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

Inheritance diagram for kobuki::PacketFinderBase:

Public Types
typedef ecl::PushAndPop < unsigned char >	BufferType
enum	packetFinderState { clearBuffer = 0, waitingForStx, waitingForPayloadSize, waitingForPayloadToEtx, waitingForEtx }
Public Member Functions
virtual bool	checkSum ()
void	clear ()
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	enableVerbose ()
void	getBuffer (BufferType &bufferRef)
unsigned int	numberOfDataToRead ()
	PacketFinderBase ()
virtual bool	update (const unsigned char *incoming, unsigned int numberOfIncoming)
virtual	~PacketFinderBase ()
Public Attributes
enum packetFinderState	state
Protected Member Functions
bool	waitForEtx (const unsigned char incoming, bool &foundPacket)
bool	waitForPayloadAndEtx (const unsigned char *incoming, unsigned int numberOfIncoming, bool &foundPacket)
bool	waitForPayloadSize (const unsigned char *incoming, unsigned int numberOfIncoming)
bool	WaitForStx (const unsigned char datum)
Protected Attributes
BufferType	buffer
BufferType	ETX
ecl::Signal< const std::string & >	sig_error
ecl::Signal< const std::string & >	sig_warn
unsigned int	size_checksum_field
unsigned int	size_etx
unsigned int	size_length_field
unsigned int	size_max_payload
unsigned int	size_payload
unsigned int	size_stx
BufferType	STX
bool	variable_size_payload
bool	verbose

Detailed Description

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) ros처럼 파일에서 스크립트읽고 auto-generation된 코드를 사용할 수 있으면 편하다.
(6) packetFinder to ros converter
(7) evaluate it (valgrind)

Definition at line 71 of file packet_finder.hpp.

Member Typedef Documentation

Definition at line 74 of file packet_finder.hpp.

Enumerator:

Definition at line 76 of file packet_finder.hpp.

kobuki::PacketFinderBase::PacketFinderBase ( )

Default constructor. Use with configure().

Definition at line 26 of file packet_finder.cpp.

virtual kobuki::PacketFinderBase::~PacketFinderBase ( ) [inline, virtual]

Definition at line 106 of file packet_finder.hpp.

bool kobuki::PacketFinderBase::checkSum ( ) [virtual]

Definition at line 72 of file packet_finder.cpp.

void kobuki::PacketFinderBase::clear ( void )

Definition at line 61 of file packet_finder.cpp.

void kobuki::PacketFinderBase::configure	(	const std::string &	sigslots_namespace,
		const BufferType &	putStx,
		const BufferType &	putEtx,
		unsigned int	sizeLengthField,
		unsigned int	sizeMaxPayload,
		unsigned int	sizeChecksumField,
		bool	variableSizePayload
	)