cool_serial_uart.hpp

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#pragma once
 
 
#include "cool_serial/byte_queue.hpp"
#include "cool_serial/continuous_parser.hpp"
#include "cool_serial/idata_handler.hpp"
 
#include "tap/communication/serial/uart_terminal_device.hpp"
#include "tap/drivers.hpp"
 
#include <functional>
#include <unordered_map>
 
namespace fang::communication
{
    class CoolSerialUart
    {
    public:
        using DataHandlerRef = std::reference_wrapper<coolSerial::IDataHandler>;
        using HandlerMap = std::unordered_map<coolSerial::Byte, DataHandlerRef>;
 
        CoolSerialUart(tap::Drivers& drivers);
        CoolSerialUart(tap::Drivers& drivers, const HandlerMap& handlerMap);
 
        void initialize();
        void update();
        void addHandler(coolSerial::Byte dataType, DataHandlerRef handler);
    private:
        static const int kBaudRate{115200};
        void updateByteQueue();
        void handleMessage();
        void referMessage(const coolSerial::CoolMessageData& message);
 
        HandlerMap handlerMap_{};
        tap::communication::serial::UartTerminalDevice uart_;
        coolSerial::ByteQueue byteQueue_{};
        coolSerial::ContinuousParser parser_{byteQueue_};
    };
}