Teensy Intranet Implementation

[MrZebulon]

How will the Intranet Work ?

Read - The raw data is transferred from the bus to the read buffer asynchronously. The buffer is then read synchronously each tick.

• buffer to callback sync via encode

• readByte : sync read raw bytes from buffer

• onRead : to be implemented

Write - The packet is transformed into raw data and stored in the write buffer. For the teensy, the raw data in the buffer should be sent synchronously. It should also be possible to write asynchronously (e.g. upon receiving data)

• write : writing to buffer via

• encode : sync buffer to channel

• writeByte : to be implemented

UNIT TESTING PROCEDURE

• define custom PacketIDs, containing "SPEAK" and "ECHO"
• Board 1 sends SPEAK along with a message
• Upon receiving the packet, BOARD 2 sends back ECHO along with the received message to which we append " OK"

Notes from SE

• As far as I know, the event handlers (onRevceive) functions will need to be static (i.e. not methods of the IntranetClass). While cumbersome, this won't be a problem as, long as we adopt a singleton-like pattern for the Board class, it won't pose a problem (as the IntranetClass would only be instantiated once; through the Board class)

[MrZebulon]

Example Header (not complete)

void teensy_handleIntranetIn(int packetSize);

class BaseTeensyIntranet : public virtual BaseIntranetChannel {
public:

    // init function
    virtual void init() = 0;

    // not implemented, read async from channel
    bool readByte(uint8_t& byte) override { return false; }

};