diff --git a/arduino/protocol/lib/commsControl/commsConstants.h b/arduino/protocol/lib/commsControl/commsConstants.h
index dc430bafeceb3c277ba91190e29c0658323291ad..03b7a83eea5b28bff11b75141918d2624bbe79b7 100644
--- a/arduino/protocol/lib/commsControl/commsConstants.h
+++ b/arduino/protocol/lib/commsControl/commsConstants.h
@@ -7,7 +7,9 @@
#define CONST_TIMEOUT_DATA 5000
#define CONST_TIMEOUT_CMD 50
-#define CONST_MAX_SIZE_QUEUE 2
+
+#define CONST_MAX_SIZE_RB_RECEIVING 10
+#define CONST_MAX_SIZE_RB_SENDING 5
#define CONST_MAX_SIZE_PACKET 64
#define CONST_MAX_SIZE_BUFFER 128
#define CONST_MIN_SIZE_PACKET 7
@@ -27,24 +29,112 @@
#define PACKET_ALARM 0xC0
#define PACKET_CMD 0x80
#define PACKET_DATA 0x40
-#define PACKET_SET 0x20 //set vs get
+#define PACKET_SET 0x20 //set vs get ?
// TODO: make sensible
#define PRESSURE_PEEP_LOW 0x01
#define PRESSURE_PEEP_HIGH 0x02
// struct for all data sent
-// TODO: the same for all settings?
struct dataFormat {
- uint16_t count;
- uint16_t pressure;
+ uint8_t version;
+ uint8_t size = 3;
+ uint8_t count = 0;
+};
+
+struct cmdFormat {
+ uint8_t version;
+ uint8_t size = 2;
+};
+
+struct alarmFormat {
+ uint8_t version;
+ uint8_t size = 2;
};
// enum of all transfer types
-enum dataType {
- dataAlarm,
- dataNormal,
- dataCommand
+enum payloadType {
+ payloadData,
+ payloadCmd,
+ payloadAlarm,
+ payloadUnset
+};
+
+// payload consists of type and information
+// type is set as address in the protocol
+// information is set as information in the protocol
+class payload {
+public:
+ payload(payloadType type = payloadType::payloadUnset) {type_ = type; data_ = nullptr; cmd_ = nullptr; alarm_ = nullptr; }
+ ~payload() {unsetData(); unsetAlarm(); unsetCmd();}
+
+ void setType(payloadType type) { type_ = type; }
+ payloadType getType() {return type_; }
+
+ // requires argument as new struct
+ void setData (dataFormat *data) { unsetAll(); data_ = new dataFormat; memcpy( data_, data, data->size); }
+ void setCmd (cmdFormat *cmd) { unsetAll(); cmd_ = new cmdFormat; memcpy( cmd_, cmd, cmd->size); }
+ void setAlarm(alarmFormat *alarm) { unsetAll(); alarm_ = new alarmFormat; memcpy(alarm_, alarm, alarm->size); }
+
+ dataFormat *getData () {return data_; }
+ cmdFormat *getCmd () {return cmd_; }
+ alarmFormat *getAlarm() {return alarm_; }
+
+ void unsetAll() { unsetData(); unsetAlarm(); unsetCmd(); }
+ void unsetData() { if ( data_ != nullptr) { delete data_; data_ = nullptr; } }
+ void unsetCmd() { if ( cmd_ != nullptr) { delete cmd_; cmd_ = nullptr; } }
+ void unsetAlarm() { if (alarm_ != nullptr) { delete alarm_; alarm_ = nullptr; } }
+
+ void setPayload(payloadType type, void* dt) {
+ setType(type);
+ switch (type) {
+ case payloadType::payloadData:
+ setData(reinterpret_cast<dataFormat*>(dt));
+ break;
+ case payloadType::payloadCmd:
+ setCmd(reinterpret_cast<cmdFormat*>(dt));
+ break;
+ case payloadType::payloadAlarm:
+ setAlarm(reinterpret_cast<alarmFormat*>(dt));
+ break;
+ default:
+ break;
+ }
+ }
+
+ // returns void pointer, in case you know what to do with data
+ void *getInformation() {
+ switch (type_) {
+ case payloadType::payloadData:
+ return reinterpret_cast<void*>(getData());
+ case payloadType::payloadCmd:
