Im920Reader.hpp

[詳解]

//
//    IM920 受信クラス
//
//    Copyright (c) 2022 udonrobo
//
 
//
//    Sender --[UART]--> IM920 ~~[920MHz]~~> IM920 --[UART]--> Receiver
//                                                         　  ^^^^^^^^
//
 
#pragma once
 
#include "IIm920.hpp"
 
#include <Udon/Serializer/Serializer.hpp>
#include <Udon/Utility/Show.hpp>
 
namespace Udon
{

    template <typename Message>
    class Im920Reader
    {
    public:
        static constexpr size_t Size = Udon::SerializedSize<Message>();
 
        using MessageType = Message;
 
    private:
        IIm920& im920;
 
        uint8_t buffer[Size];
 
        Im920Node node;
 
    public:
        Im920Reader(IIm920& im920)
            : im920(im920)
            , buffer()
            , node{ buffer, Size, 0 }
        {
            im920.joinRx(node);
        }
        Im920Reader(const Im920Reader& other)
            : im920(other.im920)
            , buffer()
            , node{ buffer, Size, 0 }
        {
            im920.joinRx(node);
        }
 
        Udon::Optional<Message> getMessage(uint32_t timeOut = 700) const
        {
            if (millis() - node.transmitMs > timeOut)
            {
                return Udon::nullopt;
            }
            else
            {
                return Udon::Deserialize<Message>(buffer);
            }
        }

        void show() const
        {
            if (const auto message = getMessage())
            {
                Udon::Show(*message);
            }
            else
            {
                Serial.print(F("receive failed!"));
            }
        }

        void showRaw() const
        {
            for (auto&& it : buffer)
            {
                Serial.print(it);
                Serial.print('\t');
            }
        }
    };
}    // namespace Udon