Wizard.hpp

Go to the documentation of this file.

// Copyright (C) 2022 COGIP Robotics association <cogip35@gmail.com>
// This file is subject to the terms and conditions of the GNU Lesser
// General Public License v2.1. See the file LICENSE in the top level
// directory for more details.
 
 
#pragma once
 
// Riot includes
#include "event.h"
 
// Project includes
#include "uartpb/UartProtobuf.hpp"
 
// Protobuf message
#include "PB_Wizard.hpp"
 
#ifndef WIZARD_NAME_MAX_LENGTH
#  define WIZARD_NAME_MAX_LENGTH 256  
#endif
#ifndef WIZARD_REP_MAX
#  define WIZARD_REP_MAX 8            
#endif
 
namespace cogip {
 
namespace wizard {
 
class Wizard {
public:
    using PB_Message = PB_Wizard<
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_REP_MAX,
        WIZARD_REP_MAX,
        WIZARD_REP_MAX,
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_REP_MAX,
        WIZARD_REP_MAX,
        WIZARD_REP_MAX,
        WIZARD_REP_MAX,
        WIZARD_REP_MAX,
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_REP_MAX,
        WIZARD_NAME_MAX_LENGTH,
        WIZARD_NAME_MAX_LENGTH
        >;
 
    explicit Wizard(
        cogip::uartpb::UartProtobuf & uartpb  
        );
 
    void handle_response(
        cogip::uartpb::ReadBuffer & buffer   
        );
 
    const PB_Message &request(
        const PB_Message &request            
        );
 
private:
    typedef struct {
        event_t super;
        PB_Message pb_message;
    } wizard_event_t;
 
    cogip::uartpb::UartProtobuf & uartpb_;   
    wizard_event_t event_;                   
    event_queue_t queue_;                    
    bool queue_claimed_ = false;             
};
 
} // namespace wizard
 
} // namespace cogip