Class PacketFinderBase

Defined in File packet_finder.hpp

Inheritance Relationships

Derived Type

public kobuki::PacketFinder (Class PacketFinder)

Class Documentation

class PacketFinderBase

Provides simple packet finder which may be consist of stx, etx, payload, …

Usage:

@code

Todo:

(1) getting buffer from this class

(2) simple construction of this class

(3) device abstraction

(4) extend-able packet structures

(5) like ros, auto-generation of code from scripts

(6) packetFinder to ros converter

(7) evaluate it (valgrind)

Note

Subclassed by kobuki::PacketFinder

Public Types

enum packetFinderState

Values:

enumerator clearBuffer

enumerator waitingForStx

enumerator waitingForPayloadSize

enumerator waitingForPayloadToEtx

enumerator waitingForEtx

typedef ecl::PushAndPop<unsigned char> BufferType

Public Functions

PacketFinderBase(): Default constructor. Use with configure().

inline 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)

Public Members

enum packetFinderState state

Protected Functions

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)

Protected Attributes

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

ecl::Signal<const std::string&> sig_error