init

lib/hardware/hardware_serial.cpp

@@ -0,0 +1,128 @@
+#include "hardware_serial.hpp"
+
+ProtoSerial::ProtoSerial()
+    : serial(nullptr), initialized(false), currentState(WAITING_FOR_LENGTH),
+      payloadLength(0), messageAvailable(false) {
+    receivedMessage = INCOMING_MESSAGE_INIT;
+}
+
+ProtoSerial::~ProtoSerial() {
+    if (serial) {
+        delete serial;
+    }
+}
+
+void ProtoSerial::begin(int rxPin, int txPin, long baud) {
+    if (serial) {
+        delete serial;
+    }
+#ifdef ESP32
+    serial = new HardwareSerial(1); // Use UART 1
+    serial->begin(baud, SERIAL_8N1, rxPin, txPin);
+#elif defined(ESP8266)
+    serial = new SoftwareSerial(rxPin, txPin);
+    serial->begin(baud);
+#endif
+    initialized = true;
+    currentState = WAITING_FOR_LENGTH;
+    payloadLength = 0;
+    messageAvailable = false;
+}
+
+bool ProtoSerial::sendMessage(const OutgoingMessage& message) {
+    if (!initialized || !serial) {
+        return false;
+    }
+
+    uint8_t buffer[OUTGOING_MESSAGE_SIZE];
+
+    // Create a stream that writes to our buffer
+    pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
+
+    // Encode the message
+    if (!pb_encode(&stream, OUTGOING_MESSAGE_FIELDS, &message)) {
+        // Encoding failed
+        return false;
+    }
+
+    uint16_t messageLength = stream.bytes_written;
+
+    // Send the length first (as two bytes, little-endian)
+    serial->write((uint8_t*)&messageLength, sizeof(messageLength));
+
+    // Send the actual payload
+    serial->write(buffer, messageLength);
+
+    // Ensure data is sent
+    serial->flush();
+
+    return true;
+}
+
+void ProtoSerial::update() {
+    if (!initialized || !serial) {
+        return;
+    }
+
+    switch (currentState) {
+        case WAITING_FOR_LENGTH: {
+            if (serial->available() >= sizeof(payloadLength)) {
+                // Read the 2-byte length
+                serial->readBytes((uint8_t*)&payloadLength, sizeof(payloadLength));
+
+                // Protect against absurdly large lengths
+                if (payloadLength > sizeof(payloadBuffer) || payloadLength == 0) {
+                    // Invalid length, reset
+                    payloadLength = 0;
+                    currentState = WAITING_FOR_LENGTH;
+                } else {
+                    currentState = READING_PAYLOAD;
+                }
+            }
+            break;
+        }
+
+        case READING_PAYLOAD: {
+            if (serial->available() >= payloadLength) {
+                // Read the payload
+                serial->readBytes(payloadBuffer, payloadLength);
+
+                // Process the message
+                processReceivedMessage(payloadBuffer, payloadLength);
+
+                // Reset for the next message
+                currentState = WAITING_FOR_LENGTH;
+                payloadLength = 0;
+            }
+            break;
+        }
+    }
+}
+
+bool ProtoSerial::hasMessage() const {
+    return messageAvailable;
+}
+
+const IncomingMessage& ProtoSerial::getMessage() const {
+    return receivedMessage;
+}
+
+void ProtoSerial::clearMessage() {
+    messageAvailable = false;
+    receivedMessage = INCOMING_MESSAGE_INIT;
+}
+
+void ProtoSerial::processReceivedMessage(uint8_t* buffer, uint16_t length) {
+    // Reset the message
+    receivedMessage = INCOMING_MESSAGE_INIT;
+
+    // Create a stream from the buffer
+    pb_istream_t stream = pb_istream_from_buffer(buffer, length);
+
+    // Decode the message
+    if (pb_decode(&stream, INCOMING_MESSAGE_FIELDS, &receivedMessage)) {
+        messageAvailable = true;
+    } else {
+        // Decoding failed, do not set messageAvailable
+    }
+}

