.. _program_listing_file__tmp_ws_src_kobuki_core_include_kobuki_core_packet_handler_packet_finder.hpp:

Program Listing for File packet_finder.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_kobuki_core_include_kobuki_core_packet_handler_packet_finder.hpp>` (``/tmp/ws/src/kobuki_core/include/kobuki_core/packet_handler/packet_finder.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   /*****************************************************************************
    ** Ifdefs
    *****************************************************************************/
   
   #ifndef PACKET_FINDER_HPP_
   #define PACKET_FINDER_HPP_
   
   /*****************************************************************************
    ** Includes
    *****************************************************************************/
   
   #include <iomanip>
   #include <ecl/containers.hpp>
   #include <ecl/sigslots.hpp>
   #include "../macros.hpp"
   
   /*****************************************************************************
    ** Namespaces
    *****************************************************************************/
   
   namespace kobuki
   {
   
   /*****************************************************************************
    ** Using
    *****************************************************************************/
   
   /*****************************************************************************
    ** Interface
    *****************************************************************************/
   class kobuki_PUBLIC PacketFinderBase
   {
   public:
     typedef ecl::PushAndPop<unsigned char> BufferType;
   
     enum packetFinderState
     {
       clearBuffer = 0,
       waitingForStx,
       waitingForPayloadSize,
       waitingForPayloadToEtx,
       waitingForEtx,
     };
     enum packetFinderState state;
   protected:
   
     unsigned int size_stx;
     unsigned int size_etx;
     unsigned int size_length_field;
     bool variable_size_payload;
     unsigned int size_max_payload;
     unsigned int size_payload;
     unsigned int size_checksum_field;
   
     BufferType STX;
     BufferType ETX;
     BufferType buffer;
   
     bool verbose;
   
     ecl::Signal<const std::string&> sig_warn, sig_error;
   
   public:
     PacketFinderBase(); 
     virtual ~PacketFinderBase() {};
   
     void configure(const std::string &sigslots_namespace,
                    const BufferType & putStx, const BufferType & putEtx, unsigned int sizeLengthField,
                    unsigned int sizeMaxPayload, unsigned int sizeChecksumField, bool variableSizePayload);
     void clear();
     void enableVerbose();
     virtual bool update(const unsigned char * incoming, unsigned int numberOfIncoming);
     virtual bool checkSum();
     unsigned int numberOfDataToRead();
     void getBuffer(BufferType & bufferRef);
     void getPayload(BufferType & bufferRef);
   
   protected:
     bool WaitForStx(const unsigned char datum);
     bool waitForPayloadSize(const unsigned char * incoming, unsigned int numberOfIncoming);
     bool waitForEtx(const unsigned char incoming, bool & foundPacket);
     bool waitForPayloadAndEtx(const unsigned char * incoming, unsigned int numberOfIncoming, bool & foundPacket);
   };
   
   }
   
   // namespace kobuki
   
   #endif /* PACKET_FINDER_HPP_ */