+ return reinterpret_cast<void*>(getCmd());
+ case payloadType::payloadAlarm:
+ return reinterpret_cast<void*>(getAlarm());
+ default:
+ return nullptr;
+ }
+ }
+
+ uint8_t getInformationSize() {
+ switch (type_) {
+ case payloadType::payloadData:
+ return getData()->size;
+ case payloadType::payloadCmd:
+ return getCmd()->size;
+ case payloadType::payloadAlarm:
+ return getAlarm()->size;
+ default:
+ return 0;
+ }
+ }
+
+private:
+ payloadType type_;
+
+ dataFormat *data_;
+ cmdFormat *cmd_;
+ alarmFormat *alarm_;
};
#endif
diff --git a/arduino/protocol/lib/commsControl/commsControl.cpp b/arduino/protocol/lib/commsControl/commsControl.cpp
index 6600534b5224d04223643be61a50b7a3f65fe1b0..86c7570df6c608075484654af5d8c09a14f6fc95 100644
--- a/arduino/protocol/lib/commsControl/commsControl.cpp
+++ b/arduino/protocol/lib/commsControl/commsControl.cpp
@@ -15,9 +15,11 @@ commsControl::commsControl(uint32_t baudrate) {
memset(commsReceived_, 0, sizeof(commsReceived_));
memset(commsSend_ , 0, sizeof(commsSend_ ));
- queueAlarm_ = new RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE>();
- queueData_ = new RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE>();
- queueCmd_ = new RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE>();
+ queueAlarm_ = new RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING>();
+ queueData_ = new RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING>();
+ queueCmd_ = new RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING>();
+
+ queueReceived_ = new RingBuf<payload *, CONST_MAX_SIZE_RB_RECEIVING>();
commsTmp_ = commsFormat(CONST_MAX_SIZE_PACKET - CONST_MIN_SIZE_PACKET );
@@ -81,36 +83,39 @@ void commsControl::receiver() {
// if managed to decode and compare CRC
if (decoder(lastTrans_, startTransIndex_, lastTransIndex_)) {
- // FIXME really need to move commsReceived_ to be commsFormat type - lot of control, address operations
- // to decide ACK/NACK/other
- uint8_t control[2];
- memcpy(control, commsReceived_ + 2, 2);
- sequenceReceive_ = (control[0] >> 1) & 0x7F;
+ sequenceReceive_ = (*(commsTmp_.getControl()) >> 1 ) & 0x7F;
+ // to decide ACK/NACK/other; for other gain sequenceReceive
+ uint8_t control = *(commsTmp_.getControl() + 1);
// to decide what kind of packets received
- uint8_t address = commsReceived_[1];
- RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *tmpQueue = getQueue(address);
- if (tmpQueue != nullptr) {
- // switch on received data to know what to do - received ACK/NACK or other
- switch(control[1] & COMMS_CONTROL_TYPES) {
- case COMMS_CONTROL_NACK:
- // received NACK
- // TODO: modify timeout for next sent frame?
- resendPacket(tmpQueue);
- break;
- case COMMS_CONTROL_ACK:
- // received ACK
- finishPacket(tmpQueue);
- break;
- default:
- // received DATA
- receivePacket(tmpQueue);
-
- commsAck_->setAddress(&address);
- commsAck_->setSequenceReceive(((control[1] >> 1) & 0x7F) + 1);
+ payloadType type = getInfoType(commsTmp_.getAddress());
+
+ // switch on received data to know what to do - received ACK/NACK or other
+ switch(control & COMMS_CONTROL_TYPES) {
+ case COMMS_CONTROL_NACK:
+ // received NACK
+ // TODO: modify timeout for next sent frame?
