22 lines
805 B
C++
22 lines
805 B
C++
 
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#pragma once
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#include <HexapodProtocol.h>
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// nRF24L01 transmitter. Uses hardware auto-ack to measure the link: the
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// robot's radio acks every packet it receives, so an ack = the robot heard us.
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class RadioLink {
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public:
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bool begin(); // false if the radio chip didn't respond
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bool send(const CmdPacket& p); // blocking, returns true if acked
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void update(uint32_t now_ms); // refreshes linkOk()
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bool present() const { return present_; }
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bool linkOk() const { return link_ok_; }
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uint8_t qualityPct() const; // acked share of the last 32 packets
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private:
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bool present_ = false;
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bool link_ok_ = false;
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uint32_t last_ack_ms_ = 0;
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bool ever_acked_ = false;
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uint32_t history_ = 0; // 1 bit per packet, newest in bit 0
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};
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