commands_system.hpp

Go to the documentation of this file.

#pragma once
 
#include <mip/definitions/common.hpp>
#include <mip/mip_descriptors.hpp>
#include <mip/mip_result.hpp>
#include <mip/mip_interface.hpp>
 
#include <stdint.h>
#include <stddef.h>
 
namespace mip {
namespace C {
struct mip_interface;
} // namespace C
 
namespace commands_system {
 
 
// Descriptors
 
enum 
{
    DESCRIPTOR_SET           = 0x7F,
    
    CMD_ENUMERATE            = 0x01,
    CMD_COM_MODE             = 0x10,
    CMD_HARDWARE_CONTROL     = 0x11,
    CMD_HARDWARE_CONTROL_2   = 0x12,
    
    REPLY_COM_MODE           = 0x90,
    REPLY_HARDWARE_CONTROL   = 0x91,
    REPLY_HARDWARE_CONTROL_2 = 0x92,
};
 
// Shared Type Definitions
 
static constexpr const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_PASSTHRU = 0x00;
static constexpr const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_NORMAL = 0x01;
static constexpr const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_IMU = 0x02;
static constexpr const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_GPS = 0x03;
 
// Mip Fields
 
 
struct CommMode
{
    FunctionSelector function = static_cast<FunctionSelector>(0);
    uint8_t mode = 0;
    
    static constexpr const uint8_t DESCRIPTOR_SET = ::mip::commands_system::DESCRIPTOR_SET;
    static constexpr const uint8_t FIELD_DESCRIPTOR = ::mip::commands_system::CMD_COM_MODE;
    static constexpr const CompositeDescriptor DESCRIPTOR = {DESCRIPTOR_SET, FIELD_DESCRIPTOR};
    static constexpr const char* NAME = "CommMode";
    static constexpr const char* DOC_NAME = "CommMode";
    static constexpr const bool HAS_FUNCTION_SELECTOR = true;
    
    auto asTuple() const
    {
        return std::make_tuple(mode);
    }
    
    auto asTuple()
    {
        return std::make_tuple(std::ref(mode));
    }
    
    static CommMode create_sld_all(::mip::FunctionSelector function)
    {
        CommMode cmd;
        cmd.function = function;
        return cmd;
    }
    
    void insert(Serializer& serializer) const;
    void extract(Serializer& serializer);
    
    struct Response
    {
        uint8_t mode = 0;
        
        static constexpr const uint8_t DESCRIPTOR_SET = ::mip::commands_system::DESCRIPTOR_SET;
        static constexpr const uint8_t FIELD_DESCRIPTOR = ::mip::commands_system::REPLY_COM_MODE;
        static constexpr const CompositeDescriptor DESCRIPTOR = {DESCRIPTOR_SET, FIELD_DESCRIPTOR};
        static constexpr const char* NAME = "CommMode::Response";
        static constexpr const char* DOC_NAME = "CommMode Response";
        static constexpr const bool HAS_FUNCTION_SELECTOR = false;
        
        auto asTuple() const
        {
            return std::make_tuple(mode);
        }
        
        auto asTuple()
        {
            return std::make_tuple(std::ref(mode));
        }
        
        void insert(Serializer& serializer) const;
        void extract(Serializer& serializer);
        
    };
};
TypedResult<CommMode> writeCommMode(C::mip_interface& device, uint8_t mode);
TypedResult<CommMode> readCommMode(C::mip_interface& device, uint8_t* modeOut);
TypedResult<CommMode> defaultCommMode(C::mip_interface& device);
 
 
} // namespace commands_system
} // namespace mip