Provides simple packet finder which may be consist of stx, etx, payload, ... More...

#include <packet_finder.hpp>

Inheritance diagram for kobuki::PacketFinderBase:

Public Types
typedef ecl::PushAndPop< unsigned char >	BufferType

enum	packetFinderState { clearBuffer = 0, waitingForStx, waitingForPayloadSize, waitingForPayloadToEtx, waitingForEtx }

Public Member Functions
virtual bool	checkSum ()

void	clear ()

void	configure (const std::string &sigslots_namespace, const BufferType &putStx, const BufferType &putEtx, unsigned int sizeLengthField, unsigned int sizeMaxPayload, unsigned int sizeChecksumField, bool variableSizePayload)

void	enableVerbose ()

void	getBuffer (BufferType &bufferRef)

void	getPayload (BufferType &bufferRef)

unsigned int	numberOfDataToRead ()

	PacketFinderBase ()

virtual bool	update (const unsigned char *incoming, unsigned int numberOfIncoming)

virtual	~PacketFinderBase ()

Public Attributes
enum packetFinderState	state

Protected Member Functions
bool	waitForEtx (const unsigned char incoming, bool &foundPacket)

bool	waitForPayloadAndEtx (const unsigned char *incoming, unsigned int numberOfIncoming, bool &foundPacket)

bool	waitForPayloadSize (const unsigned char *incoming, unsigned int numberOfIncoming)

bool	WaitForStx (const unsigned char datum)

Protected Attributes
BufferType	buffer

BufferType	ETX

ecl::Signal< const std::string & >	sig_error

ecl::Signal< const std::string & >	sig_warn

unsigned int	size_checksum_field

unsigned int	size_etx

unsigned int	size_length_field

unsigned int	size_max_payload

unsigned int	size_payload

unsigned int	size_stx

BufferType	STX

bool	variable_size_payload

bool	verbose

Detailed Description

Provides simple packet finder which may be consist of stx, etx, payload, ...

Note

Usage:

@code

Todo:: (1) getting buffer from this class
(2) simple construction of this class
(3) device abstraction
(4) extend-able packet structures
(5) like ros, auto-generation of code from scripts
(6) packetFinder to ros converter
(7) evaluate it (valgrind)

Definition at line 78 of file packet_finder.hpp.

Member Typedef Documentation

◆ BufferType

typedef ecl::PushAndPop<unsigned char> kobuki::PacketFinderBase::BufferType

Definition at line 91 of file packet_finder.hpp.

Member Enumeration Documentation

◆ packetFinderState

enum kobuki::PacketFinderBase::packetFinderState

Enumerator
clearBuffer
waitingForStx
waitingForPayloadSize
waitingForPayloadToEtx
waitingForEtx

Definition at line 93 of file packet_finder.hpp.

Constructor & Destructor Documentation

◆ PacketFinderBase()

kobuki::PacketFinderBase::PacketFinderBase ( )

Default constructor. Use with configure().

Definition at line 31 of file packet_finder.cpp.

◆ ~PacketFinderBase()

virtual kobuki::PacketFinderBase::~PacketFinderBase ( )

inlinevirtual

Definition at line 123 of file packet_finder.hpp.

Member Function Documentation

◆ checkSum()

bool kobuki::PacketFinderBase::checkSum ( )

virtual

Reimplemented in kobuki::PacketFinder.

Definition at line 77 of file packet_finder.cpp.

◆ clear()

void kobuki::PacketFinderBase::clear ( )

Definition at line 66 of file packet_finder.cpp.

◆ configure()

void kobuki::PacketFinderBase::configure	(	const std::string &	sigslots_namespace,
		const BufferType &	putStx,
		const BufferType &	putEtx,
		unsigned int	sizeLengthField,
		unsigned int	sizeMaxPayload,
		unsigned int	sizeChecksumField,
		bool	variableSizePayload
	)

Definition at line 41 of file packet_finder.cpp.

◆ enableVerbose()

void kobuki::PacketFinderBase::enableVerbose ( )

Definition at line 72 of file packet_finder.cpp.

◆ getBuffer()

void kobuki::PacketFinderBase::getBuffer ( BufferType & bufferRef )

Definition at line 114 of file packet_finder.cpp.

◆ getPayload()

void kobuki::PacketFinderBase::getPayload ( BufferType & bufferRef )

Definition at line 119 of file packet_finder.cpp.

