Ian Krase / telemetry

ducky's telemetry library

telemetry.h@0:79b031fc31ac, 2015-03-31 (annotated)

Committer:
ikrase
Date:
Tue Mar 31 19:07:34 2015 +0000
Revision:
0:79b031fc31ac
untested telemetry code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikrase 0:79b031fc31ac 1 #ifndef _TELEMETRY_H_
ikrase 0:79b031fc31ac 2 #define _TELEMETRY_H_
ikrase 0:79b031fc31ac 3
ikrase 0:79b031fc31ac 4 #include <stddef.h>
ikrase 0:79b031fc31ac 5 #include <stdint.h>
ikrase 0:79b031fc31ac 6
ikrase 0:79b031fc31ac 7 namespace telemetry {
ikrase 0:79b031fc31ac 8
ikrase 0:79b031fc31ac 9 #ifndef TELEMETRY_DATA_LIMIT
ikrase 0:79b031fc31ac 10 #define TELEMETRY_DATA_LIMIT 16
ikrase 0:79b031fc31ac 11 #endif
ikrase 0:79b031fc31ac 12
ikrase 0:79b031fc31ac 13 // Maximum number of DataInterface objects a Telemetry object can hold.
ikrase 0:79b031fc31ac 14 // Used for array sizing.
ikrase 0:79b031fc31ac 15 const size_t MAX_DATA_PER_TELEMETRY = TELEMETRY_DATA_LIMIT;
ikrase 0:79b031fc31ac 16
ikrase 0:79b031fc31ac 17 // Maximum payload size for a received telemetry packet.
ikrase 0:79b031fc31ac 18 const size_t MAX_RECEIVE_PACKET_LENGTH = 255;
ikrase 0:79b031fc31ac 19
ikrase 0:79b031fc31ac 20 // Various wire protocol constants.
ikrase 0:79b031fc31ac 21 const uint8_t SOF1 = 0x05; // start of frame byte 1
ikrase 0:79b031fc31ac 22 const uint8_t SOF2 = 0x39; // start of frame byte 2
ikrase 0:79b031fc31ac 23 const uint8_t SOF_SEQ[] = {0x05, 0x39};
ikrase 0:79b031fc31ac 24
ikrase 0:79b031fc31ac 25 const size_t LENGTH_SIZE = 2;
ikrase 0:79b031fc31ac 26
ikrase 0:79b031fc31ac 27 // TODO: make these length independent
ikrase 0:79b031fc31ac 28
ikrase 0:79b031fc31ac 29 const uint8_t OPCODE_HEADER = 0x81;
ikrase 0:79b031fc31ac 30 const uint8_t OPCODE_DATA = 0x01;
ikrase 0:79b031fc31ac 31
ikrase 0:79b031fc31ac 32 const uint8_t DATAID_TERMINATOR = 0x00;
ikrase 0:79b031fc31ac 33
ikrase 0:79b031fc31ac 34 const uint8_t DATATYPE_NUMERIC = 0x01;
ikrase 0:79b031fc31ac 35 const uint8_t DATATYPE_NUMERIC_ARRAY = 0x02;
ikrase 0:79b031fc31ac 36
ikrase 0:79b031fc31ac 37 const uint8_t RECORDID_TERMINATOR = 0x00;
ikrase 0:79b031fc31ac 38 const uint8_t RECORDID_INTERNAL_NAME = 0x01;
ikrase 0:79b031fc31ac 39 const uint8_t RECORDID_DISPLAY_NAME = 0x02;
ikrase 0:79b031fc31ac 40 const uint8_t RECORDID_UNITS = 0x03;
ikrase 0:79b031fc31ac 41
ikrase 0:79b031fc31ac 42 const uint8_t RECORDID_OVERRIDE_CTL = 0x08;
ikrase 0:79b031fc31ac 43 const uint8_t RECORDID_OVERRIDE_DATA = 0x08;
ikrase 0:79b031fc31ac 44
ikrase 0:79b031fc31ac 45 const uint8_t RECORDID_NUMERIC_SUBTYPE = 0x40;
ikrase 0:79b031fc31ac 46 const uint8_t RECORDID_NUMERIC_LENGTH = 0x41;
ikrase 0:79b031fc31ac 47 const uint8_t RECORDID_NUMERIC_LIMITS = 0x42;
ikrase 0:79b031fc31ac 48 const uint8_t RECORDID_ARRAY_COUNT = 0x50;
ikrase 0:79b031fc31ac 49
ikrase 0:79b031fc31ac 50 const uint8_t NUMERIC_SUBTYPE_UINT = 0x01;
ikrase 0:79b031fc31ac 51 const uint8_t NUMERIC_SUBTYPE_SINT = 0x02;
ikrase 0:79b031fc31ac 52 const uint8_t NUMERIC_SUBTYPE_FLOAT = 0x03;
ikrase 0:79b031fc31ac 53
ikrase 0:79b031fc31ac 54 const uint32_t DECODER_TIMEOUT_MS = 100;
ikrase 0:79b031fc31ac 55
ikrase 0:79b031fc31ac 56 // Hardware abstraction layer for the telemetry server.
