Revision 0:4801795a9073, committed 2021-12-11

Comitter:

hamohamo

Date:

Sat Dec 11 02:37:36 2021 +0000

Commit message:

SerialLibrary;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Buffer52.hpp	Sat Dec 11 02:37:36 2021 +0000
@@ -0,0 +1,32 @@
+#ifndef _52BUFFER
+#define _52BUFFER
+
+#include <vector>
+
+namespace ARRC{
+template <class type> class Buffer{
+public:
+    Buffer(unsigned size):buf(size,0),size(size),read_ref(0),write_ref(0){}
+    type read(){
+        type ret = 0;
+        if(read_ref < write_ref){
+            ret = buf[read_ref % size];
+            read_ref++;
+        }
+        return ret;
+    }
+    void write(type elem){
+        buf[write_ref % size] = elem;
+        write_ref++;
+    }
+    bool readable(){return (read_ref < write_ref);}
+    int datacount(){return write_ref - read_ref;}
+private:
+std::vector<type> buf;
+long unsigned read_ref,write_ref;
+long unsigned size;
+};
+
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/goto_serial.cpp	Sat Dec 11 02:37:36 2021 +0000
@@ -0,0 +1,104 @@
+#include "goto_serial.hpp"
+
+namespace ARRC{
+
+gotoSerial::gotoSerial(PinName tx,PinName rx,int baudrate):ser(tx,rx,baudrate),sub_vars_size(0),sub_vars(0),buf(256){
+    ser.attach(callback(this,&gotoSerial::interrupt_read),Serial::RxIrq);
+}
+bool gotoSerial::publish(unsigned id,int num,unsigned type){
+    Pack byte;
+    byte.integer = num;
+    int8_t _1_byte = (byte.integer >> 24) & 0xFF;
+    uint8_t _2_byte = (byte.integer >> 16) & 0xFF;
+    uint8_t _3_byte = (byte.integer >> 8) & 0xFF;
+    uint8_t _4_byte = (byte.integer >> 0) & 0xFF;
+    int8_t sum = id+type+_1_byte+_2_byte+_3_byte+_4_byte;
+    int32_t numsum = (_1_byte << 24) + (_2_byte<<16) + (_3_byte << 8) + _4_byte;
+    ser.putc(STARTDATA);
+    ser.putc(id);
+    ser.putc(type);
+    ser.putc(_1_byte);
+    ser.putc(_2_byte);
+    ser.putc(_3_byte);
+    ser.putc(_4_byte);
+    ser.putc(sum);
+    ser.putc(ENDDATA);
+    while(!ser.writeable());
+    return true;
+}
+bool gotoSerial::publish(unsigned id,float num,unsigned type){
+    Pack byte;
+    byte.decimal = num;
+    uint8_t _1_byte = (byte.integer >> 24) & 0xFF;
+    uint8_t _2_byte = (byte.integer >> 16) & 0xFF;
+    uint8_t _3_byte = (byte.integer >> 8) & 0xFF;
+    uint8_t _4_byte = (byte.integer >> 0) & 0xFF;
+    uint8_t sum = id+type+_1_byte+_2_byte+_3_byte+_4_byte;
+    int32_t numsum = (_1_byte << 24) + (_2_byte<<16) + (_3_byte << 8) + _4_byte;
+    ser.putc(STARTDATA);
+    ser.putc(id);
+    ser.putc(type);
+    ser.putc(_1_byte);
+    ser.putc(_2_byte);
+    ser.putc(_3_byte);
+    ser.putc(_4_byte);
+    ser.putc(sum);
+    ser.putc(ENDDATA);
+    while(!ser.writeable());
+    return true;
+}
+bool gotoSerial::subscribe(unsigned id,int* var){
+    if(sub_vars_size < id) sub_vars_size = id;
+    sub_vars.resize(sub_vars_size+1);
+    sub_vars.at(id).integer = var;
+    return true;
+}
+bool gotoSerial::subscribe(unsigned id,float* var){
+    if(sub_vars_size < id) sub_vars_size = id;
+    sub_vars.resize(sub_vars_size+1);
