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49 lines
1.1 KiB
49 lines
1.1 KiB
#pragma once
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#include <termios.h>
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#include <atomic>
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#include <string>
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#include "selfdrive/boardd/panda.h"
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class Pigeon {
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public:
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static Pigeon* connect(Panda * p);
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static Pigeon* connect(const char * tty);
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virtual ~Pigeon(){};
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void init();
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void stop();
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bool wait_for_ack();
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bool wait_for_ack(const std::string &ack, const std::string &nack);
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bool send_with_ack(const std::string &cmd);
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virtual void set_baud(int baud) = 0;
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virtual void send(const std::string &s) = 0;
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virtual std::string receive() = 0;
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virtual void set_power(bool power) = 0;
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};
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class PandaPigeon : public Pigeon {
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Panda * panda = NULL;
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public:
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~PandaPigeon();
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void connect(Panda * p);
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void set_baud(int baud);
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void send(const std::string &s);
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std::string receive();
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void set_power(bool power);
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};
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class TTYPigeon : public Pigeon {
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int pigeon_tty_fd = -1;
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struct termios pigeon_tty;
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public:
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~TTYPigeon();
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void connect(const char* tty);
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void set_baud(int baud);
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void send(const std::string &s);
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std::string receive();
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void set_power(bool power);
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};
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