AnimatSerial.h

/*
  AnimatSerial.cpp - Library for interfacing with Animat serial stream
  Copyright (c) 2015 David Cofer, NeuroRobotic Technologies.  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 AnimatSerial_h
#define AnimatSerial_h

#include "HardwareSerial.h"

#define HEADER_SIZE 5
#define DATA_SIZE 6
#define FOOTER_SIZE 1

#define MAX_ANIMAT_BUFFER 128

#define PACKET_INFO_SIZE 6  //Size of the header, packet size, message id, and checksum in bytes
#define START_MESSAGE_INFO_BYTE 5
#define DATA_SIZE 6     
        
class AnimatData
{
public:
        union id_tag {
         unsigned char bval[2];
         unsigned int ival;
        } id;
        
        union value_tag {
         unsigned char bval[4];
         float fval;
        } value;
        
        //unsigned int m_id;
        //float m_value;

        AnimatData() {
                id.ival = 0;
                value.fval = 0;
        }
};

/* the Commander will send out a frame at about 30hz, this class helps decipher the output. */
class AnimatSerial
{    
  public:
    AnimatSerial(); 
    AnimatSerial(HardwareSerial *ss, unsigned int inTotal, unsigned int outTotal); 
        ~AnimatSerial();
        
    void begin(unsigned long baud);
    int readMsgs();         // must be called regularly to clean out Serial buffer
        void writeMsgs();
        void writeAllMsgs();
        void writeResendMsg();
        
        bool isChanged();
        bool isChanged(unsigned int id);
        bool getData(unsigned int index, AnimatData &data);
        bool addData(unsigned int id, float val);
        
        unsigned int getInDataTotal() {return inDataTotal;}
        unsigned int getOutDataTotal() {return outDataTotal;}
        
        void clearChanged();

        private:

        void setInDataValue(int id, float val);

        void clearInData();
        void clearOutData();

        AnimatData *inData;
        AnimatData *outData;
        bool *changed;
        bool dataChanged;
        
        unsigned int inDataTotal;
        unsigned int outDataTotal;

        unsigned int inDataCount;
        unsigned int outDataCount;

        // internal variables used for reading messages
    unsigned char vals[MAX_ANIMAT_BUFFER];  // temporary values, moved after we confirm checksum
    int index;              // -1 = waiting for new packet
    int checksum;
    unsigned char status;       
        
        int messageID;
        int packetSize;

        union size_tag {
         unsigned char bval[2];
         unsigned int ival;
        } size;
        
        union id_tag {
         unsigned char bval[2];
         unsigned int ival;
        } id;
        
        union value_tag {
         unsigned char bval[4];
         float fval;
        } value;
        
        HardwareSerial *stream;
};

#endif