AMiRo-OS

#ifndef AMIRO_WT12_CHECKUTILITY_H_

#define AMIRO_WT12_CHECKUTILITY_H_

#include <ch.hpp>

namespace amiro {

  class WT12CheckUtility

  {

  public:

    enum Constants {

      MUX_StartOfFrame = 0xBFu

    };

  private:

    struct Message {

      struct Head {

        uint8_t start_of_frame;

        uint8_t link_id;

        uint8_t flags;

        uint16_t length;

      };

      Head head;

      char* message;

      uint8_t n_link;

    };

  public:

    explicit WT12CheckUtility();

    ~WT12CheckUtility();

    void reset();

    bool waitForReady(const bool print = false);

    uint8_t selftest();

    void msgPrint(const char* message, const uint16_t length);

    void msgPrintMulti(const char* message_buf, const uint16_t* length_buf, const uint16_t num_messages);

    void sendMessage(char* message, uint8_t link_id = 0xFF);

    void sendMessageRaw(const char* message);

    uint16_t receiveMessage(char* message, const uint16_t max_length);

    uint16_t receiveMessages(char* message_buf, const uint16_t msg_buf_size, uint16_t* length_buf, const uint16_t len_buf_size, const char* last_msg, const char* filter_in = "", const char* filter_out = NULL);

    void receiveRaw(uint8_t* buffer, uint16_t num_bytes, const bool print = false);

    void receiveRawLine(const bool print = true);

    void clearMessageBuffer(const bool print = false);

  };

}

#endif // AMIRO_WT12_CHECKUTILITY_H_