Implement UART serialization code to/from the cameras
Also fix a few things in the SPI serialization code I noticed while
reusing the pattern.
Change-Id: I645775b4c9ea1265025957e50b4d03f4932582f8
diff --git a/y2019/jevois/spi.cc b/y2019/jevois/spi.cc
index fee4f24..28df8cf 100644
--- a/y2019/jevois/spi.cc
+++ b/y2019/jevois/spi.cc
@@ -1,7 +1,6 @@
#include "y2019/jevois/spi.h"
-#include <assert.h>
-
+#include "aos/logging/logging.h"
#include "aos/util/bitpacking.h"
#include "third_party/GSL/include/gsl/gsl"
#include "y2019/jevois/jevois_crc.h"
@@ -175,11 +174,11 @@
crc = jevois_crc_update(crc, transfer.data(),
transfer.size() - remaining_space.size());
crc = jevois_crc_finalize(crc);
- assert(static_cast<size_t>(remaining_space.size()) >= sizeof(crc));
+ CHECK_GE(static_cast<size_t>(remaining_space.size()), sizeof(crc));
memcpy(&remaining_space[0], &crc, sizeof(crc));
remaining_space = remaining_space.subspan(sizeof(crc));
}
- assert(remaining_space.empty());
+ CHECK(remaining_space.empty());
return transfer;
}
@@ -222,14 +221,14 @@
transfer.size() - remaining_input.size());
calculated_crc = jevois_crc_finalize(calculated_crc);
uint16_t received_crc;
- assert(static_cast<size_t>(remaining_input.size()) >= sizeof(received_crc));
+ CHECK_GE(static_cast<size_t>(remaining_input.size()), sizeof(received_crc));
memcpy(&received_crc, &remaining_input[0], sizeof(received_crc));
remaining_input = remaining_input.subspan(sizeof(received_crc));
+ CHECK(remaining_input.empty());
if (calculated_crc != received_crc) {
return tl::nullopt;
}
}
- assert(remaining_input.empty());
return message;
}