ikrase 0:79b031fc31ac 57 class HalInterface {
ikrase 0:79b031fc31ac 58 public:
ikrase 0:79b031fc31ac 59 virtual ~HalInterface() {}
ikrase 0:79b031fc31ac 60
ikrase 0:79b031fc31ac 61 // Write a byte to the transmit buffer.
ikrase 0:79b031fc31ac 62 virtual void transmit_byte(uint8_t data) = 0;
ikrase 0:79b031fc31ac 63 // Returns the number of bytes available in the receive buffer.
ikrase 0:79b031fc31ac 64 virtual size_t rx_available() = 0;
ikrase 0:79b031fc31ac 65 // Returns the next byte in the receive stream. rx_available must return > 0.
ikrase 0:79b031fc31ac 66 virtual uint8_t receive_byte() = 0;
ikrase 0:79b031fc31ac 67
ikrase 0:79b031fc31ac 68 // TODO: more efficient block transmit operations?
ikrase 0:79b031fc31ac 69
ikrase 0:79b031fc31ac 70 // Called on a telemetry error.
ikrase 0:79b031fc31ac 71 virtual void do_error(const char* message) = 0;
ikrase 0:79b031fc31ac 72
ikrase 0:79b031fc31ac 73 // Return the current time in milliseconds. May overflow at any time.
ikrase 0:79b031fc31ac 74 virtual uint32_t get_time_ms() = 0;
ikrase 0:79b031fc31ac 75 };
ikrase 0:79b031fc31ac 76
ikrase 0:79b031fc31ac 77 // Abstract base class for building a packet to be transmitted.
ikrase 0:79b031fc31ac 78 // Implementation is unconstrained - writes may either be buffered or passed
ikrase 0:79b031fc31ac 79 // directly to the hardware transmit buffers.
ikrase 0:79b031fc31ac 80 class TransmitPacketInterface {
ikrase 0:79b031fc31ac 81 public:
ikrase 0:79b031fc31ac 82 virtual ~TransmitPacketInterface() {}
ikrase 0:79b031fc31ac 83
ikrase 0:79b031fc31ac 84 // Writes a 8-bit unsigned integer to the packet stream.
ikrase 0:79b031fc31ac 85 virtual void write_byte(uint8_t data) = 0;
ikrase 0:79b031fc31ac 86
ikrase 0:79b031fc31ac 87 // Writes a 8-bit unsigned integer to the packet stream.
ikrase 0:79b031fc31ac 88 virtual void write_uint8(uint8_t data) = 0;
ikrase 0:79b031fc31ac 89 // Writes a 16-bit unsigned integer to the packet stream.
ikrase 0:79b031fc31ac 90 virtual void write_uint16(uint16_t data) = 0;
ikrase 0:79b031fc31ac 91 // Writes a 32-bit unsigned integer to the packet stream.
ikrase 0:79b031fc31ac 92 virtual void write_uint32(uint32_t data) = 0;
ikrase 0:79b031fc31ac 93 // Writes a float to the packet stream.
ikrase 0:79b031fc31ac 94 virtual void write_float(float data) = 0;
ikrase 0:79b031fc31ac 95
ikrase 0:79b031fc31ac 96 // Finish the packet and writes data to the transmit stream (if not already
ikrase 0:79b031fc31ac 97 // done). No more data may be written afterwards.
ikrase 0:79b031fc31ac 98 virtual void finish() = 0;
ikrase 0:79b031fc31ac 99 };
ikrase 0:79b031fc31ac 100
ikrase 0:79b031fc31ac 101 class ReceivePacketBuffer {
ikrase 0:79b031fc31ac 102 public:
ikrase 0:79b031fc31ac 103 ReceivePacketBuffer(HalInterface& hal);
ikrase 0:79b031fc31ac 104
ikrase 0:79b031fc31ac 105 // Starts a new packet, resetting the packet length and read pointer.
ikrase 0:79b031fc31ac 106 void new_packet();
ikrase 0:79b031fc31ac 107
ikrase 0:79b031fc31ac 108 // Appends a new byte onto this packet, advancing the packet length
ikrase 0:79b031fc31ac 109 void add_byte(uint8_t byte);
ikrase 0:79b031fc31ac 110
ikrase 0:79b031fc31ac 111 // Reads a 8-bit unsigned integer from the packet stream, advancing buffer.
ikrase 0:79b031fc31ac 112 uint8_t read_uint8();
ikrase 0:79b031fc31ac 113 // Reads a 16-bit unsigned integer from the packet stream, advancing buffer.
ikrase 0:79b031fc31ac 114 uint16_t read_uint16();
ikrase 0:79b031fc31ac 115 // Reads a 32-bit unsigned integer from the packet stream, advancing buffer.
ikrase 0:79b031fc31ac 116 uint32_t read_uint32();
ikrase 0:79b031fc31ac 117 // Reads a float from the packet stream, advancing buffer.
