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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_e6faee39d20d45fac309cc35f2ddb285.html">gbxsickacfr</a>
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<h1>serialhandler.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
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef SICK_ACFR_SERIALHANDLER_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define SICK_ACFR_SERIALHANDLER_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <gbxsickacfr/messages.h></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <gbxserialacfr/serial.h></span>
<a name="l00016"></a>00016 <span class="preprocessor">#include <gbxsickacfr/gbxiceutilacfr/thread.h></span>
<a name="l00017"></a>00017 <span class="preprocessor">#include <gbxsickacfr/gbxiceutilacfr/buffer.h></span>
<a name="l00018"></a>00018 <span class="preprocessor">#include <gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h></span>
<a name="l00019"></a>00019
<a name="l00020"></a>00020 <span class="keyword">namespace </span>gbxsickacfr {
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="keyword">class </span>ResponseParser : <span class="keyword">public</span> gbxserialdeviceacfr::IResponseParser
<a name="l00023"></a>00023 {
<a name="l00024"></a>00024 <span class="keyword">public</span>:
<a name="l00025"></a>00025 <span class="keywordtype">bool</span> parseBuffer( <span class="keyword">const</span> std::vector<char> &buffer,
<a name="l00026"></a>00026 gbxserialdeviceacfr::IResponsePtr &response,
<a name="l00027"></a>00027 <span class="keywordtype">int</span> &numBytesParsed )
<a name="l00028"></a>00028 {
<a name="l00029"></a>00029 LmsResponse *lmsResponse;
<a name="l00030"></a>00030 <span class="keywordtype">int</span> gotResponse = parseBufferForResponses( (<span class="keyword">const</span> uChar*)&(buffer[0]),
<a name="l00031"></a>00031 buffer.size(),
<a name="l00032"></a>00032 lmsResponse,
<a name="l00033"></a>00033 numBytesParsed );
<a name="l00034"></a>00034 <span class="keywordflow">if</span> ( gotResponse )
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 response = lmsResponse;
<a name="l00037"></a>00037 }
<a name="l00038"></a>00038 <span class="keywordflow">return</span> gotResponse;
<a name="l00039"></a>00039 }
<a name="l00040"></a>00040
<a name="l00041"></a>00041 };
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">// LmsResponse plus a timeStamp</span>
<a name="l00044"></a>00044 <span class="keyword">class </span>TimedLmsResponse {
<a name="l00045"></a>00045 <span class="keyword">public</span>:
<a name="l00046"></a>00046 TimedLmsResponse() {}
<a name="l00047"></a>00047 TimedLmsResponse( <span class="keywordtype">int</span> s, <span class="keywordtype">int</span> us, <span class="keyword">const</span> LmsResponse &r )
<a name="l00048"></a>00048 : timeStampSec(s), timeStampUsec(us), response(r) {}
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keywordtype">int</span> timeStampSec;
<a name="l00051"></a>00051 <span class="keywordtype">int</span> timeStampUsec;
<a name="l00052"></a>00052 LmsResponse response;
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">//</span>
<a name="l00056"></a>00056 <span class="comment">// @brief Handles the serial port.</span>
<a name="l00057"></a>00057 <span class="comment">//</span>
<a name="l00058"></a>00058 <span class="comment">// Read in this separate loop so we can hopefully grab the messages</span>
<a name="l00059"></a>00059 <span class="comment">// as soon as they arrive, without relying on having Driver::read()</span>
<a name="l00060"></a>00060 <span class="comment">// called by an external thread which may be doing other stuff.</span>
<a name="l00061"></a>00061 <span class="comment">// This will hopefully give us more accurate timestamps.</span>
<a name="l00062"></a>00062 <span class="comment">//</span>
<a name="l00063"></a>00063 <span class="comment">// @author Alex Brooks</span>
