feat: integrate tactile stream decoding

components/ffmsep/cpstream_core.hh

@@ -0,0 +1,77 @@
+#pragma once
+
+#include "components/ffmsep/cpdecoder.hh"
+#include <chrono>
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <optional>
+#include <serial/serial.h>
+#include <string>
+#include <vector>
+
+namespace ffmsep {
+
+struct DecodedFrame {
+    CPFrame frame;
+    std::chrono::steady_clock::time_point received_at{};
+    std::int64_t pts = 0;
+};
+
+struct CPStreamConfig {
+    std::string port;
+    std::uint32_t baudrate = 115200;
+    serial::Timeout timeout = serial::Timeout::simpleTimeout(50);
+    serial::bytesize_t bytesize = serial::eightbits;
+    serial::parity_t parity = serial::parity_none;
+    serial::stopbits_t stopbits = serial::stopbits_one;
+    serial::flowcontrol_t flowcontrol = serial::flowcontrol_none;
+    std::size_t read_chunk_size = 256;
+    std::size_t packet_queue_capacity = 128;
+    std::size_t frame_queue_capacity = 16;
+    CPCodecID codec_id = CPCodecID::Unknow;
+    std::string codec_name;
+};
+
+class CPStreamCore {
+public:
+    using FrameCallback = std::function<void(const DecodedFrame&)>;
+
+    explicit CPStreamCore(CPStreamConfig config = {});
+    ~CPStreamCore();
+
+    CPStreamCore(const CPStreamCore&) = delete;
+    CPStreamCore& operator=(const CPStreamCore&) = delete;
+
+    bool open(const CPStreamConfig& config);
+    bool open();
+    bool reopen(const CPStreamConfig& config);
+    void close();
+
+    bool start();
+    void stop();
+
+    [[nodiscard]] bool is_open() const noexcept;
+    [[nodiscard]] bool is_running() const noexcept;
+
+    bool send(const std::vector<std::uint8_t>& data);
+    bool send(const std::uint8_t* data, std::size_t size);
+
+    std::optional<DecodedFrame> try_pop_frame();
+    bool wait_for_frame(DecodedFrame& frame, std::chrono::milliseconds timeout);
+    void clear_frames();
+    void set_frame_queue_capacity(std::size_t capacity);
+
+    void set_frame_callback(FrameCallback callback);
+
+    [[nodiscard]] CPStreamConfig config() const;
+    [[nodiscard]] std::string last_error() const;
+
+    static std::vector<serial::PortInfo> list_available_ports();
+
+private:
+    struct Impl;
+    std::unique_ptr<Impl> impl_;
+};
+
+} // namespace ffmsep