ModuleData

Object containing data received from module.

Functions list

Result	Function	Description
bool	is(command)	Check if data came of specified command
bool	isInt()	Check if there is valid integer data
bool	isString()	Check if there is valid string data
int	getInt()	Read integer from data
string	getString()	Read string from data
bool	getData(array)	Read array pointer of data
bool	getData(array, length)	Read array pointer and data length
int	getCmdHash()	Get hash of received command string

Example

#include <Totem.h>
// Declare that we are willing to communicate with RoboBoard X4
TotemModule module(04);
// Receiver function for result of read() function
void onModuleData(ModuleData data) {
  if (data.is("cfg/robot/name")) { // cfg/robot/name received
    Serial.print("'cfg/robot/name' is ");
    Serial.println(data.getString()); // Prints: 'cfg/robot/name' is Totem Robot
  }
  else if (data.is("version")) { // version received
    Serial.print("'version' is");
    Serial.println(data.getInt()); // Prints: 'version' is 100
  }
}
// Arduino initialization function
void setup() {
  // put your setup code here, to run once:
  Totem.X4.begin(); // Initialize RoboBoard X4
  // Register module read() data receiver function
  module.attachOnData(onModuleData);
  // Read cfg/robot/name from module X4. Result will be passed to onModuleData
  module.read("cfg/robot/name");
  // Read firmware version from module X4. Result will be passed to onModuleData
  module.read("version");
}
// Arduino loop function
void loop() {
  // put your main code here, to run repeatedly:
}

API

Functions

is(command)

Check if received data is from specified command.
Returns: [true:false]

void onModuleData(ModuleData data) {
  if (data.is("cfg/robot/name"))
    Serial.println("Data came from 'cfg/robot/name' command");
  if (data.is("version"))
    Serial.println("Data came from 'version' command");
}

isInt()

Check if data can be read with getInt().
Returns: [true:false]

ModuleData data;
module.readWait("cfg/robot/name", data);
data.isInt(); // returns false. "cfg/robot/name" data contains string value
module.readWait("version", data);
data.isInt(); // returns true. "version" data contains integer value

isString()

Check if data can be read with getString().
Returns: [true:false]

ModuleData data;
module.readWait("cfg/robot/name", data);
data.isString(); // returns true. "cfg/robot/name" data contains string value
module.readWait("version", data);
data.isString(); // returns false. "version" data contains integer value

getInt()

Read integer value from received data.
Returns: signed 32bit int [-2147483648:2147483647]

ModuleData data;
// Read firmware version. Read result will be stored to "data".
if (module.readWait("version", data)) {
  Serial.print("Value of 'version': ");
  Serial.println(data.getInt()); // Prints: Value of 'version': 100
}

getString()

Read string value from received data.
Returns: string array.

ModuleData data;
// Read robot name. Read result will be stored to "data".
if (module.readWait("cfg/robot/name", data)) {
  Serial.print("'cfg/robot/name' is ");
  Serial.println(data.getString()); // Prints: 'cfg/robot/name' is Totem X4
}

getData(array)

Get pointer to data array.
Value is stored in passed parameter array.
In case of printing received data, TotemBUS protocol always adds NULL terminator at the end of the data, so it's safe to use print and string manipulation functions.
Returns: data stored in array [true:false]

ModuleData data;
if (module.readWait("cfg/robot/name", data)) { // Read robot name
  char *name;
  data.getData(name); // Information is pointed to name variable
  Serial.print("'cfg/robot/name' is ");
  Serial.println(name); // Prints: 'cfg/robot/name' is Totem X4
}

getData(array, length)

Get pointer to data array and it's length.
Value is stored in passed parameters array, length.
In case of printing received data, TotemBUS protocol always adds NULL terminator at the end of the data, so it's safe to use print and string manipulation functions.
Returns: data stored in array, length [true:false]

ModuleData data;
if (module.readWait("cfg/robot/name", data)) {// Read robot name
  char *name;
  int length;
  data.get(name, length); // Information is pointed to name and length variables
  Serial.print("'cfg/robot/name' is ");
  Serial.print(name);
  Serial.print(", length: ");
  Serial.println(length); // Prints: 'cfg/robot/name' is Totem X4, length: 8
}

getCmdHash()

Get hash of result command. Will return command identifier that can be generated with TotemModule::hashCmd("command").
Returns: unsigned 32bit hash [0:0xFFFFFFFF]

void onModuleData(ModuleData data) {
  if (data.getCmdHash() == TotemModule::hashCmd("cfg/robot/name")) {
    // Got command "cfg/robot/name"
  }
  else if (data.getCmdHash() == TotemModule::hashCmd("version")) {
    // Got command "version"
  }
}