Rune Harlyk
110 lines
4.8 KiB
C++
110 lines
4.8 KiB
C++
#pragma once
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#include <pb_encode.h>
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#include <pb_decode.h>
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#include <platform_shared/websocket_message.pb.h>
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#include <functional>
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#define PROTO_BUFFER_SIZE 512
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class ProtoDecoder {
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public:
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using SubscribeHandler = std::function<void(int32_t tag, int clientId)>;
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using UnsubscribeHandler = std::function<void(int32_t tag, int clientId)>;
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using PingHandler = std::function<void(int clientId)>;
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using ModeHandler = std::function<void(const socket_message_ModeData& data, int clientId)>;
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using InputHandler = std::function<void(const socket_message_HumanInputData& data, int clientId)>;
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using AnglesHandler = std::function<void(const socket_message_AnglesData& data, int clientId)>;
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using KinematicHandler = std::function<void(const socket_message_KinematicData& data, int clientId)>;
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using WalkGaitHandler = std::function<void(const socket_message_WalkGaitData& data, int clientId)>;
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using IMUCalibrateExecHandler = std::function<void(int clientId)>;
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using I2CScanRequestHandler = std::function<void(int clientId)>;
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using PeripheralSettingsRequestHandler = std::function<void(int clientId)>;
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void onSubscribe(SubscribeHandler handler) { subscribeHandler = handler; }
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void onUnsubscribe(UnsubscribeHandler handler) { unsubscribeHandler = handler; }
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void onPing(PingHandler handler) { pingHandler = handler; }
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void onMode(ModeHandler handler) { modeHandler = handler; }
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void onInput(InputHandler handler) { inputHandler = handler; }
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void onAngles(AnglesHandler handler) { anglesHandler = handler; }
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void onKinematic(KinematicHandler handler) { kinematicHandler = handler; }
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void onWalkGait(WalkGaitHandler handler) { walkGaitHandler = handler; }
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void onIMUCalibrateExec(IMUCalibrateExecHandler handler) { imuCalibrateExecHandler = handler; }
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void onI2CScanRequest(I2CScanRequestHandler handler) { i2cScanRequestHandler = handler; }
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void onPeripheralSettingsRequest(PeripheralSettingsRequestHandler handler) {
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peripheralSettingsRequestHandler = handler;
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}
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bool decode(const uint8_t* data, size_t len, int clientId) {
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pb_istream_t stream = pb_istream_from_buffer(data, len);
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if (!pb_decode(&stream, socket_message_WebsocketMessage_fields, &msg_)) {
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return false;
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}
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switch (msg_.which_message) {
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case socket_message_WebsocketMessage_sub_notif_tag:
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if (subscribeHandler) subscribeHandler(msg_.message.sub_notif.tag, clientId);
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break;
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case socket_message_WebsocketMessage_unsub_notif_tag:
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if (unsubscribeHandler) unsubscribeHandler(msg_.message.unsub_notif.tag, clientId);
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break;
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case socket_message_WebsocketMessage_pingmsg_tag:
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if (pingHandler) pingHandler(clientId);
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break;
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case socket_message_WebsocketMessage_mode_tag:
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if (modeHandler) modeHandler(msg_.message.mode, clientId);
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break;
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case socket_message_WebsocketMessage_human_input_data_tag:
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if (inputHandler) inputHandler(msg_.message.human_input_data, clientId);
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break;
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case socket_message_WebsocketMessage_angles_tag:
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if (anglesHandler) anglesHandler(msg_.message.angles, clientId);
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break;
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case socket_message_WebsocketMessage_kinematic_data_tag:
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if (kinematicHandler) kinematicHandler(msg_.message.kinematic_data, clientId);
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break;
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case socket_message_WebsocketMessage_walk_gait_tag:
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if (walkGaitHandler) walkGaitHandler(msg_.message.walk_gait, clientId);
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break;
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case socket_message_WebsocketMessage_imu_calibrate_execute_tag:
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if (imuCalibrateExecHandler) imuCalibrateExecHandler(clientId);
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break;
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case socket_message_WebsocketMessage_i2c_scan_data_request_tag:
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if (i2cScanRequestHandler) i2cScanRequestHandler(clientId);
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break;
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case socket_message_WebsocketMessage_peripheral_settings_data_request_tag:
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if (peripheralSettingsRequestHandler) peripheralSettingsRequestHandler(clientId);
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break;
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default: return false;
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}
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return true;
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}
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private:
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socket_message_WebsocketMessage msg_ = socket_message_WebsocketMessage_init_zero;
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SubscribeHandler subscribeHandler;
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UnsubscribeHandler unsubscribeHandler;
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PingHandler pingHandler;
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ModeHandler modeHandler;
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InputHandler inputHandler;
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AnglesHandler anglesHandler;
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KinematicHandler kinematicHandler;
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WalkGaitHandler walkGaitHandler;
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IMUCalibrateExecHandler imuCalibrateExecHandler;
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I2CScanRequestHandler i2cScanRequestHandler;
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PeripheralSettingsRequestHandler peripheralSettingsRequestHandler;
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};
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