Merge pull request #19 from TNCT-Mechatech/release-v1.1.0beta

Release v1.1.0beta

Author: TaiyouKomazawa

README.md

@@ -6,7 +6,7 @@
 
 ## リリースバージョン
 
-* **1.0.0-beta**
+* **1.1.0-beta**
 
 ## 導入
 ### Linux

library.properties

@@ -1,5 +1,5 @@
 name=SerialBridge
-version=1.0.0
+version=1.1.0
 author=TNCT-Mechatech
 maintainer=TNCT-Mechatech
 sentence=Serial communication between nodes.

src/CobsSerial.hpp

@@ -109,7 +109,7 @@ class CobsSerial
 {
 public:
 
-    CobsSerial(SerialDev *dev);
+    CobsSerial(SerialDev *dev, const unsigned int buff_size=RX_BUFFER_SIZE);
 
     int read(uint8_t *data);
 
@@ -122,6 +122,8 @@ class CobsSerial
     };
 
 private:
+    const unsigned int _buff_size;
+
     SerialDev *_dev;
 
     ring_queue<uint8_t> _rx_buffer;

src/Message.hpp

@@ -39,112 +39,93 @@
 
 #include <stdint.h>
 #include <stdlib.h>
+#include <string.h>
 
-/** SerialBridge's namespace */
+/**
+* @namespace sb
+* @brief Namespace to indicate SerialBridge messages.
+*/
 namespace sb
 {
 
 /**
-* @brief sb::Message interface class.
+* @brief sb::MessageInterface interface class.
 * @details
 * This is for abstracting various sb::Messages so that they can be handled
 *  with a unified interface when used within SerialBridge.
 */
-class _Message
+class MessageInterface
 {
 public:
-    /**
-    * @brief Returns a pointer to the current packet.
-    * @return uint8_t* Pointer indicating the packet array.
-    */
-    virtual uint8_t *ptr() = 0;
+    uint8_t *ptr();
+
+    void packing(uint8_t id);
+    void unpacking();
 
     /**
-    * @brief Stores the data structure in a packet.
-    * This function is used internally by SerialBridge when sending.
-    * @param[in] id Message ID assigned when sending.
-    * @return None
+    * @brief Returns the length of the current packet.
+    * @return int Current packet array length.
     */
-    virtual void packing(uint8_t id) = 0;
+    virtual int size() = 0;
 
+protected:
     /**
-    * @brief Extract the data structure from the packet.
-    * This function is used internally by SerialBridge on reception.
-    * @return None
+    * @brief A function that returns a data structure.
+    * @return *void Pointer to the data structure of the derived class.
     */
-    virtual void unpacking() = 0;
+    virtual void *_data_ptr() = 0;
 
     /**
-    * @brief Returns the length of the current packet.
-    * @return int Current packet array length.
+    * @brief The length of the packet used to identify the data.
     */
-    virtual int size() = 0;
+    enum{
+        CTRL_DATA_LEN = 2,
+    };
+
+    uint8_t *_all_packet;
 };
 
 /**
 * @brief A class that stores the data processed by the SerialBridge class.
 * @tparam DataStruct Specify the type of data structure you want to handle with sb::Message.
 */
 template <class DataStruct>
-class Message : public _Message
+class Message : public MessageInterface
 {
 public:
-
-    /** Data is passed using this member structure. */
-    DataStruct data;
-
     /**
-    * @deprecated The following functions are used for internal processing
-    *  and do not support direct user calls.
+    * @brief Data is exchanged through this member variable.
+    * You can specify any structure type here with template parameters.
     */
-    virtual uint8_t *ptr()
-    {
-        return _all_packet;
-    }
+    DataStruct data;
 
     /**
-    * @deprecated The following functions are used for internal processing
-    *  and do not support direct user calls.
+    * @brief Message class constructor.
     */
-    virtual void packing(uint8_t id)
+    Message()
     {
-        _all_packet[0] = id;
-        _Packet_t tmp;
-        tmp.data = data;
-
-        uint32_t sum = 0;
-        for(int i = 0; i < size()-1; i++){
-            if(i >= 1)
-                _all_packet[i] = tmp.all[i-1];
-            sum += _all_packet[i];
-        }
-        _all_packet[size()-1] = (uint8_t)(sum & 0xFF);
+        _all_packet = new uint8_t[sizeof(DataStruct) + CTRL_DATA_LEN];
     }
 
     /**
-    * @deprecated The following functions are used for internal processing
-    *  and do not support direct user calls.
+    * @brief Message class destructor.
     */
-    virtual void unpacking()
+    ~Message()
     {
-        _Packet_t tmp;
-        for(int i = 0; i < (int)sizeof(DataStruct); i++){
-            tmp.all[i] = _all_packet[i+1];
-        }
-        data = tmp.data;
+        delete[] _all_packet;
     }
 
     virtual int size()
     {
-        return sizeof(DataStruct) + 2;
+        return sizeof(DataStruct) + CTRL_DATA_LEN;
     }
+
 private:
-    typedef union{
-        uint8_t all[sizeof(DataStruct)];
-        DataStruct data;
-    }_Packet_t;
 
-    uint8_t _all_packet[sizeof(DataStruct)+2];
+    virtual void *_data_ptr()
+    {
+        return &data;
+    }
 };
 
 };

src/SerialBridge.hpp

@@ -26,11 +26,11 @@ class SerialBridge
 public:
     typedef uint8_t frame_id;
 
