TCPDevice.hpp
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00034 /*********************************************************************
00035  * Author: Đula Nađ
00036  *   Date: 20.10.2010.
00037  *********************************************************************/
00038 #ifndef TCPDEVICE_HPP_
00039 #define TCPDEVICE_HPP_
00040 #include <labust/tritech/tritechfwd.hpp>
00041 #include <labust/preprocessor/mem_serialized_struct.hpp>
00042 
00043 #include <boost/asio.hpp>
00044 #include <boost/thread.hpp>
00045 
00046 
00047 #include <string>
00048 #include <map>
00049 
00050 namespace labust
00051 {
00052         namespace tritech
00053         {
00054       struct TCPRequest
00055       {
00056                   enum {default_size = 23};
00057                   enum client_server_command {scAttachToNode = 1, scDetachFromNode = 7};
00058               enum app_classes {atNull=0, atGeneric = 15, atAMNAV = 26, atMiniAttSen = 33};
00059           enum con_type {rctHead = 1};
00060 
00061                   TCPRequest():
00062                   size(default_size),
00063                           node(labust::tritech::Nodes::USBL),
00064                           command(scAttachToNode),
00065                           priority(129),
00066                           app_class(atAMNAV),
00067                           type(rctHead){};
00068 
00069                 uint16_t size;
00070         uint8_t node, command, priority, app_class, type;
00071         uint8_t guid[16];
00072       };
00073 
00074           struct TCONMsg
00075           {
00076                   enum {default_size = 14};
00077                   TCONMsg():
00078                                 size(default_size),
00079                                 time(0),
00080                                 txNode(255),
00081                                 rxNode(255),
00082                                 msgType(0),
00083                                 seq(128),
00084                                 node(255),
00085                                 data(new boost::asio::streambuf()){};
00086 
00090                         inline void setup()
00091                         {
00092                                 this->size = data->size()+ default_size;
00093                         }
00094 
00095                         uint16_t size;
00096                         double time;
00097                         uint8_t txNode, rxNode;
00098                         uint8_t msgType;
00099                         uint8_t seq;
00100                         uint8_t node;
00101 
00102                         StreamPtr data;
00103           };
00104 
00110                 class TCPDevice
00111                 {
00112                         enum {Sync,Header,Data};
00113                         enum {ringBufferSize = 7};
00114                 public:
00118                         typedef boost::function<void (TCONMsgPtr)> FunctorType;
00122                         typedef std::map<int,FunctorType> HandlerMap;
00123 
00127                         TCPDevice(const std::string& address, uint32_t port,
00128                                 uint8_t device = Nodes::USBL,
00129                                 uint8_t app_class = TCPRequest::atAMNAV,
00130                                 uint8_t priority = 129);
00134                         ~TCPDevice();
00135 
00139                         void send(TCONMsgPtr message);
00143                         inline void registerHandlers(const HandlerMap& map)
00144                         {
00145                                 this->handlers.insert(map.begin(),map.end());
00146                         }
00147 
00148                 private:
00152                         void _setup();
00156                         void registerDevice(bool register=true);
00160                         void onSync(const boost::system::error_code& error, std::size_t bytes_transferred);
00164                         void onHeader(StreamPtr data, const boost::system::error_code& error, std::size_t bytes_transferred);
00168                         void onData(const boost::system::error_code& error, std::size_t bytes_transferred);
00172                         void start_receive(uint8_t state);
00173 
00177                         boost::asio::io_service io;
00181                         boost::asio::ip::tcp::socket socket;
00185                         std::string address;
00189                         uint32_t port;
00193                         boost::asio::streambuf input;
00197                         std::vector<uint8_t> ringBuffer;
00201                         boost::thread service;
00205                         HandlerMap handlers;
00209                         uint8_t device,app_class,priority;
00210                 };
00211         }
00212 }
00213 
00215 PP_LABUST_MAKE_BOOST_SERIALIZATOR(labust::tritech::TCPRequest,
00216         (uint16_t, size)
00217         (uint8_t, node)
00218         (uint8_t, command)
00219         (uint8_t, priority)
00220         (uint8_t, app_class)
00221         (uint8_t, type))
00222         BOOST_CLASS_IMPLEMENTATION(labust::tritech::TCPRequest, boost::serialization::primitive_type)
00223 
00224 PP_LABUST_MAKE_BOOST_SERIALIZATOR_CLEAN(labust::tritech::TCONMsg,
00225         (uint16_t, size)
00226         (double, time)
00227         (uint8_t, txNode)
00228         (uint8_t, rxNode)
00229         (uint8_t, msgType)
00230         (uint8_t, seq)
00231         (uint8_t, node))
00232 
00233 /* TCPDEVICE_HPP_ */
00234 #endif


tritech_sdk
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:27