SVHReceiveThread.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef DRIVER_SVH_SVH_RECEIVE_THREAD_H_INCLUDED
#define DRIVER_SVH_SVH_RECEIVE_THREAD_H_INCLUDED

#include <icl_core/TimeSpan.h>
#include <icl_core_thread/PeriodicThread.h>
#include <icl_comm_serial/Serial.h>
#include <icl_comm/ByteOrderConversion.h>

#include <driver_svh/Logging.h>
#include <driver_svh/SVHSerialPacket.h>

#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>

using icl_core::TimeSpan;
using icl_core::thread::PeriodicThread;
using icl_comm::serial::Serial;

namespace driver_svh {

typedef boost::function<void (const SVHSerialPacket& packet, unsigned int packet_count)> ReceivedPacketCallback;

class SVHReceiveThread : public PeriodicThread
{
public:
  SVHReceiveThread(const TimeSpan& period, boost::shared_ptr<Serial> device,
                    ReceivedPacketCallback const & received_callback);

  virtual ~SVHReceiveThread() {}

  virtual void run();

  unsigned int receivedPacketCount() { return m_packets_received; }

  void resetReceivedPackageCount() { m_packets_received = 0; }

private:

  boost::shared_ptr<Serial> m_serial_device;

  enum
  {
    eRS_HEADER1,
    eRS_HEADER2,
    eRS_INDEX,
    eRS_ADDRESS,
    eRS_LENGTH1,
    eRS_LENGTH2,
    eRS_DATA,
    eRS_CHECKSUM1,
    eRS_CHECKSUM2
  } typedef tState;

  tState m_received_state;

  uint16_t m_length;
  uint8_t m_checksum1;
  uint8_t m_checksum2;

  std::vector<uint8_t> m_data;

  icl_comm::ArrayBuilder m_ab;

  unsigned int m_packets_received;
  unsigned int m_skipped_bytes;

  bool receiveData();

  ReceivedPacketCallback m_received_callback;

};

}

#endif