+ // resendPacket(&address);
+ break;
+ case COMMS_CONTROL_ACK:
+ // received ACK
+ finishPacket(&type);
+ break;
+ default:
+ uint8_t tmpSequenceReceive = (control >> 1 ) & 0x7F;
+ tmpSequenceReceive += 1;
+ // received DATA
+ if (receivePacket(&type)) {
+ commsAck_->setAddress(commsTmp_.getAddress());
+ commsAck_->setSequenceReceive(tmpSequenceReceive);
sendPacket(commsAck_);
- break;
- }
+ } else {
+ commsNck_->setAddress(commsTmp_.getAddress());
+ commsNck_->setSequenceReceive(tmpSequenceReceive);
+ sendPacket(commsNck_);
+ }
+
+ break;
}
}
@@ -130,34 +135,50 @@ void commsControl::receiver() {
}
}
+bool commsControl::writePayload(payload *pl) {
+ commsFormat* tmpComms;
-// adding new values into queue
-// WIP
-void commsControl::registerData(dataType type, dataFormat *values) {
- commsFormat *newValue = commsFormat::generateDATA();
-
- // switch on different received data types
- switch(type) {
- case dataAlarm:
+ // switch on different received payload types
+ // TODO simplify the static functions
+ switch(pl->getType()) {
+ case payloadAlarm:
+ tmpComms = commsFormat::generateALARM(pl);
break;
- case dataNormal:
- newValue->setInformation(values);
+ case payloadData:
+ tmpComms = commsFormat::generateDATA(pl);
break;
- case dataCommand:
+ case payloadCmd:
+ tmpComms = commsFormat::generateCMD(pl);
break;
default:
- break;
+ return false;
}
// add new entry to the queue
if (queueData_->isFull()) {
- commsFormat *tmpComms;
- queueData_->pop(tmpComms);
- delete tmpComms;
+ commsFormat *tmpCommsRm;
+ if (queueData_->pop(tmpCommsRm)) {
+ delete tmpCommsRm;
+ }
}
- queueData_->push(newValue);
+
+ if (queueData_->push(tmpComms) ) {
+ return true;
+ }
+ return false;
}
+bool commsControl::readPayload( payload* pl) {
+ if ( !queueReceived_->isEmpty()) {
+ payload *tmpPl;
+ if (queueReceived_->pop(tmpPl)) {
+ memcpy(pl, tmpPl, sizeof(payload));
+ delete tmpPl;
+ return true;
+ }
+ }
+ return false;
+}
// general encoder of any transmission
bool commsControl::encoder(uint8_t *data, uint8_t dataSize) {
@@ -209,7 +230,7 @@ bool commsControl::decoder(uint8_t* data, uint8_t dataStart, uint8_t dataStop) {
}
// sending anything of commsDATA format
-void commsControl::sendQueue(RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue) {
+void commsControl::sendQueue(RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue) {
// if have data to send
if (!queue->isEmpty()) {
// reset sending counter
@@ -232,39 +253,86 @@ void commsControl::sendPacket(commsFormat *packet) {
// resending the packet, can lower the timeout since either NACK or wrong FCS already checked
//WIP
-void commsControl::resendPacket(RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue) {
+void commsControl::resendPacket(RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue) {
;
}
// receiving anything of commsFormat
-// WIP
-void commsControl::receivePacket(RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue) {
- ;
+// TODO remove address and use commsTmp only
+bool commsControl::receivePacket(payloadType *type) {
