SVHSerialInterface.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_SERIAL_INTERFACE_H_INCLUDED
#define DRIVER_SVH_SVH_SERIAL_INTERFACE_H_INCLUDED

// Windows declarations
#include <driver_svh/ImportExport.h>

#include <driver_svh/SVHSerialPacket.h>
#include <driver_svh/SVHReceiveThread.h>
#include <icl_comm_serial/Serial.h>
#include <boost/shared_ptr.hpp>
using icl_comm::serial::Serial;

namespace driver_svh {

class DRIVER_SVH_IMPORT_EXPORT SVHSerialInterface
{
public:
  SVHSerialInterface(const ReceivedPacketCallback &received_packet_callback);

  ~SVHSerialInterface();

  bool connect(const std::string &dev_name);

  void close();

  bool isConnected() { return m_connected; }

  bool sendPacket(SVHSerialPacket &packet);

  unsigned int transmittedPacketCount() { return m_packets_transmitted; }

  void resetTransmitPackageCount();

  void printPacketOnConsole(SVHSerialPacket &packet);

private:
  void receivedPacketCallback(const SVHSerialPacket& packet, unsigned int packet_count);

  bool m_connected;

  uint8_t last_index;

  boost::shared_ptr<Serial> m_serial_device;

  void calcCheckSum(uint8_t &check_sum1, uint8_t &check_sum2, const SVHSerialPacket& packet);

  boost::shared_ptr<SVHReceiveThread> m_receive_thread;

  ReceivedPacketCallback m_received_packet_callback;

  unsigned int m_packets_transmitted;

  unsigned int m_dummy_packets_printed;
};

}

#endif