Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
kobuki::PacketFinderBase Class Reference

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

#include <packet_finder.hpp>

Inheritance diagram for kobuki::PacketFinderBase:
Inheritance graph
[legend]

List of all members.

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 72 of file packet_finder.hpp.


Member Typedef Documentation

Definition at line 75 of file packet_finder.hpp.


Member Enumeration Documentation

Enumerator:
clearBuffer 
waitingForStx 
waitingForPayloadSize 
waitingForPayloadToEtx 
waitingForEtx 

Definition at line 77 of file packet_finder.hpp.


Constructor & Destructor Documentation

Default constructor. Use with configure().

Definition at line 27 of file packet_finder.cpp.

virtual kobuki::PacketFinderBase::~PacketFinderBase ( ) [inline, virtual]

Definition at line 107 of file packet_finder.hpp.


Member Function Documentation

Reimplemented in kobuki::PacketFinder.

Definition at line 73 of file packet_finder.cpp.

Definition at line 62 of file packet_finder.cpp.

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 37 of file packet_finder.cpp.

Definition at line 68 of file packet_finder.cpp.

Definition at line 110 of file packet_finder.cpp.

Definition at line 115 of file packet_finder.cpp.

Definition at line 78 of file packet_finder.cpp.

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 131 of file packet_finder.cpp.

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

Definition at line 278 of file packet_finder.cpp.

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

Definition at line 313 of file packet_finder.cpp.

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

Definition at line 225 of file packet_finder.cpp.

bool kobuki::PacketFinderBase::WaitForStx ( const unsigned char  datum) [protected]

Definition at line 204 of file packet_finder.cpp.


Member Data Documentation

Definition at line 98 of file packet_finder.hpp.

Definition at line 97 of file packet_finder.hpp.

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

Definition at line 102 of file packet_finder.hpp.

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

Definition at line 102 of file packet_finder.hpp.

Definition at line 94 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_etx [protected]

Definition at line 89 of file packet_finder.hpp.

Definition at line 90 of file packet_finder.hpp.

Definition at line 92 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_payload [protected]

Definition at line 93 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_stx [protected]

Definition at line 88 of file packet_finder.hpp.

Definition at line 85 of file packet_finder.hpp.

Definition at line 96 of file packet_finder.hpp.

Definition at line 91 of file packet_finder.hpp.

Definition at line 100 of file packet_finder.hpp.


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


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Thu Jun 6 2019 20:24:37