45 lines
1.6 KiB
C++
45 lines
1.6 KiB
C++
#pragma once
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#include "line_laser_modbus/protocol.hpp"
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namespace line_laser_modbus {
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struct StatusSnapshot {
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WorkMode mode = WorkMode::StandbyReset;
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DeviceState state = DeviceState::StandbyReady;
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};
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// HostClient 是上位机/主站侧协议封装。
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//
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// 设计说明：
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// - 它不持有串口对象。生产代码可以把返回的字节发送到 UART、RS-485、
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// TCP 隧道或测试桩，不需要改动协议逻辑。
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// - 每个 make_* 方法都会返回包含 CRC 的完整 Modbus RTU 帧。
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// - 每个 parse_* 方法都会校验从站地址和期望的载荷形状，避免调用方误收
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// 其他请求对应的响应。
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class HostClient {
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public:
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explicit HostClient(std::uint8_t slave_id = kDefaultSlaveId) noexcept;
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[[nodiscard]] std::uint8_t slave_id() const noexcept;
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[[nodiscard]] ByteVector make_read_status_request() const;
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[[nodiscard]] ByteVector make_read_current_pose_request() const;
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[[nodiscard]] ByteVector make_write_mode_request(WorkMode mode) const;
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[[nodiscard]] ByteVector make_write_target_pose_request(const Pose6D& pose) const;
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[[nodiscard]] ByteVector make_write_correction_request(const Pose6D& correction) const;
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[[nodiscard]] std::optional<StatusSnapshot> parse_status_response(
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const ByteVector& frame) const;
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[[nodiscard]] std::optional<Pose6D> parse_current_pose_response(
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const ByteVector& frame) const;
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[[nodiscard]] bool parse_write_ack(const ByteVector& frame,
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std::uint16_t expected_start_address,
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std::uint16_t expected_quantity) const;
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private:
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std::uint8_t slave_id_;
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};
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} // 命名空间 line_laser_modbus
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