Handles communication with and configuration of the mosaic (and beyond) receiver(s) More...

#include <communication_core.hpp>

Public Member Functions
	Comm_IO (ROSaicNodeBase node, Settings settings)
	Constructor of the class Comm_IO. More...

void	configureRx ()
	Configures Rx: Which SBF/NMEA messages it should output and later correction settings. More...

void	defineMessages ()
	Defines which Rx messages to read and which ROS messages to publish. More...

void	initializeIO ()
	Initializes the I/O handling. More...

void	sendVelocity (const std::string &velNmea)
	Hands over NMEA velocity message over to the send() method of manager_. More...

	~Comm_IO ()
	Default destructor of the class Comm_IO. More...

Private Member Functions
void	connect ()
	Calls the reconnect() method. More...

void	initializePCAPFileReading (std::string file_name)
	Initializes PCAP file reading and reads PCAP file by repeatedly calling read_callback_() More...

void	initializeSBFFileReading (std::string file_name)
	Initializes SBF file reading and reads SBF file by repeatedly calling read_callback_() More...

bool	initializeSerial (std::string port, uint32_t baudrate=115200, std::string flowcontrol="None")
	Initializes the serial port. More...

bool	initializeTCP (std::string host, std::string port)
	Initializes the TCP I/O. More...

void	preparePCAPFileReading (std::string file_name)
	Sets up the stage for PCAP file reading. More...

void	prepareSBFFileReading (std::string file_name)
	Sets up the stage for SBF file reading. More...

void	reconnect ()
	Attempts to (re)connect every reconnect_delay_s_ seconds. More...

void	resetMainPort ()
	Reset main port so it can receive commands. More...

void	send (const std::string &)
	Hands over to the send() method of manager_. More...

void	setManager (const boost::shared_ptr< Manager > &manager)
	Set the I/O manager. More...

Private Attributes
uint32_t	baudrate_
	Baudrate at the moment, unless InitializeSerial or ResetSerial fail. More...

bool	connected_ = false
	Whether connecting to Rx was successful. More...

boost::condition_variable	connection_condition_

boost::mutex	connection_mutex_

std::unique_ptr< boost::thread >	connectionThread_
	Connection or reading thread. More...

CallbackHandlers	handlers_
	Callback handlers for the inwards streaming messages. More...

std::string	host_
	Host currently connected to. More...

std::string	mainPort_
	Communication ports. More...

boost::shared_ptr< Manager >	manager_

bool	nmeaActivated_ = false

ROSaicNodeBase *	node_
	Pointer to Node. More...

std::string	port_
	Port over which TCP/IP connection is currently established. More...

bool	serial_
	Whether yet-to-be-established connection to Rx will be serial or TCP. More...

std::string	serial_port_
	Saves the port description. More...

Settings *	settings_
	Settings. More...

std::atomic< bool >	stopping_
	Indicator for threads to exit. More...

std::string	tcp_host_
	Host name of TCP server. More...

std::string	tcp_port_
	TCP port number. More...

Static Private Attributes
static const unsigned int	SET_BAUDRATE_SLEEP_ = 500000

Friends
class	CallbackHandlers

class	RxMessage

Detailed Description

Handles communication with and configuration of the mosaic (and beyond) receiver(s)

Definition at line 106 of file communication_core.hpp.

Constructor & Destructor Documentation

◆ Comm_IO()

io_comm_rx::Comm_IO::Comm_IO	(	ROSaicNodeBase *	node,
		Settings *	settings
	)

Constructor of the class Comm_IO.

Parameters

[in] node Pointer to node

Definition at line 122 of file communication_core.cpp.

◆ ~Comm_IO()

io_comm_rx::Comm_IO::~Comm_IO ( )

Default destructor of the class Comm_IO.

Definition at line 131 of file communication_core.cpp.

Member Function Documentation

◆ configureRx()

void io_comm_rx::Comm_IO::configureRx ( )

Configures Rx: Which SBF/NMEA messages it should output and later correction settings.

Parameters

[in] settings The device's settings

The send() method of AsyncManager class is paramount for this purpose. Note that std::to_string() is from C++11 onwards only. Since ROSaic can be launched before booting the Rx, we have to watch out for escape characters that are sent by the Rx to indicate that it is in upgrade mode. Those characters would then be mingled with the first command we send to it in this method and could result in an invalid command. Hence we first enter command mode via "SSSSSSSSSS".

Definition at line 389 of file communication_core.cpp.

◆ connect()

void io_comm_rx::Comm_IO::connect ( )

private

Calls the reconnect() method.

Definition at line 302 of file communication_core.cpp.

