*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,46 @@
+#ifndef __ASCII_PROTOCOL_HPP
+#define __ASCII_PROTOCOL_HPP
+
+#include <fibre/async_stream.hpp>
+#include <fibre/../../stream_utils.hpp>
+
+#define MAX_LINE_LENGTH ((size_t)256)
+
+class AsciiProtocol {
+public:
+    AsciiProtocol(fibre::AsyncStreamSource* rx_channel, fibre::AsyncStreamSink* tx_channel)
+        : rx_channel_(rx_channel), sink_(*tx_channel) {}
+
+    void start();
+
+private:
+    void cmd_set_position(char * pStr, bool use_checksum);
+    void cmd_set_position_wl(char * pStr, bool use_checksum);
+    void cmd_set_velocity(char * pStr, bool use_checksum);
+    void cmd_set_torque(char * pStr, bool use_checksum);
+    void cmd_set_trapezoid_trajectory(char * pStr, bool use_checksum);
+    void cmd_get_feedback(char * pStr, bool use_checksum);
+    void cmd_help(char * pStr, bool use_checksum);
+    void cmd_info_dump(char * pStr, bool use_checksum);
+    void cmd_system_ctrl(char * pStr, bool use_checksum);
+    void cmd_read_property(char * pStr, bool use_checksum);
+    void cmd_write_property(char * pStr, bool use_checksum);
+    void cmd_update_axis_wdg(char * pStr, bool use_checksum);
+    void cmd_unknown(char * pStr, bool use_checksum);
+    void cmd_encoder(char * pStr, bool use_checksum);
+
+    template<typename ... TArgs> void respond(bool include_checksum, const char * fmt, TArgs&& ... args);
+    void process_line(fibre::cbufptr_t buffer);
+    void on_write_finished(fibre::WriteResult result);
+    void on_read_finished(fibre::ReadResult result);
+
+    fibre::AsyncStreamSource* rx_channel_ = nullptr;
+    uint8_t* rx_end_ = nullptr; // non-zero if an RX operation has finished but wasn't handled yet because the TX channel was busy
+
+    uint8_t rx_buf_[MAX_LINE_LENGTH];
+    bool read_active_ = true;
+
+    fibre::BufferedStreamSink<512> sink_;
+};
+
+#endif // __ASCII_PROTOCOL_HPP