feetech_reader.h

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/*
 * Copyright (C) 2017 Inria
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#pragma once

 
#include "feetech_protocol.h"
 
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define FEETECH_ACK_SIZE           (6)
#define FEETECH_RESPONSE_SIZE(len) (6 + len)

typedef struct {
    const uint8_t *buffer; 
    size_t size;           
} feetech_reader_t;

static inline void feetech_reader_init(feetech_reader_t *reader, const uint8_t *buffer, size_t size)
{
    reader->buffer = buffer;
    reader->size = size;
}

uint8_t feetech_reader_compute_sum(const feetech_reader_t *reader);

static inline bool feetech_reader_check_minsize(const feetech_reader_t *reader)
{
    return 5 < reader->size;
}

static inline bool feetech_reader_check_start(const feetech_reader_t *reader)
{
    return
            reader->buffer[0] == FEETECH_START &&
            reader->buffer[1] == FEETECH_START;
}

static inline bool feetech_reader_check_size(const feetech_reader_t *reader)
{
    return reader->size == (size_t)(reader->buffer[3] + 4);
}

static inline bool feetech_reader_check_sum(const feetech_reader_t *reader)
{
    return feetech_reader_compute_sum(reader) == reader->buffer[reader->size - 1];
}

bool feetech_reader_is_valid(const feetech_reader_t *reader);

static inline uint8_t feetech_reader_get_id(const feetech_reader_t *reader)
{
    return reader->buffer[2];
}

static inline uint8_t feetech_reader_get_instr(const feetech_reader_t *reader)
{
    return reader->buffer[4];
}

static inline const uint8_t *feetech_reader_response_get_payload(const feetech_reader_t *reader)
{
    return &reader->buffer[5];
}

static inline size_t feetech_reader_response_get_payload_size(const feetech_reader_t *reader)
{
    return reader->buffer[3] - 2;
}

static inline const uint8_t *feetech_reader_write_get_payload(const feetech_reader_t *reader)
{
    return &reader->buffer[6];
}

static inline size_t feetech_reader_write_get_payload_size(const feetech_reader_t *reader)
{
    return reader->buffer[3] - 3;
}

static inline uint8_t feetech_reader_write_get_reg(const feetech_reader_t *reader)
{
    return reader->buffer[5];
}

static inline size_t feetech_reader_read_get_size(const feetech_reader_t *reader)
{
    return reader->buffer[6];
}

static inline uint8_t feetech_reader_read_get_reg(const feetech_reader_t *reader)
{
    return reader->buffer[5];
}

static inline size_t feetech_reader_sync_write_get_payload_size(const feetech_reader_t *reader)
{
    return reader->buffer[6];
}

static inline uint8_t feetech_reader_sync_write_get_reg(const feetech_reader_t *reader)
{
    return reader->buffer[5];
}

size_t feetech_reader_sync_write_get_items_count(const feetech_reader_t *reader);

uint8_t feetech_reader_sync_write_item_get_id(const feetech_reader_t *reader, uint8_t index);

const uint8_t *feetech_reader_sync_write_item_get_payload(const feetech_reader_t *reader, uint8_t index);
 
#ifdef __cplusplus
}
#endif