+ payload *tmpPl = new payload(*type);
+
+ void *tmpInformation = nullptr;
+ switch (*type) {
+ case payloadType::payloadData:
+ tmpInformation = reinterpret_cast<void*>(new dataFormat);
+ break;
+ case payloadType::payloadCmd:
+ tmpInformation = reinterpret_cast<void*>(new cmdFormat);
+ break;
+ case payloadType::payloadAlarm:
+ tmpInformation = reinterpret_cast<void*>(new alarmFormat);
+ break;
+ default:
+ break;
+ }
+
+ if (tmpInformation == nullptr) {
+ return false;
+ }
+ memcpy(tmpInformation, commsTmp_.getInformation(), commsTmp_.getInfoSize());
+ tmpPl->setPayload(*type, tmpInformation);
+
+ // remove first entry if RB is full
+ if (queueReceived_->isFull()) {
+ payload *tmpDataRm = nullptr;
+ if (queueReceived_->pop(tmpDataRm)) {
+ delete tmpDataRm;
+ }
+ }
+
+ return queueReceived_->push(tmpPl);
}
// if FCS is ok, remove from queue
-void commsControl::finishPacket(RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue) {
- if (!queue->isEmpty()) {
+void commsControl::finishPacket(payloadType *type) {
+ RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *tmpQueue = getQueue(type);
+
+ if (tmpQueue != nullptr && !tmpQueue->isEmpty()) {
// get the sequence send from first entry in the queue, add one as that should be return
// 0x7F to deal with possible overflows (0 should follow after 127)
- if (((queue->operator [](0)->getSequenceSend() + 1) & 0x7F) == sequenceReceive_) {
+ if (((tmpQueue->operator [](0)->getSequenceSend() + 1) & 0x7F) == sequenceReceive_) {
sequenceSend_ = (sequenceSend_ + 1) % 128;
commsFormat * tmpComms;
- queue->pop(tmpComms);
- delete tmpComms;
+ if (tmpQueue->pop(tmpComms)) {
+ delete tmpComms;
+ }
}
}
}
-// get link to queue according to packet format
-RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *commsControl::getQueue(uint8_t address) {
- switch (address & PACKET_TYPE) {
+payloadType commsControl::getInfoType(uint8_t *address) {
+ switch (*address & PACKET_TYPE) {
case PACKET_ALARM:
- return queueAlarm_;
+ return payloadType::payloadAlarm;
case PACKET_CMD:
- return queueCmd_;
+ return payloadType::payloadCmd;
case PACKET_DATA:
+ return payloadType::payloadData;
+ default:
+ return payloadType::payloadUnset;
+ }
+}
+
+// get link to queue according to packet format
+RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *commsControl::getQueue(payloadType *type) {
+ switch (*type) {
+ case payloadType::payloadAlarm:
+ return queueAlarm_;
+ case payloadType::payloadCmd:
+ return queueCmd_;
+ case payloadType::payloadData:
return queueData_;
default:
return nullptr;
diff --git a/arduino/protocol/lib/commsControl/commsControl.h b/arduino/protocol/lib/commsControl/commsControl.h
index 4b88b2213e24950f636a96ed72d8434653e092f9..e04178845cd027df1d57c7e8a7cefb56e38dcfda 100644
--- a/arduino/protocol/lib/commsControl/commsControl.h
+++ b/arduino/protocol/lib/commsControl/commsControl.h
@@ -19,22 +19,23 @@ public:
void beginSerial();
- // TODO: passed as struct, or simply array of size and memcpy? should be dataType or just define?
