serial_query.h
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00001 
00033 // Based on example from:
00034 //   https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
00035 
00036 #ifndef CREATE_SERIAL_QUERY_H
00037 #define CREATE_SERIAL_QUERY_H
00038 
00039 #include <boost/asio.hpp>
00040 #include <boost/thread.hpp>
00041 #include <boost/thread/condition_variable.hpp>
00042 #include <boost/function.hpp>
00043 #include <boost/shared_ptr.hpp>
00044 
00045 #include "create/data.h"
00046 #include "create/types.h"
00047 #include "create/util.h"
00048 #include "create/serial.h"
00049 
00050 namespace create {
00051   class SerialQuery : public Serial {
00052 
00053     private:
00054       boost::asio::deadline_timer streamRecoveryTimer;
00055       uint8_t packetID;
00056       int8_t packetByte;
00057       uint16_t packetData;
00058       const uint8_t maxPacketID;
00059 
00060       bool started;
00061 
00062       void requestSensorData();
00063       void restartSensorStream(const boost::system::error_code& err);
00064 
00065       void flushInput();
00066 
00067     protected:
00068       bool startSensorStream();
00069       void processByte(uint8_t byteRead);
00070 
00071     public:
00072       SerialQuery(boost::shared_ptr<Data> data);
00073   };
00074 }  // namespace create
00075 
00076 #endif // CREATE_SERIAL_H


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