◆ defineMessages()

void io_comm_rx::Comm_IO::defineMessages ( )

Defines which Rx messages to read and which ROS messages to publish.

Parameters

[in] settings The device's settings

initializeSerial is not self-contained: The for loop in Callbackhandlers' handle method would never open a specific handler unless the handler is added (=inserted) to the C++ map via this function. This way, the specific handler can be called, in which in turn RxMessage's read() method is called, which publishes the ROS message.

Definition at line 985 of file communication_core.cpp.

◆ initializeIO()

void io_comm_rx::Comm_IO::initializeIO ( )

Initializes the I/O handling.

Definition at line 206 of file communication_core.cpp.

◆ initializePCAPFileReading()

void io_comm_rx::Comm_IO::initializePCAPFileReading ( std::string file_name )

private

Initializes PCAP file reading and reads PCAP file by repeatedly calling read_callback_()

Parameters

[in] file_name The name of (or path to) the PCAP file, e.g. "/tmp/capture.pcap"

Definition at line 1327 of file communication_core.cpp.

◆ initializeSBFFileReading()

void io_comm_rx::Comm_IO::initializeSBFFileReading ( std::string file_name )

private

Initializes SBF file reading and reads SBF file by repeatedly calling read_callback_()

Parameters

[in] file_name The name of (or path to) the SBF file, e.g. "xyz.sbf"

Definition at line 1272 of file communication_core.cpp.

◆ initializeSerial()

bool io_comm_rx::Comm_IO::initializeSerial	(	std::string	port,
		uint32_t	baudrate = `115200`,
		std::string	flowcontrol = `"None"`
	)

private

Initializes the serial port.

Parameters

[in]	port	The device's port address
[in]	baudrate	The chosen baud rate of the port
[in]	flowcontrol	Default is "None", set variable (not yet checked) to "RTS\|CTS" to activate hardware flow control (only for serial ports COM1, COM2 and COM3 (for mosaic))

Returns: True if connection could be established, false otherwise

Definition at line 1380 of file communication_core.cpp.

◆ initializeTCP()

bool io_comm_rx::Comm_IO::initializeTCP	(	std::string	host,
		std::string	port
	)

private

Initializes the TCP I/O.

Parameters

[in]	host	The TCP host
[in]	port	The TCP port

Returns: True if connection could be established, false otherwise

Definition at line 1209 of file communication_core.cpp.

◆ preparePCAPFileReading()

void io_comm_rx::Comm_IO::preparePCAPFileReading ( std::string file_name )

private

Sets up the stage for PCAP file reading.

Parameters

[in] file_name The path to PCAP file, e.g. "/tmp/capture.sbf"

Definition at line 285 of file communication_core.cpp.

◆ prepareSBFFileReading()

void io_comm_rx::Comm_IO::prepareSBFFileReading ( std::string file_name )

private

Sets up the stage for SBF file reading.

Parameters

[in] file_name The name of (or path to) the SBF file, e.g. "xyz.sbf"

Definition at line 268 of file communication_core.cpp.

◆ reconnect()

void io_comm_rx::Comm_IO::reconnect ( )

private

Attempts to (re)connect every reconnect_delay_s_ seconds.

In serial mode (not USB, since the Rx port is then called USB1 or USB2), please ensure that you are connected to the Rx's COM1, COM2 or COM3 port, !if! you employ UART hardware flow control.

Definition at line 324 of file communication_core.cpp.

◆ resetMainPort()

void io_comm_rx::Comm_IO::resetMainPort ( )

private

Reset main port so it can receive commands.

Definition at line 191 of file communication_core.cpp.

◆ send()

void io_comm_rx::Comm_IO::send ( const std::string & cmd )

private

Hands over to the send() method of manager_.

Parameters

cmd	The command to hand over

Definition at line 1192 of file communication_core.cpp.

◆ sendVelocity()

void io_comm_rx::Comm_IO::sendVelocity ( const std::string & velNmea )

Hands over NMEA velocity message over to the send() method of manager_.

Parameters

cmd	The command to hand over

Definition at line 1203 of file communication_core.cpp.

◆ setManager()

void io_comm_rx::Comm_IO::setManager ( const boost::shared_ptr< Manager > & manager )

private

Set the I/O manager.

Parameters

[in] manager An I/O handler

Definition at line 1550 of file communication_core.cpp.

Friends And Related Function Documentation

◆ CallbackHandlers

friend class CallbackHandlers

friend

Definition at line 256 of file communication_core.hpp.

◆ RxMessage

friend class RxMessage

friend

Definition at line 257 of file communication_core.hpp.