- void registerData(dataType type, dataFormat* values);
+ bool writePayload(payload *pl);
+ bool readPayload (payload *pl);
void sender();
void receiver();
private:
- RingBuf<commsFormat *,CONST_MAX_SIZE_QUEUE> *getQueue(uint8_t address);
+ RingBuf<commsFormat *,CONST_MAX_SIZE_RB_SENDING> *getQueue(payloadType *type);
+ payloadType getInfoType(uint8_t *address);
- void sendQueue (RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue);
- void resendPacket (RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue);
- void receivePacket(RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue);
- void finishPacket (RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queue);
+ void sendQueue (RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue);
+ void resendPacket (RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queue);
+ bool receivePacket(payloadType *type);
+ void finishPacket (payloadType *type);
- bool encoder(uint8_t* data, uint8_t dataSize);
- bool decoder(uint8_t* data, uint8_t dataStart, uint8_t dataStop);
+ bool encoder(uint8_t* payload, uint8_t dataSize);
+ bool decoder(uint8_t* payload, uint8_t dataStart, uint8_t dataStop);
void sendPacket(commsFormat* packet);
@@ -45,9 +46,11 @@ private:
commsFormat* commsAck_;
commsFormat* commsNck_;
- RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queueAlarm_;
- RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queueData_;
- RingBuf<commsFormat *, CONST_MAX_SIZE_QUEUE> *queueCmd_;
+ RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queueAlarm_;
+ RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queueData_;
+ RingBuf<commsFormat *, CONST_MAX_SIZE_RB_SENDING> *queueCmd_;
+
+ RingBuf<payload *, CONST_MAX_SIZE_RB_RECEIVING> *queueReceived_;
commsFormat commsTmp_;
diff --git a/arduino/protocol/lib/commsControl/commsFormat.cpp b/arduino/protocol/lib/commsControl/commsFormat.cpp
index 9b082e71403c721f5ba507d563bdaa29a8220c6b..affb4200f9bbfb8aba9709c026e5b45bdd366ffa 100644
--- a/arduino/protocol/lib/commsControl/commsFormat.cpp
+++ b/arduino/protocol/lib/commsControl/commsFormat.cpp
@@ -79,18 +79,34 @@ void commsFormat::generateCrc(bool assign) {
}
// assign received information to packet
-// TODO: set according to TBD dataFormat
-void commsFormat::setInformation(dataFormat* values) {
- // assign values to
- memcpy(getInformation(), &values->count, 2);
-
- generateCrc();
+void commsFormat::setInformation(payload *pl) {
+ assignBytes(getInformation(), reinterpret_cast<uint8_t*>(pl->getInformation()), getInfoSize());
}
void commsFormat::copyData(uint8_t* data, uint8_t dataSize) {
- infoSize_ = dataSize - CONST_MIN_SIZE_PACKET;
packetSize_ = dataSize;
- memset(data_, 0, sizeof(data_));
+ infoSize_ = dataSize - CONST_MIN_SIZE_PACKET;
+ memset(getData(), 0, sizeof(data_));
assignBytes(getData(), data, dataSize);
}
+
+
+// STATIC METHODS
+// TODO rewrite in a slightly better way using the enum
+commsFormat* commsFormat::generateALARM(payload *pl) {
+ commsFormat *tmpComms = new commsFormat(pl->getInformationSize(), PACKET_ALARM);
+ tmpComms->setInformation(pl);
+ return tmpComms;
+}
+commsFormat* commsFormat::generateCMD (payload *pl) {
+ commsFormat *tmpComms = new commsFormat(pl->getInformationSize(), PACKET_CMD );
+ tmpComms->setInformation(pl);
+ return tmpComms;
+}
+commsFormat* commsFormat::generateDATA (payload *pl) {
+ commsFormat *tmpComms = new commsFormat(pl->getInformationSize(), PACKET_DATA );
+ tmpComms->setInformation(pl);
+ return tmpComms;
+}
+
diff --git a/arduino/protocol/lib/commsControl/commsFormat.h b/arduino/protocol/lib/commsControl/commsFormat.h
index 301fedd7e111ef41b4bfc148aa1b93bb88331091..ddfc6e3a73fd50cde0b073cf1874f46d82234e84 100644
--- a/arduino/protocol/lib/commsControl/commsFormat.h
