serial.h

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#pragma once
 
#include <array>
#include <asio.hpp>
#include <cstddef>
#include <cstdint>
#include <format>
#include <span>
#include <string>
#include <utility>
#include <vector>
 
#include "core/async.hpp"
#include "io/base.hpp"
#include "utils/concepts.hpp"
#include "utils/utils.hpp"
#include "io/write_queue.hpp"
#include "core/logger.h"
 
namespace roboctrl::io{
 
 
class serial : public keyed_io_base<uint8_t>, public logable<serial>{
public:
    struct info_type{
        using key_type = std::string;
        using owner_type = serial;
 
        std::string name;
        std::string device;
        unsigned int baud_rate {};
        bool raw {false}; // Dedicated byte stream; excludes 55 AA key framing.
 
        const std::string& key()const{
            return name;
        }
    };
 
    using key_type = std::uint8_t;
 
    explicit serial(info_type info);
 
    void start();
 
    awaitable<void> send(key_type key,byte_span data);
 
    void on_raw_data(callback_fn<byte_span> auto fn) {
        if (!info_.raw) throw std::logic_error("raw callback requires serial.raw=true");
        raw_callbacks_.add([fn](data_ptr data) mutable { return fn(byte_span{*data}); });
    }
    awaitable<void> send_raw(byte_span data);
 
    awaitable<void> task();
 
    inline std::string desc()const{
        return std::format("serial port ({} on {} @ {}bps)",info_.name,info_.device,info_.baud_rate);
    }
private:
    void process_receive_buffer();
 
private:
    asio::serial_port port_;
    write_queue write_queue_;
    info_type info_;
    std::array<std::byte,256> read_buffer_;
    std::vector<std::byte> receive_buffer_;
    bool started_ {false};
    callback<data_ptr> raw_callbacks_;
 
    // 兼容当前 Linux/RM 端的小端线序：数值 0xAA55 在线上为 55 AA。
    static constexpr std::array<std::byte, 2> header_bytes{
        std::byte{0x55}, std::byte{0xAA}};
};
 
static_assert(keyed_io<serial>);
}