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use std::time::{SystemTime};
use std::collections::VecDeque;
use std::convert::TryFrom;
use crate::protocol;
use crate::protocol::Serializable;
use crate::protocol::DataType;
use crate::system::DeviceType;
use crate::communication::crc16;
use crate::communication::messaging::{Section, State};
#[derive(Debug)]
pub struct Receiver {
state: State,
section_old: Section,
section: Section,
index: i32,
header: protocol::Header,
time_receive_start: SystemTime,
time_receive_complete: SystemTime,
crc16_calculated: u16,
crc16: u16,
queue_buffer: VecDeque<u8>,
vec_data: Vec<u8>,
vec_data_all: Vec<u8>,
flag_connected: bool,
pub flag_show_debug_message: bool, // 디버깅 정보 표시
}
impl Receiver {
pub fn new() -> Receiver
{
Receiver{
state: State::Ready,
section_old: Section::End,
section: Section::Start,
index: 0,
header: protocol::Header {
data_type: DataType::None,
length: 0,
from: DeviceType::Base,
to: DeviceType::Drone,
},
time_receive_start: SystemTime::now(),
time_receive_complete: SystemTime::now(),
crc16_calculated: 0,
crc16: 0,
queue_buffer: VecDeque::with_capacity(4096),
vec_data: Vec::new(),
vec_data_all: Vec::new(),
flag_connected: false,
flag_show_debug_message: false,
}
}
pub fn set_show_debug_message(&mut self, flag_show_debug_message: bool)
{
self.flag_show_debug_message = flag_show_debug_message;
}
pub fn is_buffer_cleared(&mut self) -> bool
{
self.queue_buffer.len() == 0
}
pub fn clear(&mut self)
{
self.state = State::Ready;
}
pub fn clear_buffer(&mut self)
{
self.queue_buffer.clear();
}
pub fn clear_all(&mut self)
{
self.state = State::Ready;
self.section_old = Section::End;
self.section = Section::Start;
self.index = 0;
self.header.data_type = DataType::None;
self.header.length = 0;
self.header.from = DeviceType::Base;
self.header.to = DeviceType::Drone;
self.time_receive_start = SystemTime::now();
self.time_receive_complete = SystemTime::now();
self.crc16_calculated = 0;
self.crc16 = 0;
self.queue_buffer.clear();
self.vec_data.clear();
self.vec_data_all.clear();
self.flag_connected = false;
}
pub fn push(&mut self, b: u8) {
self.queue_buffer.push_back(b);
}
pub fn push_slice(&mut self, slice_data: &[u8]) {
self.queue_buffer.extend(slice_data);
}
pub fn check(&mut self) -> &State {
match self.time_receive_start.elapsed() {
Ok(elapsed) => {
if elapsed.as_millis() > 1200 {
self.flag_connected = false;
};
},
Err(_e) => {},
}
if let State::Loaded = self.state {
return &self.state
}
loop
{
match self.queue_buffer.pop_front() {
None => {
break;
},
Some(b) => {
self.call(b);
},
}
if let State::Loaded = self.state {
break;
}
}
if let State::Loaded = self.state {
self.flag_connected = true;
}
&self.state
}
pub fn call(&mut self, b: u8) -> &State {
match self.state {
State::Ready => {
self.section = Section::Start;
self.index = 0;
},
State::Receiving => {
match self.time_receive_start.elapsed() {
Ok(elapsed) => {
if elapsed.as_millis() > 1200 {
self.state = State::Ready;
self.section = Section::Start;
self.index = 0;
};
},
Err(_e) => {},
}
},
State::Loaded => {
return &self.state
}
_ => {},
}
if self.section != self.section_old {
self.index = 0;
self.section_old = self.section;
}
match self.section {
Section::Start =>
{
match self.index {
0 => {
if b == 0x0A {
self.time_receive_start = SystemTime::now();
self.state = State::Receiving;
}
else
{
self.state = State::Failure;
}
},
1 => {
if b == 0x55 {
self.section = Section::Header;
}
else
{
self.state = State::Failure;
}
},
_ => {
self.state = State::Failure;
},
}
},
Section::Header =>
{
match self.index {
0 => {
// DataType
match DataType::try_from(b){
Ok(data_type) => {
self.header.data_type = data_type;
self.crc16_calculated = crc16::calc_byte(0, b);
},
_ => {
if self.flag_show_debug_message
{
println!("DataType is NOT Matched. - {:X?}", b);
}
self.state = State::Failure;
},
}
},
1 => {
// Length
self.header.length = b;
self.crc16_calculated = crc16::calc_byte(self.crc16_calculated, b);
},
2 => {
// From
match DeviceType::try_from(b){
Ok(device_type) => {
self.header.from = device_type;
self.crc16_calculated = crc16::calc_byte(self.crc16_calculated, b);
},
_ => {
if self.flag_show_debug_message
{
println!("DeviceType is NOT Matched. - {:X?}", b);
}
self.state = State::Failure;
},
}
},
3 => {
// To
match DeviceType::try_from(b){
Ok(device_type) => {
self.header.to = device_type;
self.crc16_calculated = crc16::calc_byte(self.crc16_calculated, b);
self.vec_data.clear();
if self.header.length == 0 {
self.section = Section::End;
}
else
{
self.section = Section::Data;
}
},
_ => {
if self.flag_show_debug_message
{
println!("DeviceType is NOT Matched. - {:X?}", b);
}
self.state = State::Failure;
},
}
},
_ => {
self.state = State::Failure;
},
}
},
Section::Data =>
{
self.vec_data.push(b);
self.crc16_calculated = crc16::calc_byte(self.crc16_calculated, b);
if self.index == self.header.length as i32 - 1 {
self.section = Section::End;
}
},
Section::End =>
{
match self.index {
0 => {
self.crc16 = b as u16;
},
1 => {
self.crc16 = ((b as u16) << 8) + self.crc16;
if self.flag_show_debug_message
{
println!("CRC16: Received: {:X?}, Calculated: {:X?}", self.crc16, self.crc16_calculated);
}
if self.crc16 == self.crc16_calculated {
self.time_receive_complete = SystemTime::now();
self.state = State::Loaded;
self.vec_data_all.clear();
self.vec_data_all.push(0x0A);
self.vec_data_all.push(0x55);
self.vec_data_all.extend_from_slice(self.header.to_vec().as_slice());
self.vec_data_all.extend_from_slice(self.vec_data.as_slice());
self.vec_data_all.push((self.crc16 & 0xff) as u8);
self.vec_data_all.push(((self.crc16 >> 8) & 0xff) as u8);
}
else {
self.state = State::Failure;
}
},
_ => {
self.state = State::Failure;
},
}
},
}
match self.state{
State::Receiving => { self.index = self.index + 1; },
State::Failure => { self.state = State::Ready; },
_ => {}
}
&self.state
}
pub fn get_header(&self) -> &protocol::Header {
&self.header
}
pub fn get_data(&self) -> &Vec<u8> {
&self.vec_data
}
pub fn get_data_all(&self) -> &Vec<u8> {
&self.vec_data_all
}
pub fn get_index(&self) -> &i32 {
&self.index
}
pub fn get_state(&self) -> &State {
&self.state
}
pub fn is_connected(&self) -> &bool {
&self.flag_connected
}
}