tof-responder.h

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#pragma once
#include "tof-device.h"
#include <ArduinoJson.h>
#include <FS.h>
#include <SPIFFS.h>
 
#define POLL_RX_TO_RESP_TX_DLY_UUS 2400
 
static portMUX_TYPE taskMutex = portMUX_INITIALIZER_UNLOCKED;
 
class TofResponder : public TofDevice 
{
public:
    TofResponder(uwb_addr src, uwb_addr dst, unsigned long wdt_timeout, DynamicJsonDocument* rx_diagnostics);
    ~TofResponder(){};
 
    virtual void setup() override;
    
    virtual void loop() override;
 
private:
    uwb_addr dst_address;
 
    uint64_t poll_rx_ts;
 
    uint64_t resp_tx_ts;
 
    DynamicJsonDocument * rx_diagnostics_json;
 
    static SemaphoreHandle_t responseSemaphore;
 
    void update_rx_diagnostics();
    
    static void rx_ok_cb(const dwt_cb_data_t *cb_data);
};