wiselib.testing/external_interface/pc/com_isense_packet.h

Go to the documentation of this file.

// vim: set noexpandtab ts=4 sw=4:

#ifndef COM_UART_PACKET_H
#define COM_UART_PACKET_H

#include <stdint.h>
#include <cassert>
#include "util/pstl/vector_static.h"

//#include "external_interface/pc/pc_os_model.h"

namespace wiselib {
   
   template<
      typename OsModel_P,
      int MaxPacketSize = 255
   >
   class ComISensePacket {
      public:
         typedef OsModel_P OsModel;
         typedef typename OsModel::size_t size_t;
         
         enum MessageType {
            MESSAGE_TYPE_RESET = 1, MESSAGE_TYPE_SERAERIAL, MESSAGE_TYPE_TIME,
            MESSAGE_TYPE_CAMERA_APP, MESSAGE_TYPE_AMR_APP, MESSAGE_TYPE_ACC_APP,
            MESSAGE_TYPE_IN_RESERVED_1, MESSAGE_TYPE_IN_RESERVED_2, MESSAGE_TYPE_IN_RESERVED_3,
            MESSAGE_TYPE_CUSTOM_IN_1, MESSAGE_TYPE_CUSTOM_IN_2, MESSAGE_TYPE_CUSTOM_IN_3,
            
            MESSAGE_TYPE_DEBUG = 100, MESSAGE_TYPE_INFO, MESSAGE_TYPE_WARNING, MESSAGE_TYPE_ERROR, MESSAGE_TYPE_LOG,
            MESSAGE_TYPE_PLOT, MESSAGE_TYPE_CUSTOM_OUT,
            
            MESSAGE_TYPE_TIMEREQUEST = 109, MESSAGE_TYPE_AUDIO, MESSAGE_TYPE_SPYGLASS, MESSAGE_TYPE_FLOAT_BUFFER,
            MESSAGE_TYPE_SQL
         };
         
         enum SubType {
            SUB_NONE = 0,
            SUB_RADIO_GET_ADDRESS = 'a',
            SUB_RADIO_ADDRESS = 'N',
            SUB_RADIO_DISTANCE_TEST = 'D',
            SUB_RADIO_IN = 'I', SUB_RADIO_OUT = 'O',
            SUB_SET_TX_POWER = 'T',
            SUB_GET_TX_POWER = 't',
            SUB_TX_POWER = 'P'
         };
         
         ComISensePacket(SubType st, MessageType t = MESSAGE_TYPE_CUSTOM_IN_1);
         ComISensePacket(size_t, uint8_t*);
         
         uint8_t* header();
         size_t header_size();
         uint8_t* data();
         size_t data_size();
         
         void push_header(uint8_t);
         void push_header16(uint16_t);
         
         void set_data(size_t, uint8_t*);
         
         MessageType type();
         SubType subtype();
         
      private:
         MessageType type_;
         SubType subtype_;
         
         vector_static<OsModel, uint8_t, MaxPacketSize> header_;
         uint8_t* data_;
         size_t data_size_;
         
         static size_t header_size(SubType);
   }; // ComISensePacket
   
   template<typename OsModel_P, int MaxPacketSize>
   ComISensePacket<OsModel_P, MaxPacketSize>::
	ComISensePacket(SubType st, MessageType t) {
      push_header(t);
      if(st != SUB_NONE) {
         push_header(st);
         push_header(0);
      }
      
      data_size_ = 0;
      data_ = 0;
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   ComISensePacket<OsModel_P, MaxPacketSize>::
	ComISensePacket(size_t size, uint8_t* data) {
      assert(size >= 1);
      header_.push_back(data[0]);
      if(type() == MESSAGE_TYPE_CUSTOM_IN_1) {
         header_.push_back(data[1]);
         size_t size_h = header_size(subtype()) - 1;
         for(size_t i=0; i<size_h; i++) {
            header_.push_back(data[i+2]);
         }
      }
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   typename ComISensePacket<OsModel_P, MaxPacketSize>::size_t ComISensePacket<OsModel_P, MaxPacketSize>::
	data_size() { return data_size_; }
   
   template<typename OsModel_P, int MaxPacketSize>
   uint8_t* ComISensePacket<OsModel_P, MaxPacketSize>::
	data() { return data_; }
   
   template<typename OsModel_P, int MaxPacketSize>
   typename ComISensePacket<OsModel_P, MaxPacketSize>::size_t ComISensePacket<OsModel_P, MaxPacketSize>::
	header_size() { return header_.size(); }
   
   template<typename OsModel_P, int MaxPacketSize>
   uint8_t* ComISensePacket<OsModel_P, MaxPacketSize>::
	header() { return header_.data(); }
   
   template<typename OsModel_P, int MaxPacketSize>
   void ComISensePacket<OsModel_P, MaxPacketSize>::
	push_header(uint8_t byte) {
      header_.push_back(byte);
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   void ComISensePacket<OsModel_P, MaxPacketSize>::
	push_header16(uint16_t word) {
      header_.push_back(word >> 8);
      header_.push_back(word & 0xff);
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   void ComISensePacket<OsModel_P, MaxPacketSize>::
	set_data(size_t size, uint8_t* data) {
      data_size_ = size;
      data_ = data;
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   typename ComISensePacket<OsModel_P, MaxPacketSize>::MessageType ComISensePacket<OsModel_P, MaxPacketSize>::
	type() {
      return static_cast<MessageType>(header_[0]);
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   typename ComISensePacket<OsModel_P, MaxPacketSize>::SubType ComISensePacket<OsModel_P, MaxPacketSize>::
	subtype() {
      return static_cast<SubType>(header_[1]);
   }
   
   template<typename OsModel_P, int MaxPacketSize>
   typename ComISensePacket<OsModel_P, MaxPacketSize>::size_t ComISensePacket<OsModel_P, MaxPacketSize>::
	header_size(SubType s) {
      switch(s) {
         case SUB_NONE:
         case SUB_RADIO_GET_ADDRESS: return 1;
         case SUB_RADIO_ADDRESS:
         case SUB_RADIO_OUT: return 3;
         case SUB_RADIO_IN: return 0; // TODO!
         case SUB_RADIO_DISTANCE_TEST: return 0; // TODO!
      }
      return 0;
   }
   
} // ns wiselib

#endif // COM_UART_PACKET_H