runCtrlHub.h

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#ifndef RUN_CTRL_HUB_H
#define RUN_CTRL_HUB_H

#include "connectionHub.h"


class RunCtrlHub : public ConnectionHub {
  enum {
    WaitCommandHeader, WaitCommandPacket,
    WaitReplyHeader, WaitReplyPacket,
    PacketSize = 512,
    RetryMax = 3,
    DefaultTimeout = 100,
  };
  int mode;
  int require_size;
  int cmd_filled;
  int reply_filled;
  int retry_max;
  int retry_times;
  int recv_timeout;
  char command_recv[PacketSize];
  char reply_recv[PacketSize];
  unsigned long wait_begin;
  void sendRetryPacket(void);
  void disconnect(void);
  RunCtrlHub(void);

public:
  RunCtrlHub(int port, const char* device, long baudrate = 115200);
  ~RunCtrlHub(void);

  bool update(void);
};

#endif /* !RUN_CTRL_HUB_H */