microcontroller/src/accessory.cpp at main · openvmp/microcontroller · GitHub

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* OpenVMP, 2023

* Author: Roman Kuzmenko

* Created: 2023-03-27

* Licensed under Apache License, Version 2.0.

#include "remote_microcontroller/accessory.hpp"

namespace remote_microcontroller {

Accessory::Accessory(rclcpp::Node* node, Implementation* microcontroller,

uint16_t addr, const std::string& prefix)

: node_{node},

microcontroller_{microcontroller},

addr_{addr},

initialized_{false},

prefix_{prefix} {}

const std::string Accessory::get_prefix() const {

std::string prefix = node_->get_namespace();

if (prefix == "/") prefix = "";

prefix += prefix_;

return prefix;

}

void Accessory::init() { initialized_ = true; }

void Accessory::write(uint16_t value, bool force) {

if (initialized_ || force) {

microcontroller_->write(addr_, value);

}

void Accessory::read() {

if (initialized_) {

microcontroller_->read(addr_);

}

void Accessory::stream(const std::string& value) {

if (initialized_) {

microcontroller_->stream(addr_, value);

}

} // namespace remote_microcontroller

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