+++ b/arduino/protocol/lib/commsControl/commsFormat.h
@@ -20,7 +20,7 @@ public:
void setAddress(uint8_t* address) {assignBytes(getAddress(), address, 1); }
void setControl(uint8_t* control) {assignBytes(getControl(), control, 2); }
- void setInformation(dataFormat* values);
+ void setInformation(payload *pl);
void assignBytes(uint8_t* target, uint8_t* source, uint8_t size, bool calcCrc = true);
@@ -35,6 +35,7 @@ public:
uint8_t* getFcs() {return data_ + 4 + infoSize_;} // checksum
uint8_t* getStop() {return data_ + 4 + infoSize_ + 2;} // ending flag of the chain
+ uint8_t getInfoSize() { return infoSize_; }
void setSequenceSend (uint8_t counter);
void setSequenceReceive(uint8_t counter);
@@ -42,14 +43,14 @@ public:
uint8_t getSequenceSend ();
uint8_t getSequenceReceive();
- void copyData(uint8_t* data, uint8_t dataSize);
+ void copyData(uint8_t* payload, uint8_t dataSize);
static commsFormat* generateACK() { return new commsFormat(0, 0, COMMS_CONTROL_ACK << 8); }
static commsFormat* generateNACK() { return new commsFormat(0, 0, COMMS_CONTROL_NACK << 8); }
- static commsFormat* generateALARM() { return new commsFormat(4, PACKET_ALARM); }
- static commsFormat* generateCMD() { return new commsFormat(8, PACKET_CMD ); }
- static commsFormat* generateDATA() { return new commsFormat(8, PACKET_DATA ); }
+ static commsFormat* generateALARM(payload *pl);
+ static commsFormat* generateCMD (payload *pl);
+ static commsFormat* generateDATA (payload *pl);
private:
uint8_t data_[CONST_MAX_SIZE_PACKET];
diff --git a/arduino/protocol/platformio.ini b/arduino/protocol/platformio.ini
index 7cd7932e33d3e3ffb47d156251f55babfc9ff26b..46ff784048a7388b5f9d13e53b04d75b8f1d51de 100644
--- a/arduino/protocol/platformio.ini
+++ b/arduino/protocol/platformio.ini
@@ -44,10 +44,10 @@ platform = atmelavr
framework = arduino
board = yun
-[env:mkrwifi1010]
-platform = atmelsam
-framework = arduino
-board = mkrwifi1010
+;[env:mkrwifi1010]
+;platform = atmelsam
+;framework = arduino
+;board = mkrwifi1010
[env:nodemcu-32s]
platform = espressif32
diff --git a/arduino/protocol/src/protocol.cpp b/arduino/protocol/src/protocol.cpp
index 072548e2fc4995dc57c55471ca0ba5d42b3eeb99..da9d4dc624a0c80d28a69da540df2ff51b9297b3 100644
--- a/arduino/protocol/src/protocol.cpp
+++ b/arduino/protocol/src/protocol.cpp
@@ -7,8 +7,10 @@
#define BTN 8
-dataFormat data;
-commsControl comms;
+payload plReceive_;
+payload plSend_;
+commsControl comms_;
+dataFormat data_;
int currentState = 0;
int previousState = 0;
@@ -18,6 +20,7 @@ bool blue = false;
bool green = false;
bool red = false;
+
// dirty function to switch one of the LEDs
void switchLED(int led) {
int state = HIGH;
@@ -43,6 +46,8 @@ void switchLED(int led) {
void setup() {
+ plSend_.setType(payloadType::payloadData);
+
// initialize digital pin LED_BUILTIN as an output.
pinMode(LED_BLUE, OUTPUT);
pinMode(LED_GREEN, OUTPUT);
@@ -51,8 +56,7 @@ void setup() {
pinMode(BTN, INPUT);
// initialize comms connection
- comms.beginSerial();
- data.count = 0;
+ comms_.beginSerial();
}
void loop() {
@@ -64,15 +68,25 @@ void loop() {
if (currentState != HIGH) {
switchLED(LED_BLUE);
// counter increase on button press
- data.count += 62;
+ data_.count += 1;
+ plSend_.setData(&data_);
// register new data in comms
- comms.registerData(dataNormal, &data);
+ comms_.writePayload(&plSend_);
}
previousState = currentState;
}
// per cycle sender
- comms.sender();
+ comms_.sender();
// per cycle receiver
- comms.receiver();
+ comms_.receiver();
+
+ // per cycle data checker - the received entry is automatically removed from the buffer
+ if (comms_.readPayload(&plReceive_)) {
+ if (plReceive_.getType() == payloadType::payloadData) {
+ switchLED(plReceive_.getData()->count);
+ plReceive_.setType(payloadType::payloadUnset);
+ }
+ }
+
}