◆ numberOfDataToRead()

unsigned int kobuki::PacketFinderBase::numberOfDataToRead ( )

Definition at line 82 of file packet_finder.cpp.

◆ update()

bool kobuki::PacketFinderBase::update	(	const unsigned char *	incoming,
		unsigned int	numberOfIncoming
	)

virtual

Checks for incoming packets.

Parameters

incoming
numberOfIncoming

Returns: bool : true if a valid incoming packet has been found.

Definition at line 135 of file packet_finder.cpp.

◆ waitForEtx()

bool kobuki::PacketFinderBase::waitForEtx	(	const unsigned char	incoming,
		bool &	foundPacket
	)

protected

Definition at line 282 of file packet_finder.cpp.

◆ waitForPayloadAndEtx()

bool kobuki::PacketFinderBase::waitForPayloadAndEtx	(	const unsigned char *	incoming,
		unsigned int	numberOfIncoming,
		bool &	foundPacket
	)

protected

Definition at line 317 of file packet_finder.cpp.

◆ waitForPayloadSize()

bool kobuki::PacketFinderBase::waitForPayloadSize	(	const unsigned char *	incoming,
		unsigned int	numberOfIncoming
	)

protected

Definition at line 229 of file packet_finder.cpp.

◆ WaitForStx()

bool kobuki::PacketFinderBase::WaitForStx ( const unsigned char datum )

protected

Definition at line 208 of file packet_finder.cpp.

Member Data Documentation

◆ buffer

BufferType kobuki::PacketFinderBase::buffer

protected

Definition at line 114 of file packet_finder.hpp.

◆ ETX

BufferType kobuki::PacketFinderBase::ETX

protected

Definition at line 113 of file packet_finder.hpp.

◆ sig_error

ecl::Signal<const std::string&> kobuki::PacketFinderBase::sig_error

protected

Definition at line 118 of file packet_finder.hpp.

◆ sig_warn

ecl::Signal<const std::string&> kobuki::PacketFinderBase::sig_warn

protected

Definition at line 118 of file packet_finder.hpp.

◆ size_checksum_field

unsigned int kobuki::PacketFinderBase::size_checksum_field

protected

Definition at line 110 of file packet_finder.hpp.

◆ size_etx

unsigned int kobuki::PacketFinderBase::size_etx

protected

Definition at line 105 of file packet_finder.hpp.

◆ size_length_field

unsigned int kobuki::PacketFinderBase::size_length_field

protected

Definition at line 106 of file packet_finder.hpp.

◆ size_max_payload

unsigned int kobuki::PacketFinderBase::size_max_payload

protected

Definition at line 108 of file packet_finder.hpp.

◆ size_payload

unsigned int kobuki::PacketFinderBase::size_payload

protected

Definition at line 109 of file packet_finder.hpp.

◆ size_stx

unsigned int kobuki::PacketFinderBase::size_stx

protected

Definition at line 104 of file packet_finder.hpp.

◆ state

enum packetFinderState kobuki::PacketFinderBase::state

Definition at line 101 of file packet_finder.hpp.

◆ STX

BufferType kobuki::PacketFinderBase::STX

protected

Definition at line 112 of file packet_finder.hpp.

◆ variable_size_payload

bool kobuki::PacketFinderBase::variable_size_payload

protected

Definition at line 107 of file packet_finder.hpp.

◆ verbose

bool kobuki::PacketFinderBase::verbose

protected

Definition at line 116 of file packet_finder.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BufferType

Member Enumeration Documentation

◆ packetFinderState

Constructor & Destructor Documentation

◆ PacketFinderBase()

◆ ~PacketFinderBase()

Member Function Documentation

◆ checkSum()

◆ clear()

◆ configure()

◆ enableVerbose()

◆ getBuffer()

◆ getPayload()

◆ numberOfDataToRead()

◆ update()

◆ waitForEtx()

◆ waitForPayloadAndEtx()

◆ waitForPayloadSize()

◆ WaitForStx()

Member Data Documentation

◆ buffer

◆ ETX

◆ sig_error

◆ sig_warn

◆ size_checksum_field

◆ size_etx

◆ size_length_field

◆ size_max_payload

◆ size_payload

◆ size_stx

◆ state

◆ STX

◆ variable_size_payload

◆ verbose