ikrase 0:79b031fc31ac 118 float read_float();
ikrase 0:79b031fc31ac 119
ikrase 0:79b031fc31ac 120 protected:
ikrase 0:79b031fc31ac 121 HalInterface& hal;
ikrase 0:79b031fc31ac 122
ikrase 0:79b031fc31ac 123 size_t packet_length;
ikrase 0:79b031fc31ac 124 size_t read_loc;
ikrase 0:79b031fc31ac 125 uint8_t data[MAX_RECEIVE_PACKET_LENGTH];
ikrase 0:79b031fc31ac 126 };
ikrase 0:79b031fc31ac 127
ikrase 0:79b031fc31ac 128 // Abstract base class for telemetry data objects.
ikrase 0:79b031fc31ac 129 class Data {
ikrase 0:79b031fc31ac 130 public:
ikrase 0:79b031fc31ac 131 Data(const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 132 const char* units):
ikrase 0:79b031fc31ac 133 internal_name(internal_name),
ikrase 0:79b031fc31ac 134 display_name(display_name),
ikrase 0:79b031fc31ac 135 units(units) {};
ikrase 0:79b031fc31ac 136
ikrase 0:79b031fc31ac 137 virtual ~Data() {}
ikrase 0:79b031fc31ac 138
ikrase 0:79b031fc31ac 139 // Returns the data type code.
ikrase 0:79b031fc31ac 140 virtual uint8_t get_data_type() = 0;
ikrase 0:79b031fc31ac 141
ikrase 0:79b031fc31ac 142 // Returns the length of the header KVRs, in bytes. Does not include the
ikrase 0:79b031fc31ac 143 // terminator header.
ikrase 0:79b031fc31ac 144 virtual size_t get_header_kvrs_length();
ikrase 0:79b031fc31ac 145 // Writes the header KVRs to the transmit packet. Does not write the
ikrase 0:79b031fc31ac 146 // terminiator header.
ikrase 0:79b031fc31ac 147 virtual void write_header_kvrs(TransmitPacketInterface& packet);
ikrase 0:79b031fc31ac 148
ikrase 0:79b031fc31ac 149 // Returns the length of the payload, in bytes. Should be "fast".
ikrase 0:79b031fc31ac 150 virtual size_t get_payload_length() = 0;
ikrase 0:79b031fc31ac 151 // Writes the payload to the transmit packet. Should be "fast".
ikrase 0:79b031fc31ac 152 virtual void write_payload(TransmitPacketInterface& packet) = 0;
ikrase 0:79b031fc31ac 153
ikrase 0:79b031fc31ac 154 // Sets my value from the received packet, interpreting the current packet
ikrase 0:79b031fc31ac 155 // read position as my data type.
ikrase 0:79b031fc31ac 156 virtual void set_from_packet(ReceivePacketBuffer& packet) = 0;
ikrase 0:79b031fc31ac 157
ikrase 0:79b031fc31ac 158 protected:
ikrase 0:79b031fc31ac 159 const char* internal_name;
ikrase 0:79b031fc31ac 160 const char* display_name;
ikrase 0:79b031fc31ac 161 const char* units;
ikrase 0:79b031fc31ac 162 };
ikrase 0:79b031fc31ac 163
ikrase 0:79b031fc31ac 164 // Telemetry Server object.
ikrase 0:79b031fc31ac 165 class Telemetry {
ikrase 0:79b031fc31ac 166 public:
ikrase 0:79b031fc31ac 167 Telemetry(HalInterface& hal) :
ikrase 0:79b031fc31ac 168 hal(hal),
ikrase 0:79b031fc31ac 169 data_count(0),
ikrase 0:79b031fc31ac 170 received_packet(ReceivePacketBuffer(hal)),
ikrase 0:79b031fc31ac 171 decoder_state(SOF),
ikrase 0:79b031fc31ac 172 decoder_pos(0),
ikrase 0:79b031fc31ac 173 packet_length(0),
ikrase 0:79b031fc31ac 174 decoder_last_received(false),
ikrase 0:79b031fc31ac 175 decoder_last_receive_ms(0),
ikrase 0:79b031fc31ac 176 header_transmitted(false),
ikrase 0:79b031fc31ac 177 packet_tx_sequence(0),
ikrase 0:79b031fc31ac 178 packet_rx_sequence(0) {};
ikrase 0:79b031fc31ac 179
ikrase 0:79b031fc31ac 180 // Associates a DataInterface with this object, returning the data ID.
ikrase 0:79b031fc31ac 181 size_t add_data(Data& new_data);
ikrase 0:79b031fc31ac 182
ikrase 0:79b031fc31ac 183 // Marks a data ID as updated, to be transmitted in the next packet.
ikrase 0:79b031fc31ac 184 void mark_data_updated(size_t data_id);
ikrase 0:79b031fc31ac 185
ikrase 0:79b031fc31ac 186 // Transmits header data. Must be called after all add_data calls are done
ikrase 0:79b031fc31ac 187 // and before and IO is done.
