50 lines
1.2 KiB
C++
50 lines
1.2 KiB
C++
//
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// High level helpers for the tactile sensor binary protocol.
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//
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#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 kStartByte = 0x3A;
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inline constexpr std::uint8_t kEndByteFirst = 0x0D;
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inline constexpr std::uint8_t kEndByteSecond = 0x0A;
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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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FunctionCode function = FunctionCode::Unknown;
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std::uint8_t data_length = 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> parse_matrix_coordinate_payload(const TactileFrame& frame);
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const CPCodec* tactile_codec();
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void register_tactile_codec();
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} // namespace ffmsep::tactile
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