.., &transport);
-*/
-
-MODSERIAL pc(USBTX, USBRX);
-
-int32_t read(void * buf, uint32_t sizeToRead)
+class Telemetry
 {
-    *(uint8_t*)(buf) = pc.getc();
-    return 1;
-}
-
-int32_t readable()
-{
-    return pc.rxBufferGetCount();
-}
+    public:
+    Telemetry(TM_state* userData);
+    
+    uint32_t cast(TM_msg * m, char * buf, size_t bufSize);
+    uint32_t cast_u8(TM_msg * m, uint8_t * dst);
+    uint32_t cast_u16(TM_msg * m, uint16_t * dst);
+    uint32_t cast_u32(TM_msg * m, uint32_t * dst);
+    uint32_t cast_i8(TM_msg * m, int8_t * dst);
+    uint32_t cast_i16(TM_msg * m, int16_t * dst);
+    uint32_t cast_i32(TM_msg * m, int32_t * dst);
+    uint32_t cast_f32(TM_msg * m, float * dst);
+    
+    void pub(const char * topic, char * msg);
+    void pub_u8(const char * topic, uint8_t msg);
+    void pub_u16(const char * topic, uint16_t msg);
+    void pub_u32(const char * topic, uint32_t msg);
+    void pub_i8(const char * topic, int8_t msg);
+    void pub_i16(const char * topic, int16_t msg);
+    void pub_i32(const char * topic, int32_t msg);
+    void pub_f32(const char * topic, float msg);
+    
+    void sub(void (*callback)(TM_state * s, TM_msg * m));
 
-int32_t write(void * buf, uint32_t sizeToWrite)
-{
-    char * ptr = (char *)buf;
-    for(uint32_t i = 0 ; i < sizeToWrite ; i++)
-    {
-        pc.putc(ptr[i]);
-    }
-    return 0;
-}
+    void update();
+    
+    private:
+    TM_transport transport;
+};
 
-int32_t writeable()
-{
-    return pc.writeable();
-}
+