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serialdevicehandler.h /* * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics * http://gearbox.sf.net/ * Copyright (c) 2004-2008 Alex Brooks * * This distribution is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef GBXSERIALDEVICEACFR_SERIALDEVICEHANDLER_H #define GBXSERIALDEVICEACFR_SERIALDEVICEHANDLER_H #include <gbxserialacfr/serial.h> #include <gbxutilacfr/substatus.h> #include <gbxsickacfr/gbxiceutilacfr/safethread.h> #include <gbxsickacfr/gbxiceutilacfr/buffer.h> #include <IceUtil/IceUtil.h> namespace gbxsickacfr { namespace gbxserialdeviceacfr { class IResponse : public IceUtil::Shared { public: ~IResponse() {} // Does the response indicate a warning condition? virtual bool isWarn() const=0; // Does the response indicate an error condition? virtual bool isError() const=0; // Human-readable string virtual std::string toString() const=0; }; typedef IceUtil::Handle<IResponse> IResponsePtr; class TimedResponse { public: // Require an empty constructor to put in a buffer TimedResponse() {} TimedResponse( int s, int us, const IResponsePtr &r ) : timeStampSec(s), timeStampUsec(us), response(r) {} int timeStampSec; int timeStampUsec; IResponsePtr response; }; class IResponseParser { public: virtual ~IResponseParser() {} // Parses the contents of the buffer. // Params: // - 'response': the parsed response // - 'numBytesParsed': this function will set this to the number of bytes parsed // (irrespective of whether or not a valid response was found) // Returns: // - true: a valid response was found. // - false: no valid response found, but we still might have parsed (and thrown out) some bytes. virtual bool parseBuffer( const std::vector<char> &buffer, IResponsePtr &response, int &numBytesParsed )=0; }; class SerialDeviceHandler : public gbxiceutilacfr::SafeThread { public: // Params: // - subsysName: given to Status // - unparsedBytesWarnThreshold: if we get more than this many un-parsed bytes packed into the // receive buffer, flag a warning. // - serialPort_: must have timeouts enabled SerialDeviceHandler( const std::string &subsysName, gbxserialacfr::Serial &serialPort, IResponseParser &responseParser, gbxutilacfr::Tracer &tracer, gbxutilacfr::Status &status, int unparsedBytesWarnThreshold = 20000 ); ~SerialDeviceHandler(); // Send the bytes to the device void send( const char* commandBytes, int numCommandBytes ); // allows changing of baud rates on-the-fly void setBaudRate( int baudRate ); // The main thread function, inherited from SubsystemThread virtual void walk(); // Allow external non-const access direct to (thread-safe) responseBuffer gbxiceutilacfr::Buffer<TimedResponse> &responseBuffer() { return responseBuffer_; } private: // Returns: true if got data, false if timed out bool getDataFromSerial(); // Returns: true if statusOK, false it something bad happened bool processBuffer(); gbxserialacfr::Serial &serial_; // Knows how to parse for responses IResponseParser &responseParser_; // Contains un-parsed data from the device std::vector<char> buffer_; // Thread-safe store of responses from the device gbxiceutilacfr::Buffer<TimedResponse> responseBuffer_; int unparsedBytesWarnThreshold_; gbxutilacfr::Tracer& tracer_; gbxutilacfr::SubStatus subStatus_; }; // Printing Functions std::string toHexString( const char *buf, int bufLen ); // inline std::string toHexString( char *buf, int bufLen ) // { return toHexString( (const unsigned char *)buf, bufLen ); } inline std::string toHexString( const std::vector<char> &buf ) {return toHexString( &(buf[0]), buf.size() );} } } // namespace #endif

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