This is the central interface between ROSaic and the Rx(s), managing I/O operations such as reading messages and sending commands.. More...

#include <async_manager.hpp>

Inheritance diagram for io_comm_rx::AsyncManager< StreamT >:

[legend]

Public Member Functions
	AsyncManager (ROSaicNodeBase *node, boost::shared_ptr< StreamT > stream, boost::shared_ptr< boost::asio::io_service > io_service, std::size_t buffer_size=16384)
	Class constructor. More...

bool	isOpen () const
	Determines whether or not the connection is open. More...

bool	send (const std::string &cmd)
	Sends commands via the I/O stream. More...

void	setCallback (const Callback &callback)
	Allows to connect to the CallbackHandlers class. More...

void	wait (uint16_t *count)

virtual	~AsyncManager ()

Public Member Functions inherited from io_comm_rx::Manager
virtual	~Manager ()

Protected Member Functions
void	asyncReadSomeHandler (const boost::system::error_code &error, std::size_t bytes_transferred)
	Handler for async_read_some (Boost library).. More...

void	callAsyncWait (uint16_t *count)
	Handles the ROS_INFO throwing (if no incoming message) More...

void	close ()
	Closes stream "stream_". More...

void	read ()

void	tryParsing ()

void	write (const std::string &cmd)
	Sends command "cmd" to the Rx. More...

Protected Attributes
bool	allow_writing_

boost::shared_ptr< boost::thread >	async_background_thread_
	New thread for receiving incoming messages. More...

const std::size_t	buffer_size_
	Size of in_ buffers. More...

CircularBuffer	circular_buffer_

const uint16_t	count_max_

uint16_t	do_read_count_

std::vector< uint8_t >	in_
	Buffer for async_read_some() to read continuous SBF/NMEA stream. More...

boost::shared_ptr< boost::asio::io_service >	io_service_
	io_context object More...

boost::mutex	parse_mutex_
	Mutex to control changes of class variable "try_parsing". More...

boost::condition_variable	parsing_condition_
	Condition variable complementing "parse_mutex". More...

boost::shared_ptr< boost::thread >	parsing_thread_
	New thread for receiving incoming messages. More...

Callback	read_callback_
	Callback to be called once message arrives. More...

Timestamp	recvTime_
	Timestamp of receiving buffer. More...

bool	stopping_
	Whether or not we want to sever the connection to the Rx. More...

boost::shared_ptr< StreamT >	stream_
	Stream, represents either serial or TCP/IP connection. More...

boost::asio::deadline_timer	timer_

bool	try_parsing_
	Determines when the tryParsing() method will attempt parsing SBF/NMEA. More...

boost::shared_ptr< boost::thread >	waiting_thread_
	New thread for receiving incoming messages. More...

Private Attributes
ROSaicNodeBase *	node_
	Pointer to the node. More...

Additional Inherited Members
Public Types inherited from io_comm_rx::Manager
typedef boost::function< void(Timestamp, const uint8_t *, std::size_t &)>	Callback

Detailed Description

template<typename StreamT>
class io_comm_rx::AsyncManager< StreamT >

This is the central interface between ROSaic and the Rx(s), managing I/O operations such as reading messages and sending commands..

StreamT is either boost::asio::serial_port or boost::asio::tcp::ip

Definition at line 116 of file async_manager.hpp.

Constructor & Destructor Documentation

◆ AsyncManager()

template<typename StreamT >

io_comm_rx::AsyncManager< StreamT >::AsyncManager	(	ROSaicNodeBase *	node,
		boost::shared_ptr< StreamT >	stream,
		boost::shared_ptr< boost::asio::io_service >	io_service,
		std::size_t	buffer_size = `16384`
	)

Class constructor.

Parameters

	stream	Whether TCP/IP or serial communication, either boost::asio::serial_port or boost::asio::tcp::ip
	io_service	The io_context object. The io_context represents your program's link to the operating system's I/O services
[in]	buffer_size	Size of the circular buffer in bytes

Definition at line 329 of file async_manager.hpp.