ikrase 0:79b031fc31ac 188 void transmit_header();
ikrase 0:79b031fc31ac 189
ikrase 0:79b031fc31ac 190 // Does IO, including transmitting telemetry packets. Should be called on
ikrase 0:79b031fc31ac 191 // a regular basis. Since this does IO, this may block depending on the HAL
ikrase 0:79b031fc31ac 192 // semantics.
ikrase 0:79b031fc31ac 193 void do_io();
ikrase 0:79b031fc31ac 194
ikrase 0:79b031fc31ac 195 // TODO: better docs defining in-band receive.
ikrase 0:79b031fc31ac 196 // Returns the number of bytes available in the receive stream.
ikrase 0:79b031fc31ac 197 size_t receive_available();
ikrase 0:79b031fc31ac 198 // Returns the next byte in the receive stream.
ikrase 0:79b031fc31ac 199 uint8_t read_receive();
ikrase 0:79b031fc31ac 200
ikrase 0:79b031fc31ac 201 // Calls the HAL's error function if some condition is false.
ikrase 0:79b031fc31ac 202 void do_error(const char* message) {
ikrase 0:79b031fc31ac 203 hal.do_error(message);
ikrase 0:79b031fc31ac 204 }
ikrase 0:79b031fc31ac 205
ikrase 0:79b031fc31ac 206 protected:
ikrase 0:79b031fc31ac 207 // Transmits any updated data.
ikrase 0:79b031fc31ac 208 void transmit_data();
ikrase 0:79b031fc31ac 209
ikrase 0:79b031fc31ac 210 // Handles received data, splitting regular UART data from in-band packet
ikrase 0:79b031fc31ac 211 // data and processing received telemetry packets.
ikrase 0:79b031fc31ac 212 void process_received_data();
ikrase 0:79b031fc31ac 213
ikrase 0:79b031fc31ac 214 // Handles a received packet in received_packet.
ikrase 0:79b031fc31ac 215 void process_received_packet();
ikrase 0:79b031fc31ac 216
ikrase 0:79b031fc31ac 217 HalInterface& hal;
ikrase 0:79b031fc31ac 218
ikrase 0:79b031fc31ac 219 // Array of associated DataInterface objects. The index+1 is the
ikrase 0:79b031fc31ac 220 // DataInterface's data ID field.
ikrase 0:79b031fc31ac 221 Data* data[MAX_DATA_PER_TELEMETRY];
ikrase 0:79b031fc31ac 222 // Whether each data has been updated or not.
ikrase 0:79b031fc31ac 223 bool data_updated[MAX_DATA_PER_TELEMETRY];
ikrase 0:79b031fc31ac 224 // Count of associated DataInterface objects.
ikrase 0:79b031fc31ac 225 size_t data_count;
ikrase 0:79b031fc31ac 226
ikrase 0:79b031fc31ac 227 // Buffer holding the receive packet being assembled / parsed.
ikrase 0:79b031fc31ac 228 ReceivePacketBuffer received_packet;
ikrase 0:79b031fc31ac 229
ikrase 0:79b031fc31ac 230 enum DecoderState {
ikrase 0:79b031fc31ac 231 SOF, // reading start-of-frame sequence (or just non-telemetry data)
ikrase 0:79b031fc31ac 232 LENGTH, // reading packet length
ikrase 0:79b031fc31ac 233 DATA, // reading telemetry packet data
ikrase 0:79b031fc31ac 234 DATA_DESTUFF, // reading a stuffed byte
ikrase 0:79b031fc31ac 235 DATA_DESTUFF_END // last stuffed byte in a packet
ikrase 0:79b031fc31ac 236 } decoder_state;
ikrase 0:79b031fc31ac 237
ikrase 0:79b031fc31ac 238 size_t decoder_pos;
ikrase 0:79b031fc31ac 239 size_t packet_length;
ikrase 0:79b031fc31ac 240 bool decoder_last_received;
ikrase 0:79b031fc31ac 241 uint32_t decoder_last_receive_ms;
ikrase 0:79b031fc31ac 242
ikrase 0:79b031fc31ac 243 bool header_transmitted;
ikrase 0:79b031fc31ac 244
ikrase 0:79b031fc31ac 245 // Sequence number of the next packet to be transmitted.
ikrase 0:79b031fc31ac 246 uint8_t packet_tx_sequence;
ikrase 0:79b031fc31ac 247 uint8_t packet_rx_sequence; // TODO use this somewhere
ikrase 0:79b031fc31ac 248 };
ikrase 0:79b031fc31ac 249
ikrase 0:79b031fc31ac 250 // A telemetry packet with a length known before data is written to it.
ikrase 0:79b031fc31ac 251 // Data is written directly to the hardware transmit buffers without packet
ikrase 0:79b031fc31ac 252 // buffering. Assumes transmit buffers won't fill up.
