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MultiplexParser: expose count #5

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Merged
filippobrizzi merged 2 commits into from
Aug 21, 2025
Merged

MultiplexParser: expose count #5

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b9c5872
fix muiltiplex
filippobrizzi Aug 21, 2025
c27a30b
rever chages to example
filippobrizzi Aug 21, 2025
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25 changes: 11 additions & 14 deletions lib/cpp/mjbots/moteus/moteus_multiplex.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,6 @@

#pragma once

#include <iomanip>
#include <iostream>

#include <math.h>
#include <stdint.h>
#include <string.h>
Expand Down Expand Up @@ -303,19 +300,20 @@ class MultiplexParser {
uint16_t value = 0;
Resolution resolution = kIgnore;
int8_t command = 0;
int8_t count = 0;

Result(bool done_in, uint16_t value_in, Resolution resolution_in,
int8_t command_in)
int8_t command_in, int8_t count_in)
: done(done_in), value(value_in), resolution(resolution_in),
command(command_in) {}
command(command_in), count(count_in) {}

Result() {}
};

Result next() {
if (offset_ >= size_) {
// We are done.
return Result(true, 0, Resolution::kInt8, Multiplex::kNop);
return Result(true, 0, Resolution::kInt8, Multiplex::kNop, 0);
}

if (remaining_) {
Expand All @@ -324,11 +322,11 @@ class MultiplexParser {

// Do we actually have enough data?
if (offset_ + ResolutionSize(current_resolution_) > size_) {
return Result(true, 0, Resolution::kInt8, Multiplex::kNop);
return Result(true, 0, Resolution::kInt8, Multiplex::kNop, 0);
}

return Result(false, this_register, current_resolution_,
current_command_);
return Result(false, this_register, current_resolution_, current_command_,
remaining_);
}

// We need to look for another command.
Expand Down Expand Up @@ -375,32 +373,31 @@ class MultiplexParser {
// Empty, guess we can ignore.
continue;
}

current_register_ = ReadVaruint();

// If it's a read registry we do not need to look further.
if (current_command_ >= 0x10 && current_command_ < 0x20) {
remaining_ = 0;
return Result(false, current_register_++, current_resolution_,
current_command_);
current_command_, count);
}

remaining_ = count - 1;

if (offset_ + ResolutionSize(current_resolution_) > size_) {
return Result(true, 0, Resolution::kInt8, Multiplex::kNop);
return Result(true, 0, Resolution::kInt8, Multiplex::kNop, 0);
}

return Result(false, current_register_++, current_resolution_,
current_command_);
current_command_, count);
}

// For anything else, we'll just assume it is an error of some
// sort and stop parsing.
offset_ = size_;
break;
}
return Result(true, 0, Resolution::kInt8, Multiplex::kNop);
return Result(true, 0, Resolution::kInt8, Multiplex::kNop, 0);
}

template <typename T> T Read() {
Expand Down
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