UARTHandler.h

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#ifndef UARTHandler_h
#define UARTHandler_h
 
//#include "Board.h"
//#include "ParseIni.h"
//#include "ExoData.h"
//#include "Utilities.h"
#include "UART_msg_t.h"
 
#include "Arduino.h"
#include <stdint.h>
 
#define MAX_NUM_LEGS 2
#define MAX_NUM_JOINTS_PER_LEG 2 // current PCB can only do 2 motors per leg.
#define MAX_RAW_BUFFER_SIZE 256
#define MAX_DATA_SIZE 32
// if type is changes you will need to comment/uncomment lines in pack_float and unpack_float
#define UART_DATA_TYPE short int
#define FIXED_POINT_FACTOR 100
#define UART_BAUD 256000
 
#define MAX_RX_LEN 64 // bytes
#define RX_TIMEOUT_US 1000   // microseconds
 
/* SLIP special character codes
*/
#define END             0300    /* indicates end of packet */
#define ESC             0333    /* indicates byte stuffing */
#define ESC_END         0334    /* ESC ESC_END means END data byte */
#define ESC_ESC         0335    /* ESC ESC_ESC means ESC data byte */
 
#if defined(ARDUINO_TEENSY36) || defined(ARDUINO_TEENSY41)
#define MY_SERIAL Serial8
#elif defined(ARDUINO_ARDUINO_NANO33BLE) | defined(ARDUINO_NANO_RP2040_CONNECT)
#define MY_SERIAL Serial1
#else 
#error No Serial Object Found
#endif
 
class UARTHandler
{
    public:
        static UARTHandler* get_instance();
 
        void UART_msg(uint8_t msg_id, uint8_t len, uint8_t joint_id, float *buffer);
        void UART_msg(UART_msg_t msg);
 
        UART_msg_t poll(float timeout_us = RX_TIMEOUT_US);
 
        uint8_t check_for_data();
 
    private:
        UARTHandler();
 
        void _pack(uint8_t msg_id, uint8_t len, uint8_t joint_id, float *data, uint8_t *data_to_pack);
 
        UART_msg_t _unpack(uint8_t* data, uint8_t len);
 
        uint8_t _get_packed_length(uint8_t msg_id, uint8_t len, uint8_t joint_id, float *data);
 
        void _send_packet(uint8_t* p, uint8_t len);
 
        int _recv_packet(uint8_t *p, uint8_t len = MAX_RX_LEN);
 
        void _send_char(uint8_t val);
 
        uint8_t _recv_char(void);
 
        uint8_t _time_left(uint8_t should_latch = 0);
 
        void _reset_partial_packet();
 
        /* Data */
        //circular_buffer<uint8_t, 64> _rx_raw;
 
        float _timeout_us = RX_TIMEOUT_US;
        
        uint8_t _partial_packet[MAX_RX_LEN];
        uint8_t _partial_packet_len = 0;
        uint8_t _msg_buffer[MAX_RX_LEN];
        uint8_t _msg_buffer_len = 0;
 
};
 
 
 
#endif