とりあえずパケット生成

raspberry_pi/bb_UART/include/UART.hpp

@@ -0,0 +1,69 @@
+#pragma once
+
+#include <cstdint>
+#include <queue>
+#include <memory>
+
+// 
+// packet
+// 
+// name             : bit 
+// header   ACK     : 11xxxxxx (x: sequence_num)
+//          data    : 00xxxxxx (x: sequence_num)
+//                   
+// payload_size     : xxxxxxxx
+// 
+// hash             : xxxxyyyy (x: header's hash, y: payload's hash)
+// 
+// payload          : xxxxxxxx
+//                  : xxxxxxxx
+//                    ~~~~~~~~
+//                  : xxxxxxxx 
+// 
+
+namespace uart
+{
+    enum uart_err_t
+    {
+        UART_SUCCEEDED          = 0,
+        UART_ERROR_UNKNOWN      = -1,
+        UART_INIT_FAILED        = -2,
+        UART_TRANSMIT_FAILED    = -3,
+        UART_RECEIVE_FAILED     = -4,
+        UART_HASH_NOT_MATCH     = -5,
+        UART_BUFFER_OVER        = -6
+    };
+
+    struct uart_conf
+    {
+        int TX              = -1;   // TX pin
+        int RX              = -1;   // RX pin
+        int BAUD            = 9600;
+        int DATA_BIT_LEN    = 8;    // bits
+        int MAX_PAYLOAD_SIZE= 32;   // ペイロードサイズ(1-255bytes)
+        int STOP_BIT        = 2;
+        int OFFSET          = 0;
+        bool ENABLE_RESEND  = true; // 再送
+    };
+
+    class UART
+    {
+        private:
+        const uart_conf conf;
+        uint8_t sequence_num;
+        std::queue<uint8_t> transmit_queue;
+
+        public:
+        UART(uart_conf&);
+        virtual uart_err_t initialize();
+        // パケット送信
+        virtual int thrower(const uint8_t*);
+        // パケット作成→キュー追加
+        template <class T> uart_err_t transmit(const T&);
+        virtual int receive();
+        uart_err_t get_data();
+
+    };
+
+}
+

raspberry_pi/bb_UART/src/UART.cpp

@@ -0,0 +1,47 @@
+#include "UART.hpp"
+
+namespace uart
+{
+    UART::UART(uart_conf& conf_) : conf(conf_), sequence_num(0) {}
+
+    template <class T>
+    uart_err_t UART::transmit(const T &buf_)
+    {
+        if (transmit_queue.size() + (int)sizeof(T) > 1024) {
+            return(UART_BUFFER_OVER);
+
+        } else {
+            std::unique_ptr<uint8_t> buf(new T(1));
+            buf = (uint8_t*)&buf_;
+
+            // キュー追加、dataサイズがペイロード最大サイズを超える場合は分割
+            int j = 0;
+            for (int i=0; i<(float)sizeof(T)/conf.MAX_PAYLOAD_SIZE; i++) {
+                const uint8_t header = sequence_num & 0b00111111;
+                transmit_queue.push(header);
+                if (sequence_num == 63) {
+                    sequence_num = 0;
+                } else {
+                    sequence_num++;
+                }
+                for (j; j<conf.MAX_PAYLOAD_SIZE*(i+1); j++){
+                    if (j < (int)sizeof(T)){
+                        transmit_queue.push(*buf[j]);
+                    } else {
+                        break;
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+    uart_err_t UART::get_data()
+    {
+
+    }
+
+}