V5Hardware.h

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#ifndef _ROSSERIAL_VEX_V5_V5_HARDWARE_H_
#define _ROSSERIAL_VEX_V5_V5_HARDWARE_H_
 
#include "main.h"
#include "ros_lib/rosserial_vex_v5/utils/RingBuf.h"
 
// for the mutex.
#include "pros/apix.h"
 
#define SERIAL_CLASS int
#define ROSVEX_BUFFER_INPUT_SIZE 32
 
using RB = RingBufCPP<char, ROSVEX_BUFFER_INPUT_SIZE>;
 
// load the serial reading into a buffer.
inline void vexRosBufferInput(void* arg) {
 
  void** arglist = (void**) arg;
  RB* inputBuffer = (RB*) arglist[0];
  __FILE* streamOut = (__FILE*) arglist[1];
 
  int readcount = 0;
  while(1) {
    char c =  fgetc(streamOut);
    inputBuffer->add(c);
  }
}
 
class V5Hardware {
 
  public:
    V5Hardware(): rosvexMutex(), inputBuffer(rosvexMutex), failCount(), successCount() {
    }
 
    // any initialization code necessary to use the serial port
    // note: the serial port initialization for rosserial for VEX Cortex must be implemented in `src/init.cpp` 
    // see that file for more information. 
    void init() {
      serctl(SERCTL_DISABLE_COBS, NULL);
      rosFile = fopen("/ser/sout", "r+");
 
      // not typesafe, be careful!
      void** taskArgs = (void**) malloc( sizeof(void*) * 2);
      taskArgs[0] = &inputBuffer;
      taskArgs[1] = rosFile;
 
      pros::Task reader(vexRosBufferInput, taskArgs);
    }
 
    // read a byte from the serial port. -1 = failure
    int read() {
      char c;
      // pull serial reading out of the buffer.
      if(inputBuffer.pull(&c)) {
        char sucmsg[16];
        return c;
      }
 
      return -1;
    }
 
    // write data to the connection to ROS
    void write(uint8_t* data, int length) {
      for(int i = 0; i < length; i++) {
        vexroswritechar(data[i]);
      }
    }
    // returns milliseconds since start of program
    unsigned long time() {
      return pros::c::millis();
    }
  private:
    int failCount;
    int successCount;
    pros::Mutex rosvexMutex;
    __FILE * rosFile;
    RB inputBuffer;
 
    // writing helper.
    void vexroswritechar(uint8_t data) {
      fputc(data, rosFile);
      fflush(rosFile);
    }
    
    // reading helper.
    char vexrosreadchar() {
      return fgetc(rosFile);
    }
    };
 
#endif