connection.hpp

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#pragma once
 
#include <microstrain/embedded_time.hpp>
#include <microstrain/span.hpp>
 
#include <stddef.h>
#include <stdint.h>
 
 
namespace microstrain
{
    class Connection
    {
    public:
        static constexpr const char* TYPE = "None";
 
        Connection() { mType = TYPE; }
        virtual ~Connection() {}
 
        virtual bool sendToDevice(const uint8_t* data, size_t length) = 0;
        virtual bool recvFromDevice(uint8_t* buffer, size_t max_length, unsigned int wait_time_ms, size_t* length_out, EmbeddedTimestamp* timestamp_out) = 0;
 
        bool sendToDeviceSpan(microstrain::Span<const uint8_t> data) { return sendToDevice(data.data(), data.size()); }
        bool recvFromDeviceSpan(microstrain::Span<uint8_t> buffer, unsigned int wait_time_ms, size_t* length_out, EmbeddedTimestamp* timestamp_out)
        {
            if (!recvFromDevice(buffer.data(), buffer.size(), wait_time_ms, length_out, timestamp_out))
                return false;
 
            return true;
        }
        bool recvFromDeviceSpanUpdate(microstrain::Span<uint8_t>& buffer, unsigned int wait_time_ms, EmbeddedTimestamp* timestamp_out)
        {
            size_t length = 0;
            if (!recvFromDevice(buffer.data(), buffer.size(), wait_time_ms, &length, timestamp_out))
                return false;
 
            buffer = buffer.first(length);
            return true;
        }
 
        virtual bool isConnected() const = 0;
        virtual bool connect() = 0;
        virtual bool disconnect() = 0;
 
        const char* type() const { return mType; }
 
        virtual const char* interfaceName() const = 0;
        virtual uint32_t    parameter()     const = 0;
 
    protected:
        const char* mType;
    };
} // namespace microstrain