-    SerialBridge(SerialDev *dev);
+    SerialBridge(SerialDev *dev, const unsigned int buff_size=CobsSerial::RX_BUFFER_SIZE);
 
     ~SerialBridge();
 
-    int add_frame(frame_id id, sb::_Message *str);
+    int add_frame(frame_id id, sb::MessageInterface *str);
     int rm_frame(frame_id id);
 
     int read();
@@ -46,10 +46,12 @@ class SerialBridge
 private:
     int _id_2_order(frame_id id);
 
-    sb::_Message *_str[STRUCT_MAX_NUM];
+    sb::MessageInterface *_str[STRUCT_MAX_NUM];
     frame_id _id_list[STRUCT_MAX_NUM];
 
     CobsSerial *_dev;
+
+    const unsigned int _buff_size;
 };
 
 #endif //#ifndef _SERIAL_BRIDGE_HPP_

src/source/CobsSerial.cpp

@@ -12,9 +12,10 @@
 /**
 * @brief CobsSerial class constructor.
 * @param[in] dev (SerialDev class pointer) An argument that indicates a serial device class object.
+* @param[in] buff_size Receive buffer size.(bytes)
 */
-CobsSerial::CobsSerial(SerialDev *dev)
-    : _rx_buffer(RX_BUFFER_SIZE)
+CobsSerial::CobsSerial(SerialDev *dev, const unsigned int buff_size)
+    : _buff_size(buff_size), _rx_buffer(buff_size)
 {
     _dev = dev;
     _got_packet = false;
@@ -32,7 +33,7 @@ CobsSerial::CobsSerial(SerialDev *dev)
 int CobsSerial::read(uint8_t *data)
 {
     int cnt = 0;
-    uint8_t tmp[RX_BUFFER_SIZE];
+    uint8_t tmp[_buff_size];
 
     if(!_data_begin && _got_packet){
         uint8_t val = 1;

src/source/Message.cpp

@@ -1,9 +1,46 @@
 /**
 * @file Message.cpp
-* @brief dummy file
+* @brief The data format handled by SerialBridge is defined here.
 * @author Taiyou Komazawa
 * @date 2021/8/18
-* @note Currently, it is a dummy file for makefile to recognize the header file.
 */
 
 #include "../Message.hpp"
+
+/**
+* @brief Returns a pointer to the current packet.
+* @return uint8_t* Pointer indicating the packet array.
+*/
+uint8_t* sb::MessageInterface::ptr()
+{
+    return _all_packet;
+}
+
+/**
+* @brief Stores the data structure in a packet.
+* This function is used internally by SerialBridge when sending.
+* @param[in] id Message ID assigned when sending.
+* @return None
+*/
+void sb::MessageInterface::packing(uint8_t id)
+{
+    _all_packet[0] = id;
+
+    uint32_t sum = 0;
+    memcpy(_all_packet+1, _data_ptr(), size()-CTRL_DATA_LEN);
+    for (int i = 0; i < size() - 1; i++)
+    {
+        sum += _all_packet[i];
+    }
+    _all_packet[size()-1] = (uint8_t)(sum & 0xFF);
+}
+
+/**
+* @brief Extract the data structure from the packet.
+* This function is used internally by SerialBridge on reception.
+* @return None
+*/
+void sb::MessageInterface::unpacking()
+{
+    memcpy(_data_ptr(), _all_packet+1, size()-CTRL_DATA_LEN);
+}

src/source/SerialBridge.cpp

@@ -10,11 +10,12 @@
 /**
 * @brief SerialBridge class constructor.
 * @param[in] dev (SerialDev class pointer) An argument that indicates a serial device class object.
+* @param[in] buff_size Receive buffer size.(bytes)
 */
-SerialBridge::SerialBridge(SerialDev *dev)
-:   _id_list()
+SerialBridge::SerialBridge(SerialDev *dev, const unsigned int buff_size)
+:   _id_list(), _buff_size(buff_size)
 {
-    _dev = new CobsSerial(dev);
+    _dev = new CobsSerial(dev, _buff_size);
 }
 
 /**
@@ -30,13 +31,13 @@ SerialBridge::~SerialBridge()
 * @param[in] id (Message identification number) A number to identify the message.
 * The number can be specified from 0x00 to 0xFF, and up to 256 types of messages can be added.
 * However, you cannot add more messages than specified by SerialBridge::STRUCT_MAX_NUM.
-* @param[in] str (sb::_Message class pointer) A data structure object used to send and receive data.
+* @param[in] str (sb::MessageInterface class pointer) A data structure object used to send and receive data.
 * @return int Whether the message frame was added successfully.
 * @retval  0 : Success.
 * @retval -1 : Failure. The argument str specified was NULL.
 * @retval -2 : Failure. The number of registered message frames has reached the upper limit.
 */
-int SerialBridge::add_frame(SerialBridge::frame_id id, sb::_Message *str)
+int SerialBridge::add_frame(SerialBridge::frame_id id, sb::MessageInterface *str)
 {
     if(str == NULL)
         return -1;
@@ -93,7 +94,7 @@ int SerialBridge::rm_frame(frame_id id)
 */
 int SerialBridge::read()
 {
-    uint8_t tmp[CobsSerial::RX_BUFFER_SIZE] = {};
+    uint8_t tmp[_buff_size] = {};
     int len = _dev->read(tmp) - 1;
     if(len > 0){
         int order = _id_2_order(tmp[0]);