dbus.h

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//
// Created by qiayuan on 2019/10/30.
//
 
#ifndef SRC_RM_BASE_INCLUDE_RT_RT_DBUS_H_
#define SRC_RM_BASE_INCLUDE_RT_RT_DBUS_H_
 
#include <cstdint>
#include <rm_msgs/DbusData.h>
 
typedef struct
{
  int16_t ch0;
  int16_t ch1;
  int16_t ch2;
  int16_t ch3;
  uint8_t s0;
  uint8_t s1;
  int16_t wheel;
 
  int16_t x;
  int16_t y;
  int16_t z;
 
  uint8_t l;
  uint8_t r;
  uint16_t key;
 
} DBusData_t;
 
class DBus
{
public:
  DBus() = default;
  ~DBus() = default;
  void init(const char* serial);
  void getData(rm_msgs::DbusData& d_bus_data) const;
  void read();
 
private:
  DBusData_t d_bus_data_{};
  int port_{};
  int16_t buff_[18]{};
  bool is_success{};
  bool is_update_ = false;
  void unpack();
};
 
#endif  // SRC_RM_BRIDGE_INCLUDE_RT_RT_DBUS_H_