ikrase 0:79b031fc31ac 253 class FixedLengthTransmitPacket : public TransmitPacketInterface {
ikrase 0:79b031fc31ac 254 public:
ikrase 0:79b031fc31ac 255 FixedLengthTransmitPacket(HalInterface& hal, size_t length);
ikrase 0:79b031fc31ac 256
ikrase 0:79b031fc31ac 257 virtual void write_byte(uint8_t data);
ikrase 0:79b031fc31ac 258
ikrase 0:79b031fc31ac 259 virtual void write_uint8(uint8_t data);
ikrase 0:79b031fc31ac 260 virtual void write_uint16(uint16_t data);
ikrase 0:79b031fc31ac 261 virtual void write_uint32(uint32_t data);
ikrase 0:79b031fc31ac 262 virtual void write_float(float data);
ikrase 0:79b031fc31ac 263
ikrase 0:79b031fc31ac 264 virtual void finish();
ikrase 0:79b031fc31ac 265
ikrase 0:79b031fc31ac 266 protected:
ikrase 0:79b031fc31ac 267 HalInterface& hal;
ikrase 0:79b031fc31ac 268
ikrase 0:79b031fc31ac 269 // Predetermined length, in bytes, of this packet's payload, for sanity check.
ikrase 0:79b031fc31ac 270 size_t length;
ikrase 0:79b031fc31ac 271
ikrase 0:79b031fc31ac 272 // Current length, in bytes, of this packet's payload.
ikrase 0:79b031fc31ac 273 size_t count;
ikrase 0:79b031fc31ac 274
ikrase 0:79b031fc31ac 275 // Is the packet valid?
ikrase 0:79b031fc31ac 276 bool valid;
ikrase 0:79b031fc31ac 277 };
ikrase 0:79b031fc31ac 278
ikrase 0:79b031fc31ac 279 template <typename T>
ikrase 0:79b031fc31ac 280 class Numeric : public Data {
ikrase 0:79b031fc31ac 281 public:
ikrase 0:79b031fc31ac 282 Numeric(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 283 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 284 const char* units, T init_value):
ikrase 0:79b031fc31ac 285 Data(internal_name, display_name, units),
ikrase 0:79b031fc31ac 286 telemetry_container(telemetry_container),
ikrase 0:79b031fc31ac 287 value(init_value), min_val(init_value), max_val(init_value),
ikrase 0:79b031fc31ac 288 frozen(false) {
ikrase 0:79b031fc31ac 289 data_id = telemetry_container.add_data(*this);
ikrase 0:79b031fc31ac 290 }
ikrase 0:79b031fc31ac 291
ikrase 0:79b031fc31ac 292 T operator = (T b) {
ikrase 0:79b031fc31ac 293 if (!frozen) {
ikrase 0:79b031fc31ac 294 value = b;
ikrase 0:79b031fc31ac 295 telemetry_container.mark_data_updated(data_id);
ikrase 0:79b031fc31ac 296 }
ikrase 0:79b031fc31ac 297 return value;
ikrase 0:79b031fc31ac 298 }
ikrase 0:79b031fc31ac 299
ikrase 0:79b031fc31ac 300 operator T() {
ikrase 0:79b031fc31ac 301 return value;
ikrase 0:79b031fc31ac 302 }
ikrase 0:79b031fc31ac 303
ikrase 0:79b031fc31ac 304 Numeric<T>& set_limits(T min, T max) {
ikrase 0:79b031fc31ac 305 min_val = min;
ikrase 0:79b031fc31ac 306 max_val = max;
ikrase 0:79b031fc31ac 307 return *this;
ikrase 0:79b031fc31ac 308 }
ikrase 0:79b031fc31ac 309
ikrase 0:79b031fc31ac 310 virtual uint8_t get_data_type() { return DATATYPE_NUMERIC; }
ikrase 0:79b031fc31ac 311
ikrase 0:79b031fc31ac 312 virtual size_t get_header_kvrs_length() {
ikrase 0:79b031fc31ac 313 return Data::get_header_kvrs_length()
ikrase 0:79b031fc31ac 314 + 1 + 1 // subtype
ikrase 0:79b031fc31ac 315 + 1 + 1 // data length
ikrase 0:79b031fc31ac 316 + 1 + sizeof(value) + sizeof(value); // limits
ikrase 0:79b031fc31ac 317 }
ikrase 0:79b031fc31ac 318
ikrase 0:79b031fc31ac 319 virtual void write_header_kvrs(TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 320 Data::write_header_kvrs(packet);
ikrase 0:79b031fc31ac 321 packet.write_uint8(RECORDID_NUMERIC_SUBTYPE);
ikrase 0:79b031fc31ac 322 packet.write_uint8(get_subtype());
ikrase 0:79b031fc31ac 323 packet.write_uint8(RECORDID_NUMERIC_LENGTH);
ikrase 0:79b031fc31ac 324 packet.write_uint8(sizeof(value));
ikrase 0:79b031fc31ac 325 packet.write_uint8(RECORDID_NUMERIC_LIMITS);
ikrase 0:79b031fc31ac 326 serialize_data(min_val, packet);
ikrase 0:79b031fc31ac 327 serialize_data(max_val, packet);
ikrase 0:79b031fc31ac 328 }
ikrase 0:79b031fc31ac 329
