BaseArduinoInterface.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <thread>
#include <vector>
#include <string>
#include <functional>
#include <memory>
#include <unordered_map>
 
namespace arpirobot{
 
    // Forward declare
    class ArduinoDevice;
 
    class BaseArduinoInterface{
    public:
        virtual ~BaseArduinoInterface();
 
        BaseArduinoInterface() = default;
 
        BaseArduinoInterface(const BaseArduinoInterface &other) = delete;
        BaseArduinoInterface &operator=(const BaseArduinoInterface &other) = delete;
 
        bool begin();
 
        void addDevice(ArduinoDevice &device);
 
        void addDevice(std::shared_ptr<ArduinoDevice> device);
 
        bool isReady();
 
        void sendFromDevice(uint8_t deviceId, std::vector<uint8_t> data);
 
    protected:
        
        // Communication functions
 
        void run();
 
        uint16_t calcCCittFalse(const std::vector<uint8_t> &data, size_t len);
 
        void writeData(const std::vector<uint8_t> &data);
 
        bool readData();
 
        bool checkData();
 
        // This function will throw exceptions from lower level I/O functoins
        std::vector<uint8_t> waitForMessage(const std::vector<uint8_t> &prefix, int timeoutMs);
 
        // Implementation specific (these can and should throw exceptions on errors)
        //     Exceptions thrown should be from arpirobot/core/io/exceptions.hpp
        virtual void open() = 0;
        virtual void close() = 0;
        virtual bool isOpen() = 0;
        virtual int available() = 0;
        virtual uint8_t readOne() = 0;
        virtual std::vector<uint8_t> readAll() = 0;
        virtual void write(const uint8_t &b) = 0;
        virtual std::string getDeviceName() = 0;
 
    private:
 
        static bool msgStartsWith(const std::vector<uint8_t> &msg, const std::vector<uint8_t> &prefix);
        static bool msgEquals(const std::vector<uint8_t> &msg1, const std::vector<uint8_t> &msg2);
 
        std::vector<uint8_t> workingBuffer;
        std::vector<uint8_t> readDataset;
        bool parseStarted = false;
        bool parseEscaped = false;
        std::thread *processThread = nullptr;
        std::vector<std::shared_ptr<ArduinoDevice>> devices;
        bool initialized = false;
        bool arduinoReady = false;
 
        const static uint8_t START_BYTE;
        const static uint8_t END_BYTE;
        const static uint8_t ESCAPE_BYTE;
 
        const static std::vector<uint8_t> MSG_START;
        const static std::vector<uint8_t> MSG_ADD;
        const static std::vector<uint8_t> MSG_ADDSUCCESS;
 
        const static std::vector<uint8_t> CMD_RESET;
        const static std::vector<uint8_t> CMD_END;
 
        friend class ArduinoDevice;
    };
}