SensorCommEnhanced.hpp

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#pragma once
 
#include "SensorCommBase.hpp"
#include <vector>
 
class EnhancedSensorCommBase : public SensorCommBase
{
private:
    template<typename T>
    std::vector<uint8_t> splitRegister(T reg)
    {
        std::vector<uint8_t> result;
        const size_t size = sizeof(T);
        for (size_t i = 0; i < size; ++i) {
            result.push_back(static_cast<uint8_t>(reg >> (8 * (size - 1 - i))));
        }
        return result;
    }
 
    template<typename T>
    int readRegisterImpl(T reg, uint8_t *buf, size_t len)
    {
        std::vector<uint8_t> splitReg = splitRegister(reg);
        return readRegister(splitReg[0], buf, len);
    }
 
 
    template<typename T>
    int writeRegisterImpl(T reg, uint8_t val)
    {
        std::vector<uint8_t> splitReg = splitRegister(reg);
        return writeRegister(splitReg[0], val);
    }
 
 
    template<typename T>
    int writeRegisterImpl(T reg, uint8_t *buf, size_t len)
    {
        std::vector<uint8_t> splitReg = splitRegister(reg);
        return writeRegister(splitReg[0], buf, len);
    }
 
 
    template<typename T>
    int writeRegisterImpl(T reg, uint8_t norVal, uint8_t orVal)
    {
        std::vector<uint8_t> splitReg = splitRegister(reg);
        return writeRegister(splitReg[0], norVal, orVal);
    }
 
 
public:
    template<typename T>
    int readRegister(T reg)
    {
        std::vector<uint8_t> splitReg = splitRegister(reg);
        return readRegister(splitReg[0]);
    }
 
 
    template<typename T>
    int readRegister(T reg, uint8_t *buf, size_t len)
    {
        return readRegisterImpl(reg, buf, len);
    }
 
 
    template<typename T>
    int writeRegister(T reg, uint8_t val)
    {
        return writeRegisterImpl(reg, val);
    }
 
 
    template<typename T>
    int writeRegister(T reg, uint8_t *buf, size_t len)
    {
        return writeRegisterImpl(reg, buf, len);
    }
 
 
    template<typename T>
    int writeRegister(T reg, uint8_t norVal, uint8_t orVal)
    {
        return writeRegisterImpl(reg, norVal, orVal);
    }
};