<a name="l00064"></a>00064 <span class="comment">//</span>
<a name="l00065"></a>00065 <span class="keyword">class </span>SerialHandler
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keyword">public</span>:
<a name="l00069"></a>00069
<a name="l00070"></a>00070 SerialHandler( <span class="keyword">const</span> std::string &dev,
<a name="l00071"></a>00071 <a class="code" href="classgbxutilacfr_1_1Tracer.html" title="Local and remote tracing.">gbxutilacfr::Tracer</a> &tracer,
<a name="l00072"></a>00072 <a class="code" href="classgbxutilacfr_1_1Status.html" title="Local interface to component status.">gbxutilacfr::Status</a> &status );
<a name="l00073"></a>00073 ~SerialHandler();
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keywordtype">void</span> send( <span class="keyword">const</span> std::vector<uChar> &telegram )
<a name="l00076"></a>00076 { serialDeviceHandler_->send( (<span class="keyword">const</span> <span class="keywordtype">char</span>*)&(telegram[0]), telegram.size() ); }
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keywordtype">void</span> setBaudRate( <span class="keywordtype">int</span> baudRate )
<a name="l00079"></a>00079 { serialDeviceHandler_->setBaudRate( baudRate ); }
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="comment">// waits up to maxWaitMs for a Response</span>
<a name="l00082"></a>00082 <span class="comment">// return codes same as gbxiceutilacfr::Buffer</span>
<a name="l00083"></a>00083 <span class="keywordtype">int</span> getNextResponse( TimedLmsResponse &timedResponse, <span class="keywordtype">int</span> maxWaitMs )
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="classgbxserialdeviceacfr_1_1TimedResponse.html" title="Response plus a timeStamp: a simple container to keep the two together.">gbxserialdeviceacfr::TimedResponse</a> genericTimedResponse;
<a name="l00086"></a>00086 <span class="keywordtype">int</span> ret = serialDeviceHandler_->responseBuffer().getAndPopWithTimeout( genericTimedResponse, maxWaitMs );
<a name="l00087"></a>00087 <span class="keywordflow">if</span> ( ret == 0 )
<a name="l00088"></a>00088 {
<a name="l00089"></a>00089 timedResponse.timeStampSec = genericTimedResponse.timeStampSec;
<a name="l00090"></a>00090 timedResponse.timeStampUsec = genericTimedResponse.timeStampUsec;
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">// This cast is safe becuase the response had to have been generated by ResponseParser</span>
<a name="l00093"></a>00093 LmsResponse *lmsResponse = (LmsResponse*) &(*(genericTimedResponse.response));
<a name="l00094"></a>00094
<a name="l00095"></a>00095 timedResponse.response = *lmsResponse;
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 <span class="keywordflow">return</span> ret;
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="keyword">private</span>:
<a name="l00101"></a>00101
<a name="l00102"></a>00102 ResponseParser responseParser_;
<a name="l00103"></a>00103 <a class="code" href="classgbxserialacfr_1_1Serial.html" title="Encapsulates a serial port.">gbxserialacfr::Serial</a> serialPort_;
<a name="l00104"></a>00104 <a class="code" href="classgbxserialdeviceacfr_1_1SerialDeviceHandler.html" title="Handles the serial port.">gbxserialdeviceacfr::SerialDeviceHandler</a> *serialDeviceHandler_;
<a name="l00105"></a>00105 <span class="comment">// Keep a smart pointer to the SerialDeviceHandler as a thread, for stop/start purposes</span>
<a name="l00106"></a>00106 <a class="code" href="namespacegbxiceutilacfr.html#a426649efe8df447b1e04fa1e46efde08" title="A smart pointer to the thread class.">gbxiceutilacfr::ThreadPtr</a> serialDeviceHandlerThreadPtr_;
<a name="l00107"></a>00107 };
<a name="l00108"></a>00108
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110
<a name="l00111"></a>00111 <span class="preprocessor">#endif</span>
</pre></div></div>
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