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69 lines
1.4 KiB
69 lines
1.4 KiB
#pragma once |
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#include <freertos/FreeRTOS.h> |
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#include <freertos/semphr.h> |
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#include <freertos/task.h> |
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#include "messages.pb.h" |
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#ifdef COMMS_SX127X |
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#include "sx127x_driver.h" |
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#else |
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#include "e32_driver.hh" |
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#endif |
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namespace ugv { |
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namespace comms { |
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namespace messages = uas::ugv::messages; |
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class CommsClass { |
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public: |
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static constexpr int MAX_PACKET_LEN = 128; |
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static constexpr TickType_t PACKET_RX_TIMEOUT = pdMS_TO_TICKS(200); |
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CommsClass(); |
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void Init(); |
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void Lock(TickType_t ticks_to_wait = pdMS_TO_TICKS(1000)); |
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void Unlock(); |
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int32_t ReadRssi(); |
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uint8_t ReadLnaGain(); |
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public: |
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SemaphoreHandle_t mutex; |
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messages::Location location; |
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messages::UGV_State ugv_state; |
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TickType_t last_packet_tick; |
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int32_t last_packet_rssi; |
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int8_t last_packet_snr; |
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private: |
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#ifdef COMMS_SX127X |
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sx127x_hndl lora; |
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#else |
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e32::E32_Driver lora; |
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int packet_len; |
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#endif |
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TaskHandle_t task_handle; |
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void RunTask(); |
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#ifdef COMMS_SX127X |
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void HandlePacket(sx127x_rx_packet_t* packet); |
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#endif |
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void HandlePacket(const uint8_t* data, size_t size); |
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void HandleCommand(const messages::GroundCommand& command); |
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esp_err_t SendPacket(const char* data, size_t size); |
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esp_err_t SendPacket(const std::string& str); |
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esp_err_t SendPacket(const google::protobuf::MessageLite& message); |
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static void CommsTask(void* arg); |
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}; |
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} // namespace comms |
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} // namespace ugv
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