kobuki_driver: packet_finder.hpp Source File

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00001 
00014 /*****************************************************************************
00015  ** Ifdefs
00016  *****************************************************************************/
00017 
00018 #ifndef PACKET_FINDER_HPP_
00019 #define PACKET_FINDER_HPP_
00020 
00021 /*****************************************************************************
00022  ** Includes
00023  *****************************************************************************/
00024 
00025 #include <iomanip>
00026 #include <ecl/containers.hpp>
00027 #include <ecl/sigslots.hpp>
00028 
00029 /*****************************************************************************
00030  ** Namespaces
00031  *****************************************************************************/
00032 
00033 namespace kobuki
00034 {
00035 
00036 /*****************************************************************************
00037  ** Using
00038  *****************************************************************************/
00039 
00040 /*****************************************************************************
00041  ** Interface
00042  *****************************************************************************/
00071 class PacketFinderBase
00072 {
00073 public:
00074   typedef ecl::PushAndPop<unsigned char> BufferType;
00075 
00076   enum packetFinderState
00077   {
00078     clearBuffer = 0,
00079     waitingForStx,
00080     waitingForPayloadSize,
00081     waitingForPayloadToEtx,
00082     waitingForEtx,
00083   };
00084   enum packetFinderState state;
00085 protected:
00086 
00087   unsigned int size_stx;
00088   unsigned int size_etx;
00089   unsigned int size_length_field;
00090   bool variable_size_payload;
00091   unsigned int size_max_payload;
00092   unsigned int size_payload;
00093   unsigned int size_checksum_field;
00094 
00095   BufferType STX;
00096   BufferType ETX;
00097   BufferType buffer;
00098 
00099   bool verbose;
00100 
00101   ecl::Signal<const std::string&> sig_warn, sig_error;
00102 
00103 public:
00104   PacketFinderBase(); 
00106   virtual ~PacketFinderBase() {};
00107 
00108   void configure(const std::string &sigslots_namespace,
00109                  const BufferType & putStx, const BufferType & putEtx, unsigned int sizeLengthField,
00110                  unsigned int sizeMaxPayload, unsigned int sizeChecksumField, bool variableSizePayload);
00111   void clear();
00112   void enableVerbose();
00113   virtual bool update(const unsigned char * incoming, unsigned int numberOfIncoming);
00114   virtual bool checkSum();
00115   unsigned int numberOfDataToRead();
00116   void getBuffer(BufferType & bufferRef);
00117 
00118 protected:
00119   bool WaitForStx(const unsigned char datum);
00120   bool waitForPayloadSize(const unsigned char * incoming, unsigned int numberOfIncoming);
00121   bool waitForEtx(const unsigned char incoming, bool & foundPacket);
00122   bool waitForPayloadAndEtx(const unsigned char * incoming, unsigned int numberOfIncoming, bool & foundPacket);
00123 };
00124 
00125 }
00126 ;
00127 // namespace kobuki
00128 
00129 #endif /* PACKET_FINDER_HPP_ */