Member Data Documentation

◆ baudrate_

uint32_t io_comm_rx::Comm_IO::baudrate_

private

Baudrate at the moment, unless InitializeSerial or ResetSerial fail.

Definition at line 247 of file communication_core.hpp.

◆ connected_

bool io_comm_rx::Comm_IO::connected_ = false

private

Whether connecting to Rx was successful.

Definition at line 226 of file communication_core.hpp.

◆ connection_condition_

boost::condition_variable io_comm_rx::Comm_IO::connection_condition_

private

Since the configureRx() method should only be called once the connection was established, we need the threads to communicate this to each other. Associated condition variable..

Definition at line 234 of file communication_core.hpp.

◆ connection_mutex_

boost::mutex io_comm_rx::Comm_IO::connection_mutex_

private

Since the configureRx() method should only be called once the connection was established, we need the threads to communicate this to each other. Associated mutex..

Definition at line 230 of file communication_core.hpp.

◆ connectionThread_

std::unique_ptr<boost::thread> io_comm_rx::Comm_IO::connectionThread_

private

Connection or reading thread.

Definition at line 252 of file communication_core.hpp.

◆ handlers_

CallbackHandlers io_comm_rx::Comm_IO::handlers_

private

Callback handlers for the inwards streaming messages.

Definition at line 222 of file communication_core.hpp.

◆ host_

std::string io_comm_rx::Comm_IO::host_

private

Host currently connected to.

Definition at line 263 of file communication_core.hpp.

◆ mainPort_

std::string io_comm_rx::Comm_IO::mainPort_

private

Communication ports.

Definition at line 260 of file communication_core.hpp.

◆ manager_

boost::shared_ptr<Manager> io_comm_rx::Comm_IO::manager_

private

Processes I/O stream data This declaration is deliberately stream-independent (Serial or TCP).

Definition at line 245 of file communication_core.hpp.

◆ nmeaActivated_

bool io_comm_rx::Comm_IO::nmeaActivated_ = false

private

Definition at line 249 of file communication_core.hpp.

◆ node_

ROSaicNodeBase* io_comm_rx::Comm_IO::node_

private

Pointer to Node.

Definition at line 220 of file communication_core.hpp.

◆ port_

std::string io_comm_rx::Comm_IO::port_

private

Port over which TCP/IP connection is currently established.

Definition at line 265 of file communication_core.hpp.

◆ serial_

bool io_comm_rx::Comm_IO::serial_

private

Whether yet-to-be-established connection to Rx will be serial or TCP.

Definition at line 240 of file communication_core.hpp.

◆ serial_port_

std::string io_comm_rx::Comm_IO::serial_port_

private

Saves the port description.

Definition at line 242 of file communication_core.hpp.

◆ SET_BAUDRATE_SLEEP_

const unsigned int io_comm_rx::Comm_IO::SET_BAUDRATE_SLEEP_ = 500000

staticprivate

Sleep time in microseconds (there is no Unix command for milliseconds) after setting the baudrate to certain value (important between increments)

Definition at line 269 of file communication_core.hpp.

◆ settings_

Settings* io_comm_rx::Comm_IO::settings_

private

Settings.

Definition at line 224 of file communication_core.hpp.

◆ stopping_

std::atomic<bool> io_comm_rx::Comm_IO::stopping_

private

Indicator for threads to exit.

Definition at line 254 of file communication_core.hpp.

◆ tcp_host_

std::string io_comm_rx::Comm_IO::tcp_host_

private

Host name of TCP server.

Definition at line 236 of file communication_core.hpp.

◆ tcp_port_

std::string io_comm_rx::Comm_IO::tcp_port_

private

TCP port number.

Definition at line 238 of file communication_core.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Comm_IO()

◆ ~Comm_IO()

Member Function Documentation

◆ configureRx()

◆ connect()

◆ defineMessages()

◆ initializeIO()

◆ initializePCAPFileReading()

◆ initializeSBFFileReading()

◆ initializeSerial()

◆ initializeTCP()

◆ preparePCAPFileReading()

◆ prepareSBFFileReading()

◆ reconnect()

◆ resetMainPort()

◆ send()

◆ sendVelocity()

◆ setManager()

Friends And Related Function Documentation

◆ CallbackHandlers

◆ RxMessage

Member Data Documentation

◆ baudrate_

◆ connected_

◆ connection_condition_

◆ connection_mutex_

◆ connectionThread_

◆ handlers_

◆ host_

◆ mainPort_

◆ manager_

◆ nmeaActivated_

◆ node_

◆ port_

◆ serial_

◆ serial_port_

◆ SET_BAUDRATE_SLEEP_

◆ settings_

◆ stopping_

◆ tcp_host_

◆ tcp_port_