Forwarding.hpp

[詳解]

//
//    通信転送クラス
//
//    Copyright (c) 2022 udonrobo
//
 
//
//    Sender --[CAN ect.]--> Forwarding --[UART etc.]--> Receiver
//                           ^^^^^^^^^^
//
 
#pragma once
 
#include <Udon/Utility/Show.hpp>
#include <Udon/Traits/HasMemberFunction.hpp>
#include <Udon/Traits/ReaderWriterTraits.hpp>
 
namespace Udon
{

    template <
        template <typename> class Reader,
        template <typename> class Writer,
        typename Message>
    class Forwarding
    {
 
        static_assert(Udon::Traits::IsReader<Reader>::value, "Reader must be reader.");
        static_assert(Udon::Traits::IsWriter<Writer>::value, "Writer must be writer.");

        using ReaderType = Reader<Message>;

        using WriterType = Writer<Message>;

        ReaderType reader;

        WriterType writer;
 
    public:
        Forwarding(ReaderType&& reader, WriterType&& writer)
            : reader(std::move(reader))
            , writer(std::move(writer))
        {
        }

        void begin()
        {
            Udon::Traits::MaybeInvokeBegin(reader);
            Udon::Traits::MaybeInvokeBegin(writer);
        }

        void update()
        {
            Udon::Traits::MaybeInvokeUpdate(reader);
            if (const auto message = reader.getMessage())
            {
                writer.setMessage(*message);
            }
            else
            {
                writer.setMessage({});
            }
            Udon::Traits::MaybeInvokeUpdate(writer);
        }

        void show()
        {
            Udon::Show(F("read: "));
            Udon::Traits::MaybeInvokeShow(reader);
            Udon::Show(F("  write: "));
            Udon::Traits::MaybeInvokeShow(writer);
            Udon::Show(F("  "));
        }

        void showRaw()
        {
            Udon::Show(F("read: "));
            Udon::Traits::MaybeInvokeShowRaw(reader);
            Udon::Show(F("  write: "));
            Udon::Traits::MaybeInvokeShowRaw(writer);
            Udon::Show(F("  "));
        }

        ReaderType& getReader()
        {
            return reader;
        }

        WriterType& getWriter()
        {
            return writer;
        }
    };
}    // namespace Udon