#include <Transport.h>
Definition at line 97 of file Transport.h.
| Enumerator |
|---|
| GARBLE_BYTES |
|
| INVALID_MSG |
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| IGNORED_ACK |
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| QUEUE_FULL |
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| NUM_COUNTERS |
|
Definition at line 100 of file Transport.h.
| clearpath::Transport::Transport |
( |
| ) |
|
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protected |
Constructs an unconfigured transport instance.
Definition at line 138 of file Transport.cpp.
| clearpath::Transport::~Transport |
( |
| ) |
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protected |
| int clearpath::Transport::close |
( |
| ) |
|
Close this Transport.
- Returns
- Zero on success, nonzero otherwise
- Postcondition
- Tranport will be unconfigured, regardless of success/failure.
Definition at line 192 of file Transport.cpp.
| int clearpath::Transport::closeComm |
( |
| ) |
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private |
| void clearpath::Transport::configure |
( |
const char * |
device, |
|
|
int |
retries |
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) |
| |
Configure this Transport for communication. If this Transport is already configured, it will be closed and reconfigured. The RX buffer and Message queue will be flushed. Counters will be reset.
- Parameters
-
| device | The device to communicate over. (Currently, must be serial) |
| retries | Number of times to resend an unacknowledged message. |
- Exceptions
-
- Postcondition
- Transport becomes configured.
Definition at line 164 of file Transport.cpp.
| void clearpath::Transport::enqueueMessage |
( |
Message * |
msg | ) |
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private |
Add a Message to the Message queue. Checks Message validity, and drops invalid messages. Trims queue down to size if it gets too big.
- Parameters
-
| msg | The message to enqueue. |
Definition at line 349 of file Transport.cpp.
| void clearpath::Transport::flush |
( |
std::list< Message * > * |
queue = 0 | ) |
|
| void clearpath::Transport::flush |
( |
enum MessageTypes |
type, |
|
|
std::list< Message * > * |
queue = 0 |
|
) |
| |
| Message * clearpath::Transport::getAck |
( |
| ) |
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private |
Read data until an ack message is found. Any data messages received by this function will be queued.
- Returns
- The next ack message, if one is read. Null if no ack message has been read yet.
Definition at line 316 of file Transport.cpp.
| unsigned long clearpath::Transport::getCounter |
( |
enum counterTypes |
counter | ) |
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|
inline |
| Transport & clearpath::Transport::instance |
( |
| ) |
|
|
static |
| bool clearpath::Transport::isConfigured |
( |
| ) |
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|
inline |
| int clearpath::Transport::openComm |
( |
const char * |
device | ) |
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private |
Opens a serial port with the default configuration (115200 bps, 8-N-1), using the device specified in the constructor
Definition at line 208 of file Transport.cpp.
| void clearpath::Transport::poll |
( |
| ) |
|
Public function which makes sure buffered messages are still being read into the internal buffer. A compromise between forcing a thread-based implementation and blocking on results. This could be placed into a separate thread, but will need to be wrapped for thread safety
Definition at line 378 of file Transport.cpp.
| Message * clearpath::Transport::popNext |
( |
| ) |
|
Removes the oldest Message from the Message queue and returns it. All data waiting in the input buffer will be read and queued.
- Returns
- The oldest message in the queue. This Message is removed from the queue. It is dynamically allocated; the caller is responsible for freeing it. Null if no Messages are currently queued.
Definition at line 476 of file Transport.cpp.
Finds the oldest message of a specific type in the Message queue, removes it, and returns it. Older messages of the wrong type will be left in the queue. All data waiting in the input buffer will be read and queued.
- Returns
- The oldest message of the correct type in the queue. This Message is removed from the queue. It is dynamically allocated; the caller is responsible for freeing it. Null if no Messages are currently queued.
Definition at line 499 of file Transport.cpp.
| void clearpath::Transport::printCounters |
( |
std::ostream & |
stream = std::cout | ) |
|
Prints a nice list of counter values
Definition at line 661 of file Transport.cpp.
| void clearpath::Transport::resetCounters |
( |
| ) |
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private |
| Message * clearpath::Transport::rxMessage |
( |
| ) |
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|
private |
Non-blocking message receive function. !!! Absolutely not reentrant !!! !!! Keeps internal static state !!!
- Returns
- A pointer to a dynamically allocated message, if one has been received this call. Null if no complete message has been received. Bad data are silently eaten.
Definition at line 241 of file Transport.cpp.
| void clearpath::Transport::send |
( |
Message * |
m | ) |
|
Send a message. Waits for the firmware to acknowlge and resends the packet a few timew if not acknowledged.
- Parameters
-
- Exceptions
-
| Transport::Exception | if never acknowledged. |
Definition at line 406 of file Transport.cpp.
| Message * clearpath::Transport::waitNext |
( |
double |
timeout = 0.0 | ) |
|
Fetch a message, blocking if there are no messages currently available.
- Parameters
-
| timeout | Maximum time to block, in seconds. Actual resolution is system dependent A timeout of 0.0 indicates no timeout. |
- Returns
- A message. Null if the timeout elapses.
Definition at line 525 of file Transport.cpp.
Fetch a particular type of message, blocking if one isn't available.
- Parameters
-
| type | The type of message to fetch |
| timeout | Maximum time to block, in seconds. Actual resolution is system dependent A timeout of 0.0 indicates no timeout. |
- Returns
- A message of the requested type. Nul if the timeout elapses.
Definition at line 557 of file Transport.cpp.
| bool clearpath::Transport::configured |
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private |
| const char * clearpath::Transport::counter_names |
|
static |
Initial value:= {
"Garbled bytes",
"Invalid messages",
"Ignored acknowledgment",
"Message queue overflow"
}
Definition at line 108 of file Transport.h.
| const size_t clearpath::Transport::MAX_QUEUE_LEN = 10000 |
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staticprivate |
| int clearpath::Transport::retries |
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private |
| const int clearpath::Transport::RETRY_DELAY_MS = 200 |
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staticprivate |
| std::list<Message *> clearpath::Transport::rx_queue |
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private |
| void* clearpath::Transport::serial |
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private |
The documentation for this class was generated from the following files: