HardwareCanSourceTest.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of FZIs ic_workspace.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef ICL_HARDWARE_CAN_SOURCE_HARDWARE_CAN_SOURCE_TEST_H_INCLUDED
#define ICL_HARDWARE_CAN_SOURCE_HARDWARE_CAN_SOURCE_TEST_H_INCLUDED

#include <string>

#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/random.hpp>

#include <icl_hardware_can/source/ImportExport.h>
#include <icl_hardware_can/tCanMessage.h>
#include <icl_hardware_can/source/HardwareCanSource.h>

namespace icl_hardware {
namespace can {

class ICL_HARDWARE_CAN_SOURCE_IMPORT_EXPORT HardwareCanSourceTest : public HardwareCanSource
{
public:
  typedef boost::shared_ptr<HardwareCanSourceTest> Ptr;
  typedef boost::shared_ptr<const HardwareCanSourceTest> ConstPtr;

  enum Pattern
  {
    P_LINEAR = 1,
    P_FIXED,
    P_CHANGING_RANDOM,
    P_CHANGING_WITH_REPEAT
  };

  virtual bool good() const
  {
    return true;
  }

  static icl_sourcesink::URISchemeMap supportedURISchemes()
  {
    using namespace icl_sourcesink;
    URISchemeMap schemes;
    schemes.insert(
      std::make_pair(
        "can+test",
        URISchemeInfo(
          "Test source for CAN message data.",
          "can+test:[?rate=<rate>][&pattern=<pattern>][&id_value=<id_value>]",
          "<rate>      Data generation rate in Hz.\n"
          "<pattern>   One of 'Linear' (default), 'Fixed', 'ChangingRandom', 'ChangingWithRepeat'.\n"
          "<id_value>  In Fixed mode, the ID to generate (default: 1).\n")));
    return schemes;
  }

  virtual CanMessageStamped::Ptr get() const
  {
    return m_buffer;
  }

  virtual bool isSeekable() const
  {
    return false;
  }

protected:
  HardwareCanSourceTest(const std::string& uri = "",
                        const std::string& name = "HardwareCanSourceTest");

  friend class icl_sourcesink::SourceSinkManager;

  friend class icl_sourcesink::DataSourceFactory<HardwareCanSourceTest>;

  bool advance();

  unsigned int createCanMessageId();

private:
  boost::random::mt19937 m_rng;

  boost::random::uniform_int_distribution<unsigned int> m_can_id_distribution;

  boost::random::uniform_int_distribution<uint8_t> m_data_distribution;

  CanMessageStamped::Ptr m_buffer;

  float m_rate;

  Pattern m_pattern;

  uint16_t m_next_id;
};

SOURCESINK_DECLARE_GENERIC_SOURCE_FACTORY(HardwareCanSourceTest)

}
}

#endif