58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
#pragma once
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#include "cpdecoder.hh"
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#include <cstdint>
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#include <optional>
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#include <vector>
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namespace ffmsep::tactile {
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inline constexpr std::uint8_t kStartByteFirst = 0xAA;
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inline constexpr std::uint8_t kStartByteSecond = 0x55;
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inline constexpr std::uint8_t kPiezoresistiveBStartByteFirst = 0xF0;
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inline constexpr std::uint8_t kPiezoresistiveBStartByteSecond = 0xF1;
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inline constexpr std::uint8_t kPiezoresistiveBEndByteFirst = 0xF1;
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inline constexpr std::uint8_t kPiezoresistiveBEndByteSecond = 0xF0;
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inline constexpr std::size_t kPiezoresistiveBValueCount = 200;
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enum class FunctionCode : std::uint8_t {
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Unknown = 0x00,
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ReadMatrix = 0x01,
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ReadSingle = 0x02,
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ReadTemperature = 0x03,
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SetDeviceId = 0x51,
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SetMatrixSize = 0x52,
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CalibrationMode = 0x53,
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};
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struct MatrixSize {
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std::uint8_t long_edge = 0;
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std::uint8_t short_edge = 0;
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};
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struct TactileFrame {
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std::uint8_t device_address = 0;
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std::uint8_t reserved = 0;
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std::uint8_t response_function = 0;
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FunctionCode function = FunctionCode::Unknown;
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std::uint32_t start_address = 0;
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std::uint16_t return_byte_count = 0;
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std::uint8_t status = 0;
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std::vector<std::uint8_t> payload;
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};
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std::optional<TactileFrame> parse_frame(const CPFrame &frame);
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std::vector<std::uint16_t> parse_pressure_values(const TactileFrame &frame);
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std::optional<MatrixSize> parse_matrix_size_payload(const TactileFrame &frame);
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std::optional<MatrixSize>
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parse_patrix_coordinate_payload(const TactileFrame &frame);
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std::vector<std::uint16_t> parse_piezoresistive_b_pressures(const CPFrame &frame);
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std::vector<std::uint8_t> extract_piezoresistive_b_payload(const CPFrame &frame);
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// 配置触觉 A 类型预期的 payload 字节数（点数 * 2），用于限制解码 FIFO。
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void set_tactile_expected_payload_bytes(std::size_t bytes);
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const CPCodec *tactile_codec();
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void register_tactile_codec();
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const CPCodec *tactile_b_codec();
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void register_tactile_b_codec();
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} // namespace ffmsep::tactile
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