ikrase 0:79b031fc31ac 330 uint8_t get_subtype();
ikrase 0:79b031fc31ac 331
ikrase 0:79b031fc31ac 332 virtual size_t get_payload_length() { return sizeof(value); }
ikrase 0:79b031fc31ac 333 virtual void write_payload(TransmitPacketInterface& packet) { serialize_data(value, packet); }
ikrase 0:79b031fc31ac 334 virtual void set_from_packet(ReceivePacketBuffer& packet) {
ikrase 0:79b031fc31ac 335 value = deserialize_data(packet);
ikrase 0:79b031fc31ac 336 telemetry_container.mark_data_updated(data_id); }
ikrase 0:79b031fc31ac 337
ikrase 0:79b031fc31ac 338 void serialize_data(T data, TransmitPacketInterface& packet);
ikrase 0:79b031fc31ac 339 T deserialize_data(ReceivePacketBuffer& packet);
ikrase 0:79b031fc31ac 340
ikrase 0:79b031fc31ac 341 protected:
ikrase 0:79b031fc31ac 342 Telemetry& telemetry_container;
ikrase 0:79b031fc31ac 343 size_t data_id;
ikrase 0:79b031fc31ac 344 T value;
ikrase 0:79b031fc31ac 345 T min_val, max_val;
ikrase 0:79b031fc31ac 346 bool frozen;
ikrase 0:79b031fc31ac 347 };
ikrase 0:79b031fc31ac 348
ikrase 0:79b031fc31ac 349 template <typename T, uint32_t array_count>
ikrase 0:79b031fc31ac 350 class NumericArrayAccessor;
ikrase 0:79b031fc31ac 351
ikrase 0:79b031fc31ac 352 // TODO: fix this partial specialization inheritance nightmare
ikrase 0:79b031fc31ac 353 template <typename T, uint32_t array_count>
ikrase 0:79b031fc31ac 354 class NumericArrayBase : public Data {
ikrase 0:79b031fc31ac 355 friend class NumericArrayAccessor<T, array_count>;
ikrase 0:79b031fc31ac 356 public:
ikrase 0:79b031fc31ac 357 NumericArrayBase(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 358 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 359 const char* units, T elem_init_value):
ikrase 0:79b031fc31ac 360 Data(internal_name, display_name, units),
ikrase 0:79b031fc31ac 361 telemetry_container(telemetry_container),
ikrase 0:79b031fc31ac 362 min_val(elem_init_value), max_val(elem_init_value),
ikrase 0:79b031fc31ac 363 frozen(false) {
ikrase 0:79b031fc31ac 364 for (size_t i=0; i<array_count; i++) {
ikrase 0:79b031fc31ac 365 value[i] = elem_init_value;
ikrase 0:79b031fc31ac 366 }
ikrase 0:79b031fc31ac 367 data_id = telemetry_container.add_data(*this);
ikrase 0:79b031fc31ac 368 }
ikrase 0:79b031fc31ac 369
ikrase 0:79b031fc31ac 370 NumericArrayAccessor<T, array_count> operator[] (const int index) {
ikrase 0:79b031fc31ac 371 // TODO: add bounds checking here
ikrase 0:79b031fc31ac 372 // TODO: add "frozen" check
ikrase 0:79b031fc31ac 373 return NumericArrayAccessor<T, array_count>(*this, index);
ikrase 0:79b031fc31ac 374 }
ikrase 0:79b031fc31ac 375
ikrase 0:79b031fc31ac 376 NumericArrayBase<T, array_count>& set_limits(T min, T max) {
ikrase 0:79b031fc31ac 377 min_val = min;
ikrase 0:79b031fc31ac 378 max_val = max;
ikrase 0:79b031fc31ac 379 return *this;
ikrase 0:79b031fc31ac 380 }
ikrase 0:79b031fc31ac 381
ikrase 0:79b031fc31ac 382 virtual uint8_t get_data_type() { return DATATYPE_NUMERIC_ARRAY; }
ikrase 0:79b031fc31ac 383
ikrase 0:79b031fc31ac 384 virtual size_t get_header_kvrs_length() {
ikrase 0:79b031fc31ac 385 return Data::get_header_kvrs_length()
ikrase 0:79b031fc31ac 386 + 1 + 1 // subtype
ikrase 0:79b031fc31ac 387 + 1 + 1 // data length
ikrase 0:79b031fc31ac 388 + 1 + 4 // array length
ikrase 0:79b031fc31ac 389 + 1 + sizeof(value[0]) + sizeof(value[0]); // limits
ikrase 0:79b031fc31ac 390 }
ikrase 0:79b031fc31ac 391
ikrase 0:79b031fc31ac 392 virtual void write_header_kvrs(TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 393 Data::write_header_kvrs(packet);
ikrase 0:79b031fc31ac 394 packet.write_uint8(RECORDID_NUMERIC_SUBTYPE);
ikrase 0:79b031fc31ac 395 packet.write_uint8(get_subtype());
ikrase 0:79b031fc31ac 396 packet.write_uint8(RECORDID_NUMERIC_LENGTH);
ikrase 0:79b031fc31ac 397 packet.write_uint8(sizeof(value[0]));
