serial.h

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#pragma once
 
#include <array>
#include <asio.hpp>
#include <cstddef>
#include <cstdint>
#include <format>
#include <span>
#include <string_view>
#include <utility>
 
#include "core/async.hpp"
#include "io/base.hpp"
#include "utils/concepts.hpp"
#include "utils/utils.hpp"
 
namespace roboctrl::io{
 
 
class serial : public keyed_io_base<uint8_t>{
public:
    struct info_type{
        using key_type = std::string_view;
        using owner_type = serial;
 
        std::string_view name;
        std::string_view device;
        unsigned int baud_rate;
 
        std::string_view key()const{
            return name;
        }
    };
 
    using key_type = std::uint8_t;
 
    explicit serial(info_type info);
 
    awaitable<void> send(key_type key,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:
    awaitable<void> read_n(size_t size);
 
    template<utils::package pkg_type>
    awaitable<pkg_type> read(){
        co_await read_n(sizeof(pkg_type));
        co_return utils::from_bytes<pkg_type>(byte_span{buffer_.data(),sizeof(pkg_type)});
    }
 
private:
    asio::serial_port port_;
    info_type info_;
    std::array<std::byte,1024> buffer_;
 
    static constexpr uint16_t header_magic = 0xAA55;
};
 
static_assert(keyed_io<serial>);
}