◆ ~AsyncManager()

template<typename StreamT >

io_comm_rx::AsyncManager< StreamT >::~AsyncManager ( )

virtual

Definition at line 375 of file async_manager.hpp.

Member Function Documentation

◆ asyncReadSomeHandler()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::asyncReadSomeHandler	(	const boost::system::error_code &	error,
		std::size_t	bytes_transferred
	)

protected

Handler for async_read_some (Boost library)..

Definition at line 401 of file async_manager.hpp.

◆ callAsyncWait()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::callAsyncWait ( uint16_t * count )

protected

Handles the ROS_INFO throwing (if no incoming message)

Definition at line 323 of file async_manager.hpp.

◆ close()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::close ( )

protected

Closes stream "stream_".

Definition at line 432 of file async_manager.hpp.

◆ isOpen()

template<typename StreamT >

bool io_comm_rx::AsyncManager< StreamT >::isOpen ( ) const

inlinevirtual

Determines whether or not the connection is open.

Implements io_comm_rx::Manager.

Definition at line 147 of file async_manager.hpp.

◆ read()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::read ( )

protected

Reads in via async_read_some and hands certain number of bytes (bytes_transferred) over to async_read_some_handler

Definition at line 387 of file async_manager.hpp.

◆ send()

template<typename StreamT >

bool io_comm_rx::AsyncManager< StreamT >::send ( const std::string & cmd )

virtual

Sends commands via the I/O stream.

Parameters

cmd	The command to be sent

Implements io_comm_rx::Manager.

Definition at line 299 of file async_manager.hpp.

◆ setCallback()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::setCallback ( const Callback & callback )

inlinevirtual

Allows to connect to the CallbackHandlers class.

Parameters

callback The function that becomes our callback, typically the readCallback() method of CallbackHandlers

Implements io_comm_rx::Manager.

Definition at line 137 of file async_manager.hpp.

◆ tryParsing()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::tryParsing ( )

protected

Tries parsing SBF/NMEA whenever the boolean class variable "try_parsing" is true

Definition at line 236 of file async_manager.hpp.

◆ wait()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::wait ( uint16_t * count )

virtual

Waits count seconds before throwing ROS_INFO message in case no message from the receiver arrived

Implements io_comm_rx::Manager.

Definition at line 445 of file async_manager.hpp.

◆ write()

template<typename StreamT >

void io_comm_rx::AsyncManager< StreamT >::write ( const std::string & cmd )

protected

Sends command "cmd" to the Rx.

Definition at line 313 of file async_manager.hpp.

Member Data Documentation

◆ allow_writing_

template<typename StreamT >

bool io_comm_rx::AsyncManager< StreamT >::allow_writing_

protected

Determines when the asyncReadSomeHandler() method should write SBF/NMEA into the circular buffer

Definition at line 180 of file async_manager.hpp.

◆ async_background_thread_

template<typename StreamT >

boost::shared_ptr<boost::thread> io_comm_rx::AsyncManager< StreamT >::async_background_thread_

protected

New thread for receiving incoming messages.

Definition at line 199 of file async_manager.hpp.

◆ buffer_size_

template<typename StreamT >

const std::size_t io_comm_rx::AsyncManager< StreamT >::buffer_size_

protected

Size of in_ buffers.

Definition at line 214 of file async_manager.hpp.

◆ circular_buffer_

template<typename StreamT >

CircularBuffer io_comm_rx::AsyncManager< StreamT >::circular_buffer_

protected

Circular buffer to avoid unsuccessful SBF/NMEA parsing due to incomplete messages

Definition at line 196 of file async_manager.hpp.

◆ count_max_

template<typename StreamT >

const uint16_t io_comm_rx::AsyncManager< StreamT >::count_max_

protected

Number of seconds before ROS_INFO message is thrown (if no incoming message)

Definition at line 222 of file async_manager.hpp.

◆ do_read_count_

template<typename StreamT >

uint16_t io_comm_rx::AsyncManager< StreamT >::do_read_count_

protected

Number of times the DoRead() method has been called (only counts initially)

Definition at line 229 of file async_manager.hpp.

