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<h1>serialdevicehandler.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Alex Brooks</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010 <span class="preprocessor">#ifndef GBXSERIALDEVICEACFR_SERIALDEVICEHANDLER_H</span>
<a name="l00011"></a>00011 <span class="preprocessor"></span><span class="preprocessor">#define GBXSERIALDEVICEACFR_SERIALDEVICEHANDLER_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span>
<a name="l00013"></a>00013 <span class="preprocessor">#include <gbxserialacfr/serial.h></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <gbxutilacfr/substatus.h></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <gbxsickacfr/gbxiceutilacfr/safethread.h></span>
<a name="l00016"></a>00016 <span class="preprocessor">#include <gbxsickacfr/gbxiceutilacfr/buffer.h></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include <IceUtil/IceUtil.h></span>
<a name="l00018"></a>00018
<a name="l00019"></a>00019 <span class="keyword">namespace </span>gbxserialdeviceacfr {
<a name="l00020"></a>00020
<a name="l00022"></a><a class="code" href="classgbxserialdeviceacfr_1_1IResponse.html">00022</a> <span class="keyword">class </span><a class="code" href="classgbxserialdeviceacfr_1_1IResponse.html" title="A generic Response: a message received from the device.">IResponse</a> : <span class="keyword">public</span> IceUtil::Shared
<a name="l00023"></a>00023 {
<a name="l00024"></a>00024 <span class="keyword">public</span>:
<a name="l00025"></a>00025 ~<a class="code" href="classgbxserialdeviceacfr_1_1IResponse.html" title="A generic Response: a message received from the device.">IResponse</a>() {}
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="comment">// Does the response indicate a warning condition?</span>
<a name="l00028"></a>00028 <span class="comment">// If so, this will be reported to SerialDeviceHandler's status.</span>
<a name="l00029"></a>00029 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isWarn() <span class="keyword">const</span>=0;
<a name="l00030"></a>00030 <span class="comment">// Does the response indicate an error condition?</span>
<a name="l00031"></a>00031 <span class="comment">// If so, this will be reported to SerialDeviceHandler's status.</span>
<a name="l00032"></a>00032 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isError() <span class="keyword">const</span>=0;
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="comment">// Human-readable string</span>
<a name="l00035"></a>00035 <span class="keyword">virtual</span> std::string toString() <span class="keyword">const</span>=0;
<a name="l00036"></a>00036 };
<a name="l00037"></a>00037 <span class="keyword">typedef</span> IceUtil::Handle<IResponse> IResponsePtr;
<a name="l00038"></a>00038
<a name="l00040"></a><a class="code" href="classgbxserialdeviceacfr_1_1TimedResponse.html">00040</a> <span class="keyword">class </span><a class="code" href="classgbxserialdeviceacfr_1_1TimedResponse.html" title="Response plus a timeStamp: a simple container to keep the two together.">TimedResponse</a> {
<a name="l00041"></a>00041 <span class="keyword">public</span>:
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">// Require an empty constructor to put in a buffer</span>
<a name="l00044"></a>00044 <a class="code" href="classgbxserialdeviceacfr_1_1TimedResponse.html" title="Response plus a timeStamp: a simple container to keep the two together.">TimedResponse</a>() {}
<a name="l00045"></a>00045 <a class="code" href="classgbxserialdeviceacfr_1_1TimedResponse.html" title="Response plus a timeStamp: a simple container to keep the two together.">TimedResponse</a>( <span class="keywordtype">int</span> s, <span class="keywordtype">int</span> us, <span class="keyword">const</span> IResponsePtr &r )
<a name="l00046"></a>00046 : timeStampSec(s), timeStampUsec(us), response(r) {}
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keywordtype">int</span> timeStampSec;
<a name="l00049"></a>00049 <span class="keywordtype">int</span> timeStampUsec;
<a name="l00050"></a>00050 IResponsePtr response;
<a name="l00051"></a>00051 };
<a name="l00052"></a>00052
<a name="l00057"></a><a class="code" href="classgbxserialdeviceacfr_1_1IResponseParser.html">00057</a> <span class="keyword">class </span><a class="code" href="classgbxserialdeviceacfr_1_1IResponseParser.html">IResponseParser</a> {
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keyword">public</span>:
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keyword">virtual</span> ~<a class="code" href="classgbxserialdeviceacfr_1_1IResponseParser.html">IResponseParser</a>() {}
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">// Parses the contents of the buffer.</span>
<a name="l00064"></a>00064 <span class="comment">// Params:</span>
<a name="l00065"></a>00065 <span class="comment">// - 'response': the parsed response</span>
<a name="l00066"></a>00066 <span class="comment">// - 'numBytesParsed': this function will set this to the number of bytes parsed</span>
<a name="l00067"></a>00067 <span class="comment">// (irrespective of whether or not a valid response was found)</span>
<a name="l00068"></a>00068 <span class="comment">// Returns:</span>
<a name="l00069"></a>00069 <span class="comment">// - true: a valid response was found.</span>
<a name="l00070"></a>00070 <span class="comment">// - false: no valid response found, but we still might have parsed (and thrown out) some bytes.</span>
<a name="l00071"></a>00071 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> parseBuffer( <span class="keyword">const</span> std::vector<char> &buffer,
<a name="l00072"></a>00072 IResponsePtr &response,
<a name="l00073"></a>00073 <span class="keywordtype">int</span> &numBytesParsed )=0;
<a name="l00074"></a>00074
<a name="l00075"></a>00075 };
<a name="l00076"></a>00076
<a name="l00090"></a><a class="code" href="classgbxserialdeviceacfr_1_1SerialDeviceHandler.html">00090</a> <span class="keyword">class </span><a class="code" href="classgbxserialdeviceacfr_1_1SerialDeviceHandler.html" title="Handles the serial port.">SerialDeviceHandler</a> : <span class="keyword">public</span> gbxiceutilacfr::SafeThread
