1 files changed, 107 insertions, 0 deletions
diff --git a/libraries/Bridge/Bridge.h b/libraries/Bridge/Bridge.h
new file mode 100644
index 0000000..f85fa07
--- /dev/null
+++ b/libraries/Bridge/Bridge.h
@@ -0,0 +1,107 @@
+/*
+  Copyright (c) 2013 Arduino LLC. All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#ifndef BRIDGE_H_
+#define BRIDGE_H_
+
+#include <Arduino.h>
+#include <Stream.h>
+
+class BridgeClass: public Stream {
+public:
+  BridgeClass(Stream &_stream);
+  void begin();
+  
+  // Methods to handle processes on the linux side
+  uint8_t runCommand(String &command);
+  bool commandIsRunning(uint8_t handle);
+  unsigned int commandExitValue(uint8_t handle);
+  void cleanCommand(uint8_t handle);
+  
+  unsigned int commandOutputAvailable(uint8_t handle);
+  unsigned int readCommandOutput(uint8_t handle, uint8_t *buff, unsigned int size);
+  unsigned int readCommandOutput(uint8_t handle, char *buff, unsigned int size)
+    { return readCommandOutput(handle, reinterpret_cast<uint8_t *>(buff), size); }
+
+  void writeCommandInput(uint8_t handle, const uint8_t *buff, unsigned int size);
+  void writeCommandInput(uint8_t handle, const char *buff, unsigned int size)
+    { writeCommandInput(handle, reinterpret_cast<const uint8_t *>(buff), size); }
+  
+  // Methods to handle mailbox messages
+  unsigned int readMessage(uint8_t *buffer, unsigned int size);
+  void writeMessage(const uint8_t *buffer, unsigned int size);
+  unsigned int messageAvailable();
+  
+  // Methods to handle key/value datastore
+  void put(const char *key, const char *value);
+  unsigned int get(const char *key, uint8_t *buff, unsigned int size);
+  unsigned int get(const char *key, char *value, unsigned int maxlen)
+    { get(key, reinterpret_cast<uint8_t *>(value), maxlen); }
+  
+  // Print methods (proxy to "stream" object) [CM: are these really needed?]
+  size_t write(uint8_t c) { return stream.write(c); }
+  size_t write(const uint8_t *buffer, size_t size)
+    { return stream.write(buffer, size); }
+
+  // Stream methods (proxy to "stream" object) [CM: are these really needed?]
+  int available() { return stream.available(); }
+  int read() { return stream.read(); }
+  int peek() { return stream.peek(); }
+  void flush() { stream.flush(); }
+
+  // Trasnfer a frame (with error correction and response)
+  uint8_t transfer(const uint8_t *buff, uint8_t len, 
+                   uint8_t *rxbuff=NULL, uint8_t rxlen=0);
+private:
+  uint8_t index;
+  int timedRead(unsigned int timeout);
+  void dropAll();
+  
+private:
+  void crcUpdate(uint8_t c);
+  void crcReset();
+  void crcWrite();
+  bool crcCheck(uint16_t _CRC);
+  uint16_t CRC;
+  
+private:
+  static const char CTRL_C = 3;
+  Stream &stream;
+  bool started;
+};
+
+// This subclass uses a serial port Stream
+class SerialBridgeClass : public BridgeClass {
+public:
+  SerialBridgeClass(HardwareSerial &_serial)
+      : BridgeClass(_serial), serial(_serial) { 
+    // Empty
+  }
+  
+  void begin() {
+    serial.begin(115200);
+    BridgeClass::begin();
+  }
+  
+private:
+  HardwareSerial &serial;
+};
+
+extern SerialBridgeClass Bridge;
+
+#endif /* BRIDGE_H_ */