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/*
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(57600);
BridgeClass::begin();
}
private:
HardwareSerial &serial;
};
extern SerialBridgeClass Bridge;
#endif /* BRIDGE_H_ */
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