lib/hardware/hardware_serial.hpp

@@ -0,0 +1,87 @@
+#pragma once
+#ifdef ESP32
+#include <HardwareSerial.h>
+typedef HardwareSerial SerialType;
+#define SERIAL_TYPE HardwareSerial
+#elif defined(ESP8266)
+#include <SoftwareSerial.h>
+typedef SoftwareSerial SerialType;
+#define SERIAL_TYPE SoftwareSerial
+#else
+#error "Unsupported platform. Only ESP32 and ESP8266 are supported."
+#endif
+
+#include <pb_encode.h>
+#include <pb_decode.h>
+#include "hardware.pb.h"
+
+// Define the role of this device
+// Uncomment one of the following defines to set the role
+//#define HARDWARE_SERIAL_ROLE_CONTROL
+#define HARDWARE_SERIAL_ROLE_SENSOR
+
+// Based on role, define the message types
+#if defined(HARDWARE_SERIAL_ROLE_CONTROL)
+typedef hardware_SensorToControlMessage IncomingMessage;
+typedef hardware_ControlToSensorMessage OutgoingMessage;
+#define INCOMING_MESSAGE_SIZE hardware_SensorToControlMessage_size
+#define OUTGOING_MESSAGE_SIZE hardware_ControlToSensorMessage_size
+#define INCOMING_MESSAGE_FIELDS hardware_SensorToControlMessage_fields
+#define OUTGOING_MESSAGE_FIELDS hardware_ControlToSensorMessage_fields
+#define INCOMING_MESSAGE_INIT hardware_SensorToControlMessage_init_default
+#define OUTGOING_MESSAGE_INIT hardware_ControlToSensorMessage_init_default
+#elif defined(HARDWARE_SERIAL_ROLE_SENSOR)
+typedef hardware_ControlToSensorMessage IncomingMessage;
+typedef hardware_SensorToControlMessage OutgoingMessage;
+#define INCOMING_MESSAGE_SIZE hardware_ControlToSensorMessage_size
+#define OUTGOING_MESSAGE_SIZE hardware_SensorToControlMessage_size
+#define INCOMING_MESSAGE_FIELDS hardware_ControlToSensorMessage_fields
+#define OUTGOING_MESSAGE_FIELDS hardware_SensorToControlMessage_fields
+#define INCOMING_MESSAGE_INIT hardware_ControlToSensorMessage_init_default
+#define OUTGOING_MESSAGE_INIT hardware_SensorToControlMessage_init_default
+#else
+#error "Must define either HARDWARE_SERIAL_ROLE_CONTROL or HARDWARE_SERIAL_ROLE_SENSOR"
+#endif
+
+class ProtoSerial {
+public:
+    ProtoSerial();
+    ~ProtoSerial();
+
+    // Initialize with RX and TX pins
+    void begin(int rxPin, int txPin, long baud = 9600);
+
+    // Send a message
+    bool sendMessage(const OutgoingMessage& message);
+
+    // Check for incoming messages (non-blocking)
+    void update();
+
+    // Check if a message has been received
+    bool hasMessage() const;
+
+    // Get the received message (only valid if hasMessage() returns true)
+    const IncomingMessage& getMessage() const;
+
+    // Clear the received message
+    void clearMessage();
+
+private:
+    SerialType* serial;
+    bool initialized;
+
+    // Receive state machine
+    enum RxState {
+        WAITING_FOR_LENGTH,
+        READING_PAYLOAD
+    };
+    RxState currentState;
+    uint16_t payloadLength;
+    uint8_t payloadBuffer[64]; // Max message size + some buffer
+    IncomingMessage receivedMessage;
+    bool messageAvailable;
+
+    // Helper methods
+    void processReceivedMessage(uint8_t* buffer, uint16_t length);
+};
+