+    sub_vars.at(id).decimal = var;
+    return true;
+}
+bool gotoSerial::subscribe(unsigned id,Func func){
+    if(sub_vars_size < id) sub_vars_size = id;
+    sub_funcs.resize(sub_vars_size+1);
+    sub_funcs.at(id) = func;
+    return true;
+}
+void gotoSerial::interrupt_read(){
+    int8_t byte;
+    while(ser.readable()){
+        byte = ser.getc();
+        buf.write(byte);
+        if(byte == ENDDATA) while(buf.readable()) update();
+    }
+}
+bool gotoSerial::update(){
+    if(buf.readable()){
+        int id = 0;
+        int type = 0;
+        if(buf.read() == STARTDATA){
+            id = buf.read();
+            type = buf.read();
+            if(0 <= id and id <= sub_vars_size){
+                uint8_t _1_byte = buf.read();
+                uint8_t _2_byte = buf.read();
+                uint8_t _3_byte = buf.read();
+                uint8_t _4_byte = buf.read();
+                uint8_t sum = id+type+_1_byte+_2_byte+_3_byte+_4_byte;
+                if(buf.read() == sum) {
+                    Pack byte;
+                    byte.integer = ((int32_t)_1_byte << 24) + ((int32_t)_2_byte<<16) + ((int32_t)_3_byte << 8) + (int32_t)_4_byte;
+                    if(type == INT) *sub_vars.at(id).integer = byte.integer;
+                    else if(type == FLOAT) *sub_vars.at(id).decimal = byte.decimal;
+                    else if(type == FUNC) (*(sub_funcs.at(id)))(byte);
+                }
+            }
+            else for(int i = 0;i < 5;i++) buf.read();
+        }
+    }
+    return true;
+}
+
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/goto_serial.hpp	Sat Dec 11 02:37:36 2021 +0000
@@ -0,0 +1,70 @@
+#ifndef _52SERIAL
+#define _52SERIAL
+
+#include "mbed.h"
+#include "Buffer52.hpp"
+/*
+使用方法
+ARRC::gotoSerial ser(PC_12,PD_2,9600);
+DigitalOut rede(PH_1);
+送信側 rede = 1;
+受信側 rede = 0;
+
+publish(id,送信する値,INT or FLOAT or FUNC(送信する型の指定));
+INT,FLOAT 送信と受信でなるべく合わせること。
+FUNC 受信側で設定した関数に値を引数として送信する。
+subscribe(id,変数または関数のポインタ(例 &value , func));
+
+受信側の関数(scrp_slaveでいうところのコマンド)の宣言方法
+
+void func(Pack data){
+    printf("subscribed_int:%d\n",data.integer);
+    printf("subscribed_float:%d\n",data.decimal);
+    led = !led;
+}
+ToDo
+redeを組み込む
+送受信可能にする
+*/
+
+namespace ARRC{
+
+const unsigned STARTDATA = 0x01;
+const unsigned ENDDATA = 0x09;
+const unsigned INT = 1;
+const unsigned FLOAT = 2;
+const unsigned FUNC = 3;
+
+typedef union {
+    float decimal;
+    int integer;
+} Pack;
+
+typedef void (*Func)(Pack data);
+
+typedef union {
+    float* decimal;
+    int* integer;
+} DATA;
+
+class gotoSerial{
+public:
+    gotoSerial(PinName tx,PinName rx,int baudrate);
+    bool publish(unsigned id,int num,unsigned type);
+    bool publish(unsigned id,float num,unsigned type);
+    bool subscribe(unsigned id,int* var);
+    bool subscribe(unsigned id,float* var);
+    bool subscribe(unsigned id,Func func);
+private:
+    void interrupt_read();
+    bool update();
+    int sub_vars_size;
+    std::vector<DATA> sub_vars;
+    std::vector<Func> sub_funcs;
+    Buffer<int8_t> buf;
+    Serial ser;
+};
+
+}
+
+#endif