Diff: Serial_Writer.h

Revision:

6:657302a3a908

Parent:

2:9e785d92712d

--- a/Serial_Writer.h	Fri May 07 09:38:59 2021 +0000
+++ b/Serial_Writer.h	Fri May 14 10:33:36 2021 +0000
@@ -1,45 +1,108 @@
 #ifndef SERIAL_WRITER
 #define SERIAL_WRITER
 #include <mbed.h>
+#include <iostream>
+
 class Serial_Writer
 {
 public:
     Serial_Writer(PinName TxPin,PinName RxPin,int baudrate);
-    template <typename T>
-    inline void write(T &send,int delay){
-        int num=sizeof(send);
-        char buffer[num+2];
-        for (int i=1,k=0;i<=num;k++){
-            for(int _bitNum=sizeof(send[0])-1;_bitNum>=0;i++,_bitNum--)buffer[i]=(send[k]>>(8*_bitNum))&0xFF;
-        }
-        buffer[0]='[';
-        buffer[num+1]=']';
-        for (int p=0;p<sizeof(buffer);p++)_Serial.putc(buffer[p]);
-        wait_ms(delay);
+    
+    template<typename T,std::size_t N>void write(T (&send)[N],int delay){
+        writer<T,N>::write(send,delay,_Serial);
+    }
+    
+    template <typename R,std::size_t S>int receive(R (&get)[S]){
+        return receiver<R,S>::receive(get,_Serial);
     }
     
-    template <typename R>
-    inline int receive(R &get){
-        int num=sizeof(get);
-        int num_0=sizeof(get[0]);
-        char buffer[num+2];
-        if (_Serial.readable()){
-            for(int i=0;i<sizeof(buffer);i++){
-                buffer[i]=_Serial.getc();
-                if(buffer[0]!='[')return -1;
-            }
-            if(buffer[num+1]==']'){
-                for (int s=0;s<(num/num_0);s++)get[s]=0x0;
-                for (int p=1,k=0;p<=num;k++){
-                    for (int _byte=num_0-1;_byte>=0;p++,_byte--)get[k]|=buffer[p]<<(8*_byte);
-                }
-                return 0;//正常終了
-            }else return -1;//異常終了1(正しく受信できていない)
-        }else return -2;//異常終了2(受信するものがない)
-    }
+    Serial _Serial;
     
 private:
-    Serial _Serial;
+//--------------------------------------write--------------------------------------//
+    template <typename T,std::size_t N>
+    struct writer{
+        static void write(T (&send)[N],int delay,Serial &_Serial){
+            int num=sizeof(send);
+            char buffer[num+2];
+            for (int i=1,k=0;i<=num;k++){
+                for(int _bitNum=sizeof(send[0])-1;_bitNum>=0;i++,_bitNum--)buffer[i]=(send[k]>>(8*_bitNum))&0xFF;
+            }
+            buffer[0]='[';
+            buffer[num+1]=']';
+            for (int p=0;p<sizeof(buffer);p++)_Serial.putc(buffer[p]);
+            wait_ms(delay);
+        }
+    };
+    
+    template<std::size_t N>
+    struct writer<double,N>{
+        static void write(double (&send)[N],int delay,Serial &_Serial){
+            int numer=sizeof(send)/sizeof(send[0]);
+            int send_c[numer];
+            for(int _n=0;_n<numer;_n++)send_c[_n]=int(send[_n]*100);
+            writer<int,N>::write(send_c,delay,_Serial);
+        }
+    };
+    
+    template<std::size_t N>
+    struct writer<float,N>{
+        static void write(float (&send)[N],int delay,Serial &_Serial){
+            int numer=sizeof(send)/sizeof(send[0]);
+            int send_c[numer];
+            for(int _n=0;_n<numer;_n++)send_c[_n]=int(send[_n]*100);
+            writer<int,N>::write(send_c,delay,_Serial);
+        }
+    };
+    
+//--------------------------------------end--------------------------------------//
+
+//------------------------------------receive------------------------------------//
+    
+    template <typename R,std::size_t S>
+    struct receiver{
+        static int receive(R (&get)[S],Serial &_Serial){
+            int num=sizeof(get);
+            int num_0=sizeof(get[0]);
+            char buffer[num+2];
+            if (_Serial.readable()){
+                for(int i=0;i<sizeof(buffer);i++){
+                    buffer[i]=_Serial.getc();
+                    if(buffer[0]!='[')return -1;
+                }
+                if(buffer[num+1]==']'){
+                    for (int s=0;s<(num/num_0);s++)get[s]=0x0;
+                    for (int p=1,k=0;p<=num;k++){
+                        for (int _byte=num_0-1;_byte>=0;p++,_byte--)get[k]|=buffer[p]<<(8*_byte);
+                    }
+                    return 0;//正常終了
+                }else return -1;//異常終了1(正しく受信できていない)
+            }else return -2;//異常終了2(受信するものがない)
+        }
+    };
+    
+    template <std::size_t S>
+    struct receiver<double,S>{
+        static int receive(double (&get)[S],Serial &_Serial){
+            int geter[S];
+            int _return=receiver<int,S>::receive(geter,_Serial);
+            for (int _g_=0;_g_<sizeof(geter)/sizeof(geter[0]);_g_++)get[_g_]=double(geter[_g_])/100.0;
+            return _return;
+        }
+    };
+    
+    template <std::size_t S>
+    struct receiver<float,S>{
+        static int receive(float (&get)[S],Serial &_Serial){
+            int geter[S];
+            int _return=receiver<int,S>::receive(geter,_Serial);
+            for (int _g_=0;_g_<sizeof(geter)/sizeof(geter[0]);_g_++)get[_g_]=double(geter[_g_])/100.0;
+            return _return;
+        }
+    };
 };
 
+//------------------------------------end------------------------------------//
+
+
 #endif
\ No newline at end of file