Support Serial Port Identification

keywords.txt

@@ -22,4 +22,6 @@ MOTOR_CONTROLLER LITERAL1
 BRAKE_CONTROLLER LITERAL1
 GPS_RECEIVER LITERAL1
 LEFT_INDICATOR LITERAL1
-RIGHT_INDICATOR LITERAL1
+RIGHT_INDICATOR LITERAL1
+POWER_CONTROLLER LITERAL1
+WHEEL_SPEED_CONTROLLER LITERAL1

src/ArrayList.h

@@ -26,7 +26,7 @@ class ArrayList {
     void ensureCapacityInternal(size_t minCapacity) { ensureExplicitCapacity(max(10, minCapacity)); }
 
 public:
-    explicit ArrayList(size_t initialCapacity = 10) :
+    explicit ArrayList(size_t initialCapacity = 0) :
         _size(0), _capacity(initialCapacity), _array(new E[initialCapacity]) {}
     ArrayList(E const *const initialArray, size_t size) : _size(size), _capacity(size), _array(new E[size]) {
         arraycopy(initialArray, _array, size);

src/Device.h

@@ -8,7 +8,7 @@ template<typename T>
 class Device {
 protected:
     String _tag = "";
-    ArrayList<String> _parentTags = ArrayList<String>(0);
+    ArrayList<String> _parentTags = ArrayList<String>();
     ArrayList<int> _pins;
 
 public:
@@ -20,9 +20,9 @@ class Device {
     String tag() { return _tag; }
     const ArrayList<String> &parentTags() { return _parentTags; }
     virtual void initialize(const ArrayList<String> &parentTags) { _parentTags = parentTags; }
-    void initializeAsRoot() { initialize(ArrayList<String>(0)); }
+    void initializeAsRoot() { initialize(ArrayList<String>()); }
     virtual T read() { return T(); }
-    virtual void write(T payload) {}
+    virtual void write(const T &payload) {}
     virtual void update(T data) {}
     virtual void close() {}
 };

src/Peer.cpp

@@ -2,8 +2,11 @@
 
 
 // std::move() is not available in the C library
-Peer::Peer(unsigned int baudRate, const String &separator, const String &remainder) : // NOLINT(*-pass-by-value)
-    Controller<String, String>(), _baudRate(baudRate), _separator(separator), _remainder(remainder) {}
+Peer::Peer(const String &tag, unsigned int baudRate, const String &separator, // NOLINT(*-pass-by-value)
+           const String &remainder) : // NOLINT(*-pass-by-value)
+    Controller<String, String>(), _baudRate(baudRate), _separator(separator), _remainder(remainder) {
+    _tag = tag;
+}
 void Peer::initialize(const ArrayList<String> &parentTags) {
     Controller<String, String>::initialize(parentTags);
     Serial.begin(_baudRate);
@@ -20,11 +23,13 @@ String Peer::read() {
     }
     return "";
 }
-void Peer::write(String payload) { Serial.print(payload + _separator); }
+void Peer::write(const String &payload) { Serial.print(payload + _separator); }
 void Peer::refresh() {
     String msg = read();
     if (msg == "")
         return;
+    if (msg == "ic")
+        return write(_tag);
     for (Device<String> d: _devices)
         d.update(msg);
 }

src/Peer.h

@@ -11,10 +11,10 @@ class Peer : public Controller<String, String> {
     String _separator, _remainder;
 
 public:
-    explicit Peer(unsigned int baudRate = 9600, const String &separator = ";", const String &remainder = "");
+    explicit Peer(const String& tag, unsigned int baudRate = 9600, const String &separator = ";", const String &remainder = "");
     void initialize(const ArrayList<String> &parentTags) override;
     String read() override;
-    void write(String payload) override;
+    void write(const String &payload) override;
     void refresh();
 };
 

src/PredefinedTags.h

@@ -18,5 +18,8 @@
 #define LEFT_INDICATOR "lindi"
 #define RIGHT_INDICATOR "rindi"
 
+#define POWER_CONTROLLER "pc"
+#define WHEEL_SPEED_CONTROLLER "wsc"
+
 
 #endif // PREDEFINEDTAGS_H