serial.h
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00001 
00032 // Based on example from:
00033 //   https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
00034 
00035 #ifndef CREATE_SERIAL_H
00036 #define CREATE_SERIAL_H
00037 
00038 #include <boost/asio.hpp>
00039 #include <boost/thread.hpp>
00040 #include <boost/thread/condition_variable.hpp>
00041 #include <boost/function.hpp>
00042 #include <boost/shared_ptr.hpp>
00043 
00044 #include "create/data.h"
00045 #include "create/types.h"
00046 #include "create/util.h"
00047 
00048 namespace create {
00049   class Serial {
00050 
00051     protected:
00052       boost::asio::io_service io;
00053       boost::asio::serial_port port;
00054 
00055     private:
00056       boost::thread ioThread;
00057       boost::condition_variable dataReadyCond;
00058       boost::mutex dataReadyMut;
00059       bool dataReady;
00060       bool isReading;
00061       bool firstRead;
00062       uint8_t byteRead;
00063 
00064 
00065       // Callback executed when data arrives from Create
00066       void onData(const boost::system::error_code& e, const std::size_t& size);
00067       // Callback to execute once data arrives
00068       boost::function<void()> callback;
00069       // Start and stop reading data from Create
00070       bool startReading();
00071       void stopReading();
00072 
00073     protected:
00074       boost::shared_ptr<Data> data;
00075       // These are for possible diagnostics
00076       uint64_t corruptPackets;
00077       uint64_t totalPackets;
00078 
00079       virtual bool startSensorStream() = 0;
00080       virtual void processByte(uint8_t byteRead) = 0;
00081 
00082       // Notifies main thread that data is fresh and makes the user callback
00083       void notifyDataReady();
00084 
00085     public:
00086       Serial(boost::shared_ptr<Data> data);
00087       ~Serial();
00088       bool connect(const std::string& port, const int& baud = 115200, boost::function<void()> cb = 0);
00089       void disconnect();
00090       inline bool connected() const { return port.is_open(); };
00091       bool send(const uint8_t* bytes, const uint32_t numBytes);
00092       bool sendOpcode(const Opcode& code);
00093       uint64_t getNumCorruptPackets() const;
00094       uint64_t getTotalPackets() const;
00095   };
00096 }  // namespace create
00097 
00098 #endif // CREATE_SERIAL_H


libcreate
Author(s): Jacob Perron
autogenerated on Thu Jun 6 2019 21:02:06