wrapper_device.hpp

#pragma once
#include "core/device/cobs_device.h"
#include "core/device/vdb/protocol.hpp"
#include "vex.h"
#include <deque>

namespace VDB {
class Device : public VDP::AbstractDevice, public COBSSerialDevice {
  public:
    static constexpr int32_t NO_ACTIVITY_DELAY = 2; // ms
    static constexpr std::size_t MAX_OUT_QUEUE_SIZE = 50;
    static constexpr std::size_t MAX_IN_QUEUE_SIZE = 50;
    explicit Device(int32_t port, int32_t baud_rate);
 
    bool send_packet(const VDP::Packet &packet);
    void register_receive_callback(std::function<void(const VDP::Packet &packet)> callback
    ) override; // From VDP::AbstractDevice
 
  private:
    std::deque<WirePacket> outbound_packets{};
    vex::mutex outbound_mutex;
    std::deque<WirePacket> inbound_packets;
 
    vex::mutex inbound_mutex;
    WirePacket inbound_buffer;
    static int decode_thread(void *self);

    static int serial_thread(void *self);
 
    bool write_packet_if_avail();
    
    // Task that deals with the low level writing and reading bytes from the wire
    vex::task serial_task;
 
    bool write_request();
    std::function<void(const VDP::Packet &packet)> callback;
};
 
} // namespace VDB