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Encoder allowed to fail, preparation for upcoming CAN transmit

pull/4/head
Paul Hollinsky 2018-10-18 13:42:20 -04:00
parent 92839c22a5
commit 912b11ce30
4 changed files with 24 additions and 21 deletions
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14
communication/communication.cpp
View File

@ -46,19 +46,15 @@ bool Communication::close() {
}
bool Communication::sendPacket(std::vector<uint8_t>& bytes) {
// std::cout << "\nWriting " << bytes.size() << " bytes\n" << std::hex;
// for(size_t i = 0; i < bytes.size(); i++)
// std::cout << std::setw(2) << std::setfill('0') << (int)bytes[i] << (i % 16 == 15 ? '\n' : ' ');
// std::cout << '\n' << std::endl << std::dec;
// This is here so that other communication types (like multichannel) can override it
return rawWrite(bytes);
}
bool Communication::sendCommand(Command cmd, std::vector<uint8_t> arguments) {
auto msg = std::make_shared<Message>();
msg->network = Network::NetID::Main51;
msg->data = std::move(arguments);
msg->data.insert(msg->data.begin(), (uint8_t)cmd);
auto packet = encoder->encode(msg);
std::vector<uint8_t> packet;
if(!encoder->encode(packet, cmd, arguments))
return false;
return sendPacket(packet);
}

20
communication/encoder.cpp
View File

@ -2,8 +2,10 @@
using namespace icsneo;
std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
bool Encoder::encode(std::vector<uint8_t>& result, const std::shared_ptr<Message>& message) {
bool shortFormat = false;
result.clear();
switch(message->network.getType()) {
// case Network::Type::CAN: {
// if(message->data.size() < 24)
@ -39,7 +41,8 @@ std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
(uint8_t)size, // Size, little endian 16-bit
(uint8_t)(size >> 8)
});
return packetizer->packetWrap(message->data, shortFormat);
result = packetizer->packetWrap(message->data, shortFormat);
return true;
} else {
shortFormat = true;
}
@ -49,11 +52,11 @@ std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
// We expect the network byte to be populated already in data, but not the length
uint16_t length = uint16_t(message->data.size()) - 1;
message->data.insert(message->data.begin(), {(uint8_t)length, (uint8_t)(length >> 8)});
break;
}
default:
break;
return false;
}
break;
}
if(shortFormat) {
@ -71,14 +74,15 @@ std::vector<uint8_t> Encoder::encode(const std::shared_ptr<Message>& message) {
});
}
return packetizer->packetWrap(message->data, shortFormat);
result = packetizer->packetWrap(message->data, shortFormat);
return true;
}
std::vector<uint8_t> Encoder::encode(Command cmd, std::vector<uint8_t> arguments) {
bool Encoder::encode(std::vector<uint8_t>& result, Command cmd, std::vector<uint8_t> arguments) {
auto msg = std::make_shared<Message>();
msg->network = Network::NetID::Main51;
msg->data.resize(arguments.size() + 1);
msg->data.reserve(arguments.size() + 1);
msg->data.push_back((uint8_t)cmd);
msg->data.insert(msg->data.end(), std::make_move_iterator(arguments.begin()), std::make_move_iterator(arguments.end()));
return encode(msg);
return encode(result, msg);
}

6
communication/include/encoder.h
View File

@ -18,9 +18,9 @@ namespace icsneo {
class Encoder {
public:
Encoder(std::shared_ptr<Packetizer> packetizerInstance) : packetizer(packetizerInstance) {}
std::vector<uint8_t> encode(const std::shared_ptr<Message>& message);
std::vector<uint8_t> encode(Command cmd, bool boolean) { return encode(cmd, std::vector<uint8_t>({ (uint8_t)boolean })); }
std::vector<uint8_t> encode(Command cmd, std::vector<uint8_t> arguments = {});
bool encode(std::vector<uint8_t>& result, const std::shared_ptr<Message>& message);
bool encode(std::vector<uint8_t>& result, Command cmd, bool boolean) { return encode(result, cmd, std::vector<uint8_t>({ (uint8_t)boolean })); }
bool encode(std::vector<uint8_t>& result, Command cmd, std::vector<uint8_t> arguments = {});
private:
std::shared_ptr<Packetizer> packetizer;

5
device/device.cpp
View File

@ -210,6 +210,9 @@ void Device::updateLEDState() {
* This old command type is not really used anywhere else.
*/
msg->data = {0x00, 0x06, uint8_t(ledState)};
auto packet = com->encoder->encode(msg);
std::vector<uint8_t> packet;
if(!com->encoder->encode(packet, msg))
return;
com->sendPacket(packet);
}