◆ in_

template<typename StreamT >

std::vector<uint8_t> io_comm_rx::AsyncManager< StreamT >::in_

protected

Buffer for async_read_some() to read continuous SBF/NMEA stream.

Definition at line 192 of file async_manager.hpp.

◆ io_service_

template<typename StreamT >

boost::shared_ptr<boost::asio::io_service> io_comm_rx::AsyncManager< StreamT >::io_service_

protected

io_context object

Definition at line 189 of file async_manager.hpp.

◆ node_

template<typename StreamT >

ROSaicNodeBase* io_comm_rx::AsyncManager< StreamT >::node_

private

Pointer to the node.

Definition at line 151 of file async_manager.hpp.

◆ parse_mutex_

template<typename StreamT >

boost::mutex io_comm_rx::AsyncManager< StreamT >::parse_mutex_

protected

Mutex to control changes of class variable "try_parsing".

Definition at line 173 of file async_manager.hpp.

◆ parsing_condition_

template<typename StreamT >

boost::condition_variable io_comm_rx::AsyncManager< StreamT >::parsing_condition_

protected

Condition variable complementing "parse_mutex".

Definition at line 183 of file async_manager.hpp.

◆ parsing_thread_

template<typename StreamT >

boost::shared_ptr<boost::thread> io_comm_rx::AsyncManager< StreamT >::parsing_thread_

protected

New thread for receiving incoming messages.

Definition at line 202 of file async_manager.hpp.

◆ read_callback_

template<typename StreamT >

Callback io_comm_rx::AsyncManager< StreamT >::read_callback_

protected

Callback to be called once message arrives.

Definition at line 208 of file async_manager.hpp.

◆ recvTime_

template<typename StreamT >

Timestamp io_comm_rx::AsyncManager< StreamT >::recvTime_

protected

Timestamp of receiving buffer.

Definition at line 232 of file async_manager.hpp.

◆ stopping_

template<typename StreamT >

bool io_comm_rx::AsyncManager< StreamT >::stopping_

protected

Whether or not we want to sever the connection to the Rx.

Definition at line 211 of file async_manager.hpp.

◆ stream_

template<typename StreamT >

boost::shared_ptr<StreamT> io_comm_rx::AsyncManager< StreamT >::stream_

protected

Stream, represents either serial or TCP/IP connection.

Definition at line 186 of file async_manager.hpp.

◆ timer_

template<typename StreamT >

boost::asio::deadline_timer io_comm_rx::AsyncManager< StreamT >::timer_

protected

Boost timer for throwing ROS_INFO message once timed out due to lack of incoming messages

Definition at line 218 of file async_manager.hpp.

◆ try_parsing_

template<typename StreamT >

bool io_comm_rx::AsyncManager< StreamT >::try_parsing_

protected

Determines when the tryParsing() method will attempt parsing SBF/NMEA.

Definition at line 176 of file async_manager.hpp.

◆ waiting_thread_

template<typename StreamT >

boost::shared_ptr<boost::thread> io_comm_rx::AsyncManager< StreamT >::waiting_thread_

protected

New thread for receiving incoming messages.

Definition at line 205 of file async_manager.hpp.

The documentation for this class was generated from the following file:

async_manager.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

template<typename StreamT> class io_comm_rx::AsyncManager< StreamT >

Constructor & Destructor Documentation

◆ AsyncManager()

◆ ~AsyncManager()

Member Function Documentation

◆ asyncReadSomeHandler()

◆ callAsyncWait()

◆ close()

◆ isOpen()

◆ read()

◆ send()

◆ setCallback()

◆ tryParsing()

◆ wait()

◆ write()

Member Data Documentation

◆ allow_writing_

◆ async_background_thread_

◆ buffer_size_

◆ circular_buffer_

◆ count_max_

◆ do_read_count_

◆ in_

◆ io_service_

◆ node_

◆ parse_mutex_

◆ parsing_condition_

◆ parsing_thread_

◆ read_callback_

◆ recvTime_

◆ stopping_

◆ stream_

◆ timer_

◆ try_parsing_

◆ waiting_thread_

template<typename StreamT>
class io_comm_rx::AsyncManager< StreamT >