85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
#pragma once
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#include "components/ffmsep/cpdecoder.hh"
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#include "components/ffmsep/tactile/tacdec.hh"
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#include <chrono>
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#include <cstdint>
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#include <functional>
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#include <memory>
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#include <optional>
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#include <serial/serial.h>
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#include <string>
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#include <vector>
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namespace ffmsep {
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struct DecodedFrame {
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CPFrame frame;
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std::chrono::steady_clock::time_point received_at{};
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std::int64_t pts = 0;
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std::optional<tactile::TactileFrame> tactile;
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std::vector<std::uint16_t> tactile_pressures;
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std::optional<tactile::MatrixSize> tactile_matrix_size;
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};
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using namespace std::chrono_literals;
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struct CPStreamConfig {
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std::string port;
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std::uint32_t baudrate = 115200;
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serial::Timeout timeout = serial::Timeout::simpleTimeout(50);
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serial::bytesize_t bytesize = serial::eightbits;
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serial::parity_t parity = serial::parity_none;
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serial::stopbits_t stopbits = serial::stopbits_one;
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serial::flowcontrol_t flowcontrol = serial::flowcontrol_none;
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std::size_t read_chunk_size = 256;
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std::size_t packet_queue_capacity = 128;
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std::size_t frame_queue_capacity = 16;
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CPCodecID codec_id = CPCodecID::Unknow;
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std::string codec_name;
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std::vector<std::uint8_t> slave_request_command{};
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std::chrono::milliseconds slave_request_interval = 200ms;
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};
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class CPStreamCore {
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public:
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using FrameCallback = std::function<void(const DecodedFrame&)>;
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explicit CPStreamCore(CPStreamConfig config = {});
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~CPStreamCore();
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CPStreamCore(const CPStreamCore&) = delete;
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CPStreamCore& operator=(const CPStreamCore&) = delete;
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bool open(const CPStreamConfig& config);
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bool open();
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bool reopen(const CPStreamConfig& config);
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void close();
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bool start();
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void stop();
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[[nodiscard]] bool is_open() const noexcept;
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[[nodiscard]] bool is_running() const noexcept;
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bool send(const std::vector<std::uint8_t>& data);
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bool send(const std::uint8_t* data, std::size_t size);
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std::optional<DecodedFrame> try_pop_frame();
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bool wait_for_frame(DecodedFrame& frame, std::chrono::milliseconds timeout);
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void clear_frames();
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void set_frame_queue_capacity(std::size_t capacity);
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void set_frame_callback(FrameCallback callback);
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[[nodiscard]] CPStreamConfig config() const;
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[[nodiscard]] std::string last_error() const;
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static std::vector<serial::PortInfo> list_available_ports();
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private:
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struct Impl;
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std::unique_ptr<Impl> impl_;
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};
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} // namespace ffmsep
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