comms.h

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#ifndef UM6_COMMS_H
#define UM6_COMMS_H

#include <stdint.h>
#include <string>

namespace serial
{
class Serial;
}

namespace um6
{

class SerialTimeout : public std::exception {};

class BadChecksum : public std::exception {};

class Registers;
class Accessor_;

class Comms
{
public:
  explicit Comms(serial::Serial* s) : serial_(s), first_spin_(true)
  {
  }

  int16_t receive(Registers* r);

  void send(const Accessor_& a) const;

  bool sendWaitAck(const Accessor_& a);

  static const uint8_t PACKET_HAS_DATA;
  static const uint8_t PACKET_IS_BATCH;
  static const uint8_t PACKET_BATCH_LENGTH_MASK;
  static const uint8_t PACKET_BATCH_LENGTH_OFFSET;

  static std::string checksum(const std::string& s);

  static std::string message(uint8_t address, std::string data);

private:
  bool first_spin_;
  serial::Serial* serial_;
};
}  // namespace um6

#endif  // UM6_COMMS_H