I2cSlaveReader.hpp

[詳解]

//
//    I2c スレーブ側受信クラス
//
//    Copyright (c) 2022-2024 udonrobo
//
 
//
//    master --[I2C]--> slave
//                      ^^^^^
//
 
#pragma once
 
#include "I2cBus.hpp"
 
#include <Udon/Serializer/Serializer.hpp>
#include <Udon/Utility/Show.hpp>
 
namespace Udon
{
 
    template <typename Message>
    class I2cSlaveReader
    {
    public:
        using MessageType = Message;
 
        static constexpr size_t Size = Udon::SerializedSize<MessageType>();
 
        I2cSlaveReader(Udon::II2cBus& bus)
            : bus(bus)
            , buffer()
        {
            self = this;
        }
 
        I2cSlaveReader(const I2cSlaveReader&) = delete;
 
        
        I2cSlaveReader(I2cSlaveReader&& other)
            : bus(other.bus)
            , buffer()
        {
            self = this;
        }
 
        void begin()
        {
            bus.onReceive(
                [](int)
                {
                    for (auto& buf : self->buffer)
                    {
                        buf = Wire.read();
                    }
                });
        }
 
        Udon::Optional<MessageType> getMessage() const
        {
            if (bus)
            {
                return Udon::Deserialize<MessageType>(buffer);
            }
            else
            {
                return Udon::nullopt;
            }
        }
 
        void show(char gap = '\t') const
        {
            if (const auto message = getMessage())
            {
                Udon::Show(*message, gap);
            }
            else
            {
                Udon::Show(F("receive failed!"));
            }
        }
 
        void showRaw(char gap = ' ') const
        {
            Udon::Show(buffer, gap);
        }
 
    private:
        Udon::II2cBus& bus;
 
        uint8_t buffer[Size];
 
        static I2cSlaveReader* self;
    };
 
    template <typename Message>
    I2cSlaveReader<Message>* I2cSlaveReader<Message>::self;
 
}    // namespace Udon