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161 lines
7.4 KiB
161 lines
7.4 KiB
/**
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* @file Receiver.hpp
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* @brief Header file for the Receiver class.
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* @author Adam Prochazka <xproch0f>
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*
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* This file contains the declaration of the Receiver class which is responsible for
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* managing the serial communication and processing the received data to display images.
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*/
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#include "main.hpp"
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#ifndef DISPLAYER_HPP
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#include "Displayer.hpp"
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#endif
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/**
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* @class Receiver
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* @brief Handles receiving data from the serial port and buffering the data for the Displayer.
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*/
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class Receiver{
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private:
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int cdcFile;
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struct termios tty;
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int currentBufferIndex = 0;
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std::mutex currentBufferIndexMutex;
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std::vector<uint8_t> buffer_initial{
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0xff, 0xd8, 0xff, 0xdb, 0x00, 0x43, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xdb, 0x00, 0x43, 0x01, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
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0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xc0, 0x00, 0x11,
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0x08, 0x00, 0x60, 0x00, 0x80, 0x03, 0x01, 0x21, 0x00, 0x02, 0x11, 0x01, 0x03, 0x11, 0x01, 0xff,
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0xda, 0x00, 0x0c, 0x03, 0x01, 0x00, 0x02, 0x11, 0x03, 0x11, 0x00, 0x3f, 0x00, 0x92, 0x8a, 0x00,
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0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45,
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0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89,
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0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad,
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0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25,
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0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3,
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0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1,
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0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00,
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0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45,
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0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89,
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0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad,
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0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25,
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0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3,
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0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1,
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0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00,
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0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45,
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0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89,
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0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad,
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0x4c, 0x84, 0xa2, 0xb3, 0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25,
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0x15, 0x98, 0xc6, 0xd1, 0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3,
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0x19, 0x62, 0x8a, 0x00, 0x4a, 0x2b, 0x31, 0x89, 0x45, 0x6a, 0x64, 0x25, 0x15, 0x98, 0xc6, 0xd1,
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0x5b, 0x1b, 0x09, 0x45, 0x66, 0x31, 0x28, 0xad, 0x4c, 0x84, 0xa2, 0xb3, 0x19, 0xff, 0xd9
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};
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std::vector<uint8_t> buffer1;
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std::vector<uint8_t> buffer2;
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std::vector<uint8_t> buffer3;
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Displayer *dis;
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int distance = 0;
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int sequenceEndedFF = 0; ///< Flag to indicate if the sequence has ended with 0xFF.
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int simulateIdx = 0;
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int debugFileIdx = 0;
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public:
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/**
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* @brief Constructor for the Receiver class.
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* @param displayerPtr Pointer to the Displayer instance.
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*/
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Receiver(Displayer *displayerPtr);
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/**
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* @brief Opens the serial port stream.
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* @param port Name of serial port to be openned.
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*/
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void openStream(char * port);
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/**
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* @brief Closes the serial port stream.
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*/
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void closeStream();
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/**
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* @brief Initializes the serial port settings.
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* @return 1 if successful, -1 if an error occurred.
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*/
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int initSerial();
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/**
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* @brief Reads data from the CDC device.
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* @param[out] character Pointer to the character buffer to store the read data.
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* @return 0 if successful, -1 if error occurred.
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*/
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int readCdcData(unsigned char (*character)[CDC_FRAME_SIZE]);
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/**
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* @brief Prints char as hexadecimal value with a 0x prefix.
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* @param value The char to be printed.
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*/
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void printHex(unsigned char value);
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/**
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* @brief Fills the buffer with data from the serial port.
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* @param saveToFile Indicates if image data should be saved to file.
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* @return 0.
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*/
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int fillBuffer(bool saveToFile = false);
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/**
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* @brief Gets the distance data from serial port and print it to std out.
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* @return 0 if successful, 1 if error occurred.
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*/
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int getDistance();
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/**
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* @brief Sends the buffer to the Displayer for rendering.
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* @param printRaw Bool that indicates weather received byte data should be printed to std::out (for debug).
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*/
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void bufferToDisplay(bool printRaw = false);
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/**
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* @brief Initializes textures in Displayer to default values.
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*/
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void initTextures();
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/**
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* @brief Finds a sequence of two characters in the given string.
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* @param[in] str Pointer to the input string.
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* @param ch1 First character of the sequence to find.
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* @param ch2 Second character of the sequence to find.
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* @return Index of the first occurrence of the sequence, or -1 if not found.
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*/
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int findSequence(unsigned char (*str)[CDC_FRAME_SIZE], unsigned char ch1, unsigned char ch2);
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/**
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* @brief Find index of bytes signalizing start of image.
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* @param[in] str Pointer to the input string.
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* @return Index of the start of the data sequence, or -1 if not found.
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*/
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int findStart(unsigned char (*str)[CDC_FRAME_SIZE]);
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/**
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* @brief Find index of bytes signalizing end of image.
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* @param[in] str Pointer to the input string.
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* @return Index of the start of the data sequence, or -1 if not found.
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*/
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int findEnd(unsigned char (*str)[CDC_FRAME_SIZE]);
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/**
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* @brief Test function to simulate reading from serial port.
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* @param[in] str Pointer to the string buffer.
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* @return 0.
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*/
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int simulateRead(unsigned char (*character)[CDC_FRAME_SIZE]);
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}; |