dashel.h

Go to the documentation of this file.

/*
        Dashel
        A cross-platform DAta Stream Helper Encapsulation Library
        Copyright (C) 2007 -- 2011:
                
                Stephane Magnenat <stephane at magnenat dot net>
                        (http://stephane.magnenat.net)
                Mobots group - Laboratory of Robotics Systems, EPFL, Lausanne
                        (http://mobots.epfl.ch)
                
                Sebastian Gerlach
                Kenzan Technologies
                        (http://www.kenzantech.com)
        
        All rights reserved.
        
        Redistribution and use in source and binary forms, with or without
        modification, are permitted provided that the following conditions are met:
                * Redistributions of source code must retain the above copyright
                  notice, this list of conditions and the following disclaimer.
                * Redistributions in binary form must reproduce the above copyright
                  notice, this list of conditions and the following disclaimer in the
                  documentation and/or other materials provided with the distribution.
                * Neither the names of "Mobots", "Laboratory of Robotics Systems", "EPFL",
                  "Kenzan Technologies" nor the names of the contributors may be used to
                  endorse or promote products derived from this software without specific
                  prior written permission.
        
        THIS SOFTWARE IS PROVIDED BY COPYRIGHT HOLDERS ``AS IS'' AND ANY
        EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
        WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
        DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
        DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
        (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
        LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
        ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
        (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
        SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef __Dashel_H
#define __Dashel_H

#include <string>
#include <set>
#include <map>
#include <vector>
#include <deque>
#include <stdexcept>


namespace Dashel
{
        class Stream;
        
        #define DASHEL_VERSION "1.0.5"

        #define DASHEL_VERSION_INT 10005
        

        class DashelException: public std::runtime_error
        {
        public:
                typedef enum {
                        Unknown,                        
                        SyncError,                      
                        InvalidTarget,          
                        InvalidOperation,       
                        ConnectionLost,         
                        IOError,                        
                        ConnectionFailed,       
                        EnumerationError,       
                        PreviousIncomingDataNotRead 
                } Source;

                Source source;
                int sysError;
                Stream *stream;

        public:

                DashelException(Source s, int se, const char *reason, Stream* stream = NULL);
        };
        

        class SerialPortEnumerator
        {
        public:

                static std::map<int, std::pair<std::string, std::string> > getPorts();
        };
        
        class IPV4Address
        {
        public:
                unsigned address; 
                unsigned short port; 
        
        public:
                IPV4Address(unsigned addr = 0, unsigned short prt = 0);
                
                IPV4Address(const std::string& name, unsigned short port);
        
                bool operator==(const IPV4Address& o) const;
                
                bool operator<(const IPV4Address& o) const;
                

                std::string format(const bool resolveName = true) const;
                
                std::string hostname() const;
                
                //bool isValid() const;
        };
        
        class ParameterSet
        {
        private:
                std::map<std::string, std::string> values;
                std::vector<std::string> params;

        public:
                void add(const char *line);
                

                void addParam(const char *param, const char *value = NULL, bool atStart = false);
                
                bool isSet(const char *key) const;

                template<typename T> T get(const char *key) const;

                const std::string& get(const char *key) const;
                
                std::string getString() const;
                
                void erase(const char *key);
        };

        class Stream
        {
        private:
                bool failedFlag;
                std::string failReason;

        protected:
                ParameterSet target;
                std::string protocolName;
                
        protected:
                
                friend class Hub;
                
                Stream(const std::string& protocolName) : failedFlag(false), protocolName(protocolName) {}
        
                virtual ~Stream() {}
        
        public: 

                void fail(DashelException::Source s, int se, const char* reason);
                

                bool failed() const { return failedFlag; }
                

                const std::string &getFailReason() const { return failReason; }
                
                const std::string &getProtocolName() const { return protocolName; }
                

                std::string getTargetName() const { return protocolName + ":" + target.getString(); }
                

                const std::string &getTargetParameter(const char *param) const { return target.get(param); }
                

                virtual void write(const void *data, const size_t size) = 0;
                

                template<typename T> void write(T v)
                {
                        write(&v, sizeof(T));
                }
                

                virtual void flush() = 0;
                

                virtual void read(void *data, size_t size) = 0;
                

                template<typename T> T read()
                {
                        T v;
                        read(&v, sizeof(T));
                        return v;
                }
        };
        

        class PacketStream: virtual public Stream
        {
        public:
                PacketStream(const std::string& protocolName) : Stream(protocolName) { }
        

                virtual void send(const IPV4Address& dest) = 0;
                

                virtual void receive(IPV4Address& source) = 0;
        };
        
        class Hub
        {
        public:
                typedef std::set<Stream*> StreamsSet;
                
        private:
                void *hTerminate;                       
                void *streamsLock;                      
                StreamsSet streams;             
        
        protected:
                StreamsSet dataStreams;         
        
        public:
                const bool resolveIncomingNames; 
        
        public:
                Hub(const bool resolveIncomingNames = true);
        
                virtual ~Hub();
                
                Stream* connect(const std::string &target);
                
                void closeStream(Stream* stream);
                
                void run();
                
                bool step(const int timeout = 0);
                
                void stop();
                
                void lock();
                
                void unlock();

        protected:
                
                virtual void connectionCreated(Stream * /* stream */) { }
                
                virtual void incomingData(Stream * /* stream */) { }
                
                virtual void connectionClosed(Stream * /* stream */, bool /* abnormal */) { }
        };
        
        struct StreamTypeRegistry
        {
                typedef Stream* (*CreatorFunc)(const std::string& target, const Hub& hub);
                
                StreamTypeRegistry();
                
                void reg(const std::string& proto, const CreatorFunc func);
                
                Stream* create(const std::string& proto, const std::string& target, const Hub& hub) const;
                
                std::string list() const;
                
        protected:
                typedef std::map<std::string, CreatorFunc> CreatorMap;
                CreatorMap creators;
        };
        
        template<typename C>
        Stream* createInstance(const std::string& target, const Hub& hub)
        {
                return new C(target);
        }
        
        template<typename C>
        Stream* createInstanceWithHub(const std::string& target, const Hub& hub)
        {
                return new C(target, hub);
        }
        
        extern StreamTypeRegistry streamTypeRegistry;
}

#endif