ikrase 0:79b031fc31ac 398 packet.write_uint8(RECORDID_ARRAY_COUNT);
ikrase 0:79b031fc31ac 399 packet.write_uint32(array_count);
ikrase 0:79b031fc31ac 400 packet.write_uint8(RECORDID_NUMERIC_LIMITS);
ikrase 0:79b031fc31ac 401 serialize_data(min_val, packet);
ikrase 0:79b031fc31ac 402 serialize_data(max_val, packet);
ikrase 0:79b031fc31ac 403 }
ikrase 0:79b031fc31ac 404
ikrase 0:79b031fc31ac 405 virtual uint8_t get_subtype() = 0;
ikrase 0:79b031fc31ac 406
ikrase 0:79b031fc31ac 407 virtual size_t get_payload_length() { return sizeof(value); }
ikrase 0:79b031fc31ac 408 virtual void write_payload(TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 409 for (size_t i=0; i<array_count; i++) { serialize_data(this->value[i], packet); } }
ikrase 0:79b031fc31ac 410 virtual void set_from_packet(ReceivePacketBuffer& packet) {
ikrase 0:79b031fc31ac 411 for (size_t i=0; i<array_count; i++) { value[i] = deserialize_data(packet); }
ikrase 0:79b031fc31ac 412 telemetry_container.mark_data_updated(data_id); }
ikrase 0:79b031fc31ac 413
ikrase 0:79b031fc31ac 414 virtual void serialize_data(T data, TransmitPacketInterface& packet) = 0;
ikrase 0:79b031fc31ac 415 virtual T deserialize_data(ReceivePacketBuffer& packet) = 0;
ikrase 0:79b031fc31ac 416
ikrase 0:79b031fc31ac 417 protected:
ikrase 0:79b031fc31ac 418 Telemetry& telemetry_container;
ikrase 0:79b031fc31ac 419 size_t data_id;
ikrase 0:79b031fc31ac 420 T value[array_count];
ikrase 0:79b031fc31ac 421 T min_val, max_val;
ikrase 0:79b031fc31ac 422 bool frozen;
ikrase 0:79b031fc31ac 423 };
ikrase 0:79b031fc31ac 424
ikrase 0:79b031fc31ac 425 template <typename T, uint32_t array_count>
ikrase 0:79b031fc31ac 426 class NumericArrayAccessor {
ikrase 0:79b031fc31ac 427 public:
ikrase 0:79b031fc31ac 428 NumericArrayAccessor(NumericArrayBase<T, array_count>& container, size_t index) :
ikrase 0:79b031fc31ac 429 container(container), index(index) { }
ikrase 0:79b031fc31ac 430
ikrase 0:79b031fc31ac 431 T operator = (T b) {
ikrase 0:79b031fc31ac 432 if (!container.frozen) {
ikrase 0:79b031fc31ac 433 container.value[index] = b;
ikrase 0:79b031fc31ac 434 container.telemetry_container.mark_data_updated(container.data_id);
ikrase 0:79b031fc31ac 435 }
ikrase 0:79b031fc31ac 436 return container.value[index];
ikrase 0:79b031fc31ac 437 }
ikrase 0:79b031fc31ac 438
ikrase 0:79b031fc31ac 439 operator T() {
ikrase 0:79b031fc31ac 440 return container.value[index];
ikrase 0:79b031fc31ac 441 }
ikrase 0:79b031fc31ac 442
ikrase 0:79b031fc31ac 443 protected:
ikrase 0:79b031fc31ac 444 NumericArrayBase<T, array_count>& container;
ikrase 0:79b031fc31ac 445 size_t index;
ikrase 0:79b031fc31ac 446 };
ikrase 0:79b031fc31ac 447
ikrase 0:79b031fc31ac 448 template <typename T, uint32_t array_count>
ikrase 0:79b031fc31ac 449 class NumericArray : public NumericArrayBase<T, array_count> {
ikrase 0:79b031fc31ac 450 NumericArray(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 451 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 452 const char* units, T elem_init_value);
ikrase 0:79b031fc31ac 453 virtual uint8_t get_subtype();
ikrase 0:79b031fc31ac 454 virtual void write_payload(TransmitPacketInterface& packet);
ikrase 0:79b031fc31ac 455 virtual T deserialize_data(ReceivePacketBuffer& packet);
ikrase 0:79b031fc31ac 456 };
ikrase 0:79b031fc31ac 457
ikrase 0:79b031fc31ac 458 template <uint32_t array_count>
ikrase 0:79b031fc31ac 459 class NumericArray<uint8_t, array_count> : public NumericArrayBase<uint8_t, array_count> {
ikrase 0:79b031fc31ac 460 public:
ikrase 0:79b031fc31ac 461 NumericArray(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 462 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 463 const char* units, uint8_t elem_init_value):
ikrase 0:79b031fc31ac 464 NumericArrayBase<uint8_t, array_count>(
