add native SeaTalk receiver API

Author: mgrouch

modules/seatalk/src/seatalk_rx.hpp

@@ -0,0 +1,82 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include <ship_data_model.hpp>
+
+#include "seatalk/seatalk_apply.hpp"
+#include "seatalk/seatalk_frame.hpp"
+
+namespace seatalk {
+
+template<typename Real = float>
+class SeaTalkReceiver {
+public:
+    const SeaTalkRxState& state() const { return state_; }
+    const SeaTalkDecoded<Real>& last_decoded() const { return last_decoded_; }
+    uint32_t decoded_count() const { return decoded_count_; }
+    uint32_t unsupported_count() const { return unsupported_count_; }
+    uint32_t bad_frame_count() const { return state_.bad_frame_count; }
+
+    bool accept_datagram(const uint8_t* bytes,
+                         size_t length,
+                         ship_data_model::DataModel<Real>& model,
+                         uint64_t now_us,
+                         ship_data_model::SensorSource source) {
+        SeaTalkFrame frame;
+        if (!seatalk_frame_from_bytes(bytes, length, frame)) {
+            ++state_.bad_frame_count;
+            return false;
+        }
+        return apply_frame(frame, model, now_us, source);
+    }
+
+    bool accept_octet(uint8_t byte,
+                      ship_data_model::DataModel<Real>& model,
+                      uint64_t now_us,
+                      ship_data_model::SensorSource source) {
+        SeaTalkFrame frame;
+        if (!state_.feed_byte(byte, frame)) return true;
+        return apply_frame(frame, model, now_us, source);
+    }
+
+    bool accept_octets(const uint8_t* bytes,
+                       size_t length,
+                       ship_data_model::DataModel<Real>& model,
+                       uint64_t now_us,
+                       ship_data_model::SensorSource source) {
+        if (!bytes) return false;
+        bool ok = true;
+        for (size_t i = 0; i < length; ++i) {
+            if (!accept_octet(bytes[i], model, now_us, source)) ok = false;
+        }
+        return ok;
+    }
+
+private:
+    bool apply_frame(const SeaTalkFrame& frame,
+                     ship_data_model::DataModel<Real>& model,
+                     uint64_t now_us,
+                     ship_data_model::SensorSource source) {
+        SeaTalkDecoded<Real> decoded;
+        if (!decode_seatalk_frame(frame, decoded)) {
+            ++unsupported_count_;
+            return true;
+        }
+        last_decoded_ = decoded;
+        if (apply_seatalk_decoded(decoded, model, now_us, source)) {
+            ++decoded_count_;
+            return true;
+        }
+        ++unsupported_count_;
+        return true;
+    }
+
+    SeaTalkRxState state_;
+    SeaTalkDecoded<Real> last_decoded_;
+    uint32_t decoded_count_ = 0;
+    uint32_t unsupported_count_ = 0;
+};
+
+} // namespace seatalk