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="keyword">public</span>:
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="comment">// Params:</span>
<a name="l00096"></a>00096 <span class="comment">// - subsysName: given to Status</span>
<a name="l00097"></a>00097 <span class="comment">// - unparsedBytesWarnThreshold: if we get more than this many un-parsed bytes packed into the</span>
<a name="l00098"></a>00098 <span class="comment">// receive buffer, flag a warning.</span>
<a name="l00099"></a>00099 <span class="comment">// - serialPort_: must have timeouts enabled</span>
<a name="l00100"></a>00100 <a class="code" href="classgbxserialdeviceacfr_1_1SerialDeviceHandler.html" title="Handles the serial port.">SerialDeviceHandler</a>( <span class="keyword">const</span> std::string &subsysName,
<a name="l00101"></a>00101 <a class="code" href="classgbxserialacfr_1_1Serial.html" title="Encapsulates a serial port.">gbxserialacfr::Serial</a> &serialPort,
<a name="l00102"></a>00102 <a class="code" href="classgbxserialdeviceacfr_1_1IResponseParser.html">IResponseParser</a> &responseParser,
<a name="l00103"></a>00103 <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a> &tracer,
<a name="l00104"></a>00104 <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">gbxutilacfr::Status</a> &status,
<a name="l00105"></a>00105 <span class="keywordtype">int</span> unparsedBytesWarnThreshold = 20000 );
<a name="l00106"></a>00106
<a name="l00107"></a>00107 ~<a class="code" href="classgbxserialdeviceacfr_1_1SerialDeviceHandler.html" title="Handles the serial port.">SerialDeviceHandler</a>();
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="comment">// Send the bytes to the device</span>
<a name="l00110"></a>00110 <span class="keywordtype">void</span> send( <span class="keyword">const</span> <span class="keywordtype">char</span>* commandBytes, <span class="keywordtype">int</span> numCommandBytes );
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">// allows changing of baud rates on-the-fly</span>
<a name="l00113"></a>00113 <span class="keywordtype">void</span> setBaudRate( <span class="keywordtype">int</span> baudRate );
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">// The main thread function, inherited from SubsystemThread</span>
<a name="l00116"></a>00116 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgbxserialdeviceacfr_1_1SerialDeviceHandler.html#a12d8c882444976704a7ad4a26c919b9e">walk</a>();
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="comment">// Allow external non-const access direct to (thread-safe) responseBuffer.</span>
<a name="l00119"></a>00119 <span class="comment">// This is what you use to hear responses.</span>
<a name="l00120"></a>00120 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html">gbxiceutilacfr::Buffer<TimedResponse></a> &responseBuffer() { <span class="keywordflow">return</span> responseBuffer_; }
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="keyword">private</span>:
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">// Returns: true if got data, false if timed out</span>
<a name="l00125"></a>00125 <span class="keywordtype">bool</span> getDataFromSerial();
<a name="l00126"></a>00126 <span class="comment">// Returns: true if statusOK, false it something bad happened</span>
<a name="l00127"></a>00127 <span class="keywordtype">bool</span> processBuffer();
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <a class="code" href="classgbxserialacfr_1_1Serial.html" title="Encapsulates a serial port.">gbxserialacfr::Serial</a> &serial_;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment">// Knows how to parse for responses</span>
<a name="l00132"></a>00132 <a class="code" href="classgbxserialdeviceacfr_1_1IResponseParser.html">IResponseParser</a> &responseParser_;
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="comment">// Contains un-parsed data from the device</span>
<a name="l00135"></a>00135 std::vector<char> buffer_;
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="comment">// Thread-safe store of responses from the device</span>
<a name="l00138"></a>00138 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html">gbxiceutilacfr::Buffer<TimedResponse></a> responseBuffer_;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keywordtype">int</span> unparsedBytesWarnThreshold_;
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a>& tracer_;
<a name="l00143"></a>00143 <a class="code" href="classgbxutilacfr_1_1SubStatus.html" title="Convenience class which maniupulates the status of a subsystem.">gbxutilacfr::SubStatus</a> subStatus_;
<a name="l00144"></a>00144 };
<a name="l00146"></a>00146 <span class="keyword">typedef</span> IceUtil::Handle<SerialDeviceHandler> SerialDeviceHandlerPtr;
<a name="l00147"></a>00147
<a name="l00149"></a>00149 <span class="comment">// Printing Functions</span>
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 std::string toHexString( <span class="keyword">const</span> <span class="keywordtype">char</span> *buf, <span class="keywordtype">int</span> bufLen );
<a name="l00153"></a>00153 <span class="keyword">inline</span> std::string toHexString( <span class="keyword">const</span> std::vector<char> &buf )
<a name="l00154"></a>00154 {<span class="keywordflow">return</span> toHexString( &(buf[0]), buf.size() );}
<a name="l00155"></a>00155
<a name="l00156"></a>00156 std::string toAsciiString( <span class="keyword">const</span> <span class="keywordtype">char</span> *buf, <span class="keywordtype">int</span> bufLen );
<a name="l00157"></a>00157 <span class="keyword">inline</span> std::string toAsciiString( <span class="keyword">const</span> std::vector<char> &buf )
<a name="l00158"></a>00158 {<span class="keywordflow">return</span> toAsciiString( &(buf[0]), buf.size() );}
<a name="l00159"></a>00159
<a name="l00160"></a>00160 } <span class="comment">// namespace</span>
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <span class="preprocessor">#endif</span>
</pre></div></div>
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