2024-01-20 13:19:09 +08:00
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#ifndef PIBOT_DATA_FRAME_H_
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#define PIBOT_DATA_FRAME_H_
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// 协议接口类
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//消息id定义
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enum MESSAGE_ID
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{
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ID_GET_VERSION = 0, // 获取version信息
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ID_SET_ROBOT_PARAMTER = 1, // 设置机器人参数
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ID_GET_ROBOT_PARAMTER = 2, // 获取机器人参数
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ID_CLEAR_ODOM = 3, // 清除里程计
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ID_SET_VELOCITY = 4, // 下发速度值
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ID_GET_ODOM = 5, // 获取里程计值
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ID_GET_PID_DATA = 6, // 获取PID值的输入和反馈（用于PID参数调节)
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ID_GET_IMU_DATA = 7, // 获取imu值
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ID_GET_ENCODER_COUNT = 8,
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ID_SET_MOTOR_PWM = 9,
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ID_MESSGAE_MAX
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};
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// 通知接口
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class Notify
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{
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public:
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virtual void update(const MESSAGE_ID id, void* data) = 0;
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};
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// 协议接口， 继承改接口实现一种协议
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class Dataframe
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{
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public:
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//初始化
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virtual bool init()=0;
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// 注册notify， 对需要关注的id添加关注
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2024-01-24 22:08:32 +08:00
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virtual void RegisterNotify(const MESSAGE_ID id, Notify* _nf)=0;
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2024-01-20 13:19:09 +08:00
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// 数据接收接口
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virtual bool dataRecv(unsigned char c)=0;
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// 解析协议
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virtual bool dataParse()=0;
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// 用于主动交互信息 预留
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virtual bool interact(const MESSAGE_ID id)=0;
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};
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#endif
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