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45 lines
1.4 KiB
C++
45 lines
1.4 KiB
C++
#ifndef _MSGHANDLER_HPP_
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#define _MSGHANDLER_HPP_
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#include <queue>
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#include <mutex>
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#include <vector>
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#include <map>
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class MsgHandler {
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public:
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int fd;
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std::string device;
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int empty_weight;
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int jitter_weight;
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std::vector<uint8_t> m_WeightData;
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MsgHandler();
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~MsgHandler() = default;
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void HandleDdsMsg(const std::map<std::string, std::string>& msg);
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template<typename T>
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bool HandleDeviceMsg(T& msg);
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bool SetDevice(const std::string& device);
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bool SetEmptyWeight(const int& empty_weight);
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bool SetJitterWeight(const int& jitter_weight);
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virtual bool OpenPort(const std::string& port, const std::string& baudrate);
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virtual int SendDeviceMsg(const std::vector<uint8_t>& data);
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virtual int RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs);
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int SendMsg(const std::vector<uint8_t>& data);
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int RecvMsg(std::vector<uint8_t>& data, int timeoutMs);
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bool isOpen() const {
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return fd != -1;
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}
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void ClosePort();
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private:
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bool get_frame(std::vector<uint8_t>& frame, uint8_t frame_size, uint8_t start, uint8_t end);
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bool get_weight_1(std::string& weight, std::vector<uint8_t>& frame);
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bool get_weight_1(float& weight, std::vector<uint8_t>& frame);
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bool get_weight_2(std::string& weight, std::vector<uint8_t>& frame);
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bool get_weight_2(float& weight, std::vector<uint8_t>& frame);
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};
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#endif |