uas-ugv/main/e32_driver.hh

#pragma once

#include <driver/uart.h>

#include <string>

namespace ugv {
namespace e32 {

enum TxMode {
  TxTransparent = 0,
  TxFixed = 1,
};

enum IoMode {
  IoOpenCollector = 0,
  IoPushPull = 1,
};

typedef uint16_t Address;
typedef uint8_t Channel;

constexpr Address BroadcastAddress = 0xFFFF;

struct Config {
 public:
  Config();

  uart_port_t uart_port;
  uart_parity_t uart_parity;
  int uart_tx_pin;
  int uart_rx_pin;
  int uart_baud;
};

struct Params {
 public:
  Params();

  bool save_params;
  Address address;
  uart_parity_t uart_partity;
  int uart_baud;      // bps
  int air_data_rate;  // bps
  Channel comm_channel;
  TxMode tx_mode;
  IoMode io_mode;
  uint16_t wake_up_time;  // ms
  bool fec_enabled;
  uint16_t tx_power;  // dBm
};

class E32_Driver {
 public:
  explicit E32_Driver();
  ~E32_Driver();

  esp_err_t Init(Config config = Config());
  esp_err_t Free();

  esp_err_t ReadParams(Params& params);
  esp_err_t WriteParams(const Params& params);

  int Write(Address address, Channel channel, const uint8_t* data,
            size_t data_size);
  int Write(const uint8_t* data, size_t data_size);
  int Write(Address address, Channel channel, const std::string& data);
  int Write(const std::string& data);
  int WriteLn(const uint8_t* data, size_t data_size);
  int WriteLn(const std::string& data);

  esp_err_t WaitWriteDone(TickType_t ticks_to_wait = portMAX_DELAY);

  int Read(uint8_t* data, int max_len,
           TickType_t ticks_to_wait = portMAX_DELAY);
  int ReadLn(char* data, size_t data_size,
             TickType_t ticks_to_wait = portMAX_DELAY);
  int ReadLn(std::string& data, TickType_t ticks_to_wait = portMAX_DELAY);

  void Flush();

 private:
  bool initialized_;
  Config config_;
  Params params_;

  int RawWrite(const uint8_t* data, size_t data_size);
};

}  // namespace e32
}  // namespace ugv