BlindCane/Core/App/Common/hc05.hpp

#pragma once

#include <cerrno>
#include <cstdint>

#include "../Common/serial_port.hpp"

class Hc05 {
private:
    static constexpr uint32_t kBaudRate = 9600;
    static constexpr uint32_t kLength   = 128;
    static constexpr uint32_t kTimeout  = 10;
    std::unique_ptr<SerialPort> serialPort;

    static constexpr uint8_t kCommand = 0xAA;

public:
    // App 返回单个字节 Command 结果
    enum class Response : uint8_t {
        kForward, // 前进
        kBackward, // 后退
        kTurnLeft, // 左转
        kTurnRight, // 右转
        kForwardLeft, // 左前方
        kForwardRight, // 右前方
        kBackwardLeft, // 左后方
        kBackwardRight, // 右后方
        kTurnAround, // 掉头/180度转向
        kStop, // 停止，到达目的地
    };

    explicit Hc05(UART_HandleTypeDef* uart)
        : serialPort(std::make_unique<SerialPort>(uart, kBaudRate, kLength, kTimeout)) {}

    ~Hc05() = default;

    Response SendCommand() {
        Response data;
        serialPort->WriteBytesBlocking(reinterpret_cast<const uint8_t*>(&kCommand), sizeof(kCommand));
        serialPort->ReadBytesBlocking(reinterpret_cast<uint8_t*>(&data), sizeof(data));
        return data;
    }
};