ikrase 0:79b031fc31ac 465 telemetry_container, internal_name, display_name,
ikrase 0:79b031fc31ac 466 units, elem_init_value) {};
ikrase 0:79b031fc31ac 467 virtual uint8_t get_subtype() {return NUMERIC_SUBTYPE_UINT; }
ikrase 0:79b031fc31ac 468 virtual void serialize_data(uint8_t data, TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 469 packet.write_uint8(data); }
ikrase 0:79b031fc31ac 470 virtual uint8_t deserialize_data(ReceivePacketBuffer& packet) {
ikrase 0:79b031fc31ac 471 return packet.read_uint8(); }
ikrase 0:79b031fc31ac 472 };
ikrase 0:79b031fc31ac 473
ikrase 0:79b031fc31ac 474 template <uint32_t array_count>
ikrase 0:79b031fc31ac 475 class NumericArray<uint16_t, array_count> : public NumericArrayBase<uint16_t, array_count> {
ikrase 0:79b031fc31ac 476 public:
ikrase 0:79b031fc31ac 477 NumericArray(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 478 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 479 const char* units, uint16_t elem_init_value):
ikrase 0:79b031fc31ac 480 NumericArrayBase<uint16_t, array_count>(
ikrase 0:79b031fc31ac 481 telemetry_container, internal_name, display_name,
ikrase 0:79b031fc31ac 482 units, elem_init_value) {};
ikrase 0:79b031fc31ac 483 virtual uint8_t get_subtype() {return NUMERIC_SUBTYPE_UINT; }
ikrase 0:79b031fc31ac 484 virtual void serialize_data(uint16_t data, TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 485 packet.write_uint16(data); }
ikrase 0:79b031fc31ac 486 virtual uint16_t deserialize_data(ReceivePacketBuffer& packet) {
ikrase 0:79b031fc31ac 487 return packet.read_uint16(); }
ikrase 0:79b031fc31ac 488 };
ikrase 0:79b031fc31ac 489
ikrase 0:79b031fc31ac 490 template <uint32_t array_count>
ikrase 0:79b031fc31ac 491 class NumericArray<uint32_t, array_count> : public NumericArrayBase<uint32_t, array_count> {
ikrase 0:79b031fc31ac 492 public:
ikrase 0:79b031fc31ac 493 NumericArray(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 494 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 495 const char* units, uint32_t elem_init_value):
ikrase 0:79b031fc31ac 496 NumericArrayBase<uint32_t, array_count>(
ikrase 0:79b031fc31ac 497 telemetry_container, internal_name, display_name,
ikrase 0:79b031fc31ac 498 units, elem_init_value) {};
ikrase 0:79b031fc31ac 499 virtual uint8_t get_subtype() {return NUMERIC_SUBTYPE_UINT; }
ikrase 0:79b031fc31ac 500 virtual void serialize_data(uint32_t data, TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 501 packet.write_uint32(data); }
ikrase 0:79b031fc31ac 502 virtual uint32_t deserialize_data(ReceivePacketBuffer& packet) {
ikrase 0:79b031fc31ac 503 return packet.read_uint32(); }
ikrase 0:79b031fc31ac 504 };
ikrase 0:79b031fc31ac 505
ikrase 0:79b031fc31ac 506 template <uint32_t array_count>
ikrase 0:79b031fc31ac 507 class NumericArray<float, array_count> : public NumericArrayBase<float, array_count> {
ikrase 0:79b031fc31ac 508 public:
ikrase 0:79b031fc31ac 509 NumericArray(Telemetry& telemetry_container,
ikrase 0:79b031fc31ac 510 const char* internal_name, const char* display_name,
ikrase 0:79b031fc31ac 511 const char* units, float elem_init_value):
ikrase 0:79b031fc31ac 512 NumericArrayBase<float, array_count>(
ikrase 0:79b031fc31ac 513 telemetry_container, internal_name, display_name,
ikrase 0:79b031fc31ac 514 units, elem_init_value) {};
ikrase 0:79b031fc31ac 515 virtual uint8_t get_subtype() {return NUMERIC_SUBTYPE_FLOAT; }
ikrase 0:79b031fc31ac 516 virtual void serialize_data(float data, TransmitPacketInterface& packet) {
ikrase 0:79b031fc31ac 517 packet.write_float(data); }
ikrase 0:79b031fc31ac 518 virtual float deserialize_data(ReceivePacketBuffer& packet) {
ikrase 0:79b031fc31ac 519 return packet.read_float(); }
ikrase 0:79b031fc31ac 520 };
ikrase 0:79b031fc31ac 521
ikrase 0:79b031fc31ac 522 }
ikrase 0:79b031fc31ac 523
ikrase 0:79b031fc31ac 524 #endif