Expose the communication functions (#97)

* expose the communication functions

* make an independent lib

* fix typo

* update the ignore rules

* link to ypspur

* address review comments

* extern C added

* const src array

.gitignore

@@ -1,3 +1,4 @@
 *.swp
 .lvimrc
 build*
+*~

CMakeLists.txt

@@ -210,6 +210,11 @@ add_library(ypspur SHARED
   src/yprintf.c
   src/utility.c
 )
+
+add_library(ypspur-comm SHARED
+  src/communication.c
+)
+
 if(WIN32)
   target_link_libraries(ypspur wsock32 ws2_32)
 endif(WIN32)
@@ -274,6 +279,7 @@ set_target_properties(ypspur-md-static PROPERTIES
 install(TARGETS
     ypspur-coordinator
     ypspur
+    ypspur-comm
     ypspur-static
     ypspur-md
     ypspur-md-static
@@ -288,6 +294,10 @@ install(TARGETS
 install(FILES include/yp-spur.h
   DESTINATION include
 )
+install(FILES include/communication.h
+  DESTINATION include/ypspur
+)
+
 if(SSM_FOUND)
   install(DIRECTORY
       include/ssmtype

include/communication.h

@@ -25,8 +25,16 @@
 #define COMMUNICATION_INT_BYTE 0x07
 #define COMMUNICATION_END_BYTE 0x0a
 
-int encode(unsigned char *src, int len, unsigned char *dst, int buf_max);
-int decord(unsigned char *src, int len, unsigned char *dst, int buf_max);
-int encode_write(char *data, int len);
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+int encode(const unsigned char *src, int len, unsigned char *dst, int buf_max);
+int decode(const unsigned char *src, int len, unsigned char *dst, int buf_max);
+
+#ifdef __cplusplus
+}
+#endif
 
 #endif  // COMMUNICATION_H

include/serial.h

@@ -42,5 +42,6 @@ int serial_write(char *buf, int len);
 int serial_recieve(int (*serial_event)(char *, int, double, void *), void *data);
 void serial_flush_in(void);
 void serial_flush_out(void);
+int encode_write(char *data, int len);
 
 #endif  // SERIAL_H

include/shvel-param.h

@@ -81,6 +81,7 @@ typedef enum
   PARAM_enc_denominator,
   PARAM_servo = 64,
   PARAM_watch_dog_limit,
+  PARAM_heartbeat,
   PARAM_io_dir = 96,
   PARAM_io_data,
   PARAM_ad_mask,

src/communication.c

@@ -35,15 +35,11 @@
 
 /* yp-spur用 */
 #include <communication.h>
-#include <serial.h>
-
-/* ライブラリ用 */
-#include <ypspur-coordinator.h>
 
 /**
  * @brief エンコード
  */
-int encode(unsigned char *src, int len, unsigned char *dst, int buf_max)
+int encode(const unsigned char *src, int len, unsigned char *dst, int buf_max)
 {
   int pos, s_pos, w_pos;
   unsigned short b;
@@ -87,7 +83,7 @@ int encode(unsigned char *src, int len, unsigned char *dst, int buf_max)
  * @param buf_max[in] デコード後のデータバッファのサイズ
  * @return デコード後のバイト数
  */
-int decord(unsigned char *src, int len, unsigned char *dst, int buf_max)
+int decode(const unsigned char *src, int len, unsigned char *dst, int buf_max)
 {
   unsigned short dat, b;
   int pos, s_pos, w_pos;
@@ -123,22 +119,3 @@ int decord(unsigned char *src, int len, unsigned char *dst, int buf_max)
     return -rerr;
   return w_pos;
 }
-
-int encode_write(char *data, int len)
-{
-  unsigned char buf[128];
-  int encode_len, ret;
-
-  buf[0] = COMMUNICATION_START_BYTE;
-  encode_len = encode((unsigned char *)data, len, buf + 1, 126);
-  buf[encode_len + 1] = COMMUNICATION_END_BYTE;
-
-  ret = serial_write((char *)buf, encode_len + 2);
-  if (ret <= 0)
-  {
-    return -1;
-  }
-  serial_flush_out();
-
-  return 0;
-}

src/odometry.c

@@ -474,7 +474,7 @@ int odometry_receive(char *buf, int len, double receive_time, void *data)
       unsigned char data[48];
 
       /* デコード処理 */
-      decoded_len = decord((unsigned char *)com_buf, com_wp, (unsigned char *)data, 48);
+      decoded_len = decode((unsigned char *)com_buf, com_wp, (unsigned char *)data, 48);
       if ((mode == ISOCHRONOUS && decoded_len != decoded_len_req) ||
           (mode == INTERRUPT && decoded_len != 6))
       {

src/param.c

@@ -40,6 +40,7 @@
 
 /* yp-spur用 */
 #include <communication.h>
+#include <serial.h>
 #include <param.h>
 #include <control.h>
 #include <command.h>

src/serial.c

@@ -38,6 +38,7 @@
 
 /* yp-spur用 */
 #include <serial.h>
+#include <communication.h>
 #include <utility.h>
 #include <param.h>
 #include <ypspur-coordinator.h>
@@ -508,6 +509,25 @@ int serial_recieve(int (*serial_event)(char *, int, double, void *), void *data)
   }
 }
 
+int encode_write(char *data, int len)
+{
+  unsigned char buf[128];
+  int encode_len, ret;
+
+  buf[0] = COMMUNICATION_START_BYTE;
+  encode_len = encode((unsigned char *)data, len, buf + 1, 126);
+  buf[encode_len + 1] = COMMUNICATION_END_BYTE;
+
+  ret = serial_write((char *)buf, encode_len + 2);
+  if (ret <= 0)
+  {
+    return -1;
+  }
+  serial_flush_out();
+
+  return 0;
+}
+
 int serial_write(char *buf, int len)
 {
 #if !defined(__MINGW32__)