MDCClient.hpp

#ifndef _MDC_CLIENT_HPP_
#define _MDC_CLIENT_HPP_

//  sb
#include "CANSerialBridge.hpp"
//  message
#include "MessageID.hpp"
#include "PingMessage.hpp"
#include "CommandMessage.hpp"
#include "AcknowledgeMessage.hpp"
#include "SettingMessage.hpp"
#include "TargetMessage.hpp"
#include "FeedbackMessage.hpp"

#include <stdint.h>

#include "SettingStruct.hpp"

/**
 * MDC reserved 1000-1170(==10200)
 */
#define MDC_ID_RANGE_START 1000
#define MDC_ID_NODE_RANGE 10

class MDCClient
{
public:
    MDCClient(CANSerialBridge *serial, uint8_t device_id);
    ~MDCClient();

    /**
     * @brief send settings
     */
    virtual bool update_setting(uint8_t node_id, setting_struct_t settings);

    /**
     * @brief set target. CAUTION: This functio not send message! just update local variables
     */
    virtual bool set_target(uint8_t node_id, float target);
    
    /**
     * @brief send target message
     */
    virtual void send_target();

    /**
     * @brief update received messages
     */
    virtual bool update();

    //  public access message
    FeedbackMessage feedback;
private:
    CANSerialBridge *_serial;
    uint8_t _device_id;

    const uint32_t PING_ID;
    const uint32_t COMMAND_ID;
    const uint32_t ACKNOWLEDGE_ID;
    const uint32_t SETTING_ID;
    const uint32_t TARGET_ID;
    const uint32_t FEEDBACK_ID;

    uint32_t resolve_id(uint8_t device_id, MessageID message) {
        return MDC_ID_RANGE_START + MDC_ID_NODE_RANGE * device_id + (uint32_t)message;
    }

    //  private access message
    PingMessage ping_msg;
    CommandMessage command_msg;
    AcknowledgeMessage acknowledge_msg;
    SettingMessage setting_msg;
    TargetMessage target_msg;
};

#endif