47 lines
1.8 KiB
C++
47 lines
1.8 KiB
C++
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#ifndef __ASCII_PROTOCOL_HPP
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#define __ASCII_PROTOCOL_HPP
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#include <fibre/async_stream.hpp>
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#include <fibre/../../stream_utils.hpp>
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#define MAX_LINE_LENGTH ((size_t)256)
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class AsciiProtocol {
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public:
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AsciiProtocol(fibre::AsyncStreamSource* rx_channel, fibre::AsyncStreamSink* tx_channel)
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: rx_channel_(rx_channel), sink_(*tx_channel) {}
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void start();
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private:
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void cmd_set_position(char * pStr, bool use_checksum);
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void cmd_set_position_wl(char * pStr, bool use_checksum);
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void cmd_set_velocity(char * pStr, bool use_checksum);
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void cmd_set_torque(char * pStr, bool use_checksum);
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void cmd_set_trapezoid_trajectory(char * pStr, bool use_checksum);
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void cmd_get_feedback(char * pStr, bool use_checksum);
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void cmd_help(char * pStr, bool use_checksum);
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void cmd_info_dump(char * pStr, bool use_checksum);
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void cmd_system_ctrl(char * pStr, bool use_checksum);
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void cmd_read_property(char * pStr, bool use_checksum);
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void cmd_write_property(char * pStr, bool use_checksum);
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void cmd_update_axis_wdg(char * pStr, bool use_checksum);
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void cmd_unknown(char * pStr, bool use_checksum);
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void cmd_encoder(char * pStr, bool use_checksum);
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template<typename ... TArgs> void respond(bool include_checksum, const char * fmt, TArgs&& ... args);
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void process_line(fibre::cbufptr_t buffer);
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void on_write_finished(fibre::WriteResult result);
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void on_read_finished(fibre::ReadResult result);
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fibre::AsyncStreamSource* rx_channel_ = nullptr;
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uint8_t* rx_end_ = nullptr; // non-zero if an RX operation has finished but wasn't handled yet because the TX channel was busy
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uint8_t rx_buf_[MAX_LINE_LENGTH];
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bool read_active_ = true;
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fibre::BufferedStreamSink<512> sink_;
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};
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#endif // __ASCII_PROTOCOL_HPP
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