communication_core.hpp

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#ifndef COMMUNICATION_CORE_HPP  // This block is called a conditional group. The controlled text will get included
                                                                // in the preprocessor output iff the macroname is not defined.
#define COMMUNICATION_CORE_HPP  // Include guards help to avoid the double inclusion of header files, by defining a token = macro.

// Boost includes
#include <boost/function.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/asio.hpp>
#include <boost/exception/diagnostic_information.hpp>  // dealing with bad file descriptor error
#include <boost/bind.hpp>
#include <boost/asio/serial_port.hpp>
// C++ library includes
#include <sstream>
#include <memory>
#include <unistd.h> // for usleep()
// ROSaic includes
#include <rosaic/communication/async_manager.hpp>
#include <rosaic/communication/callback_handlers.hpp>

namespace io_comm_rx
{
        
        const static uint32_t BAUDRATES[] = {1200, 2400, 4800, 9600, 19200, 38400, 57600, 
                                                                                115200, 230400, 460800, 500000, 576000, 921600, 
                                                                                1000000, 1152000, 1500000, 2000000, 2500000, 
                                                                                3000000, 3500000, 4000000};

        class Comm_IO 
        {
                public:
                        
                        Comm_IO(); 
                        
                        virtual ~Comm_IO() = default;
                        
                        bool initializeSerial(std::string port, uint32_t baudrate = 115200, std::string flowcontrol = "None");
                        
                        bool initializeTCP(std::string host, std::string port);
                        
                        
                        void setManager(const boost::shared_ptr<Manager>& manager);
                        
                        void resetSerial(std::string port);
                        
                        CallbackHandlers getHandlers() const {return handlers_;}
                        
                        void send(std::string cmd);
                        
                        CallbackHandlers handlers_;
          
                private:
                
                        std::string serial_port_;
                        boost::shared_ptr<Manager> manager_;
                        uint32_t baudrate_;
                        
                        friend class CallbackHandlers;
                        friend class RxMessage;
                        
                        std::string host_;
                        std::string port_;
                        const static unsigned int SET_BAUDRATE_SLEEP_ = 500000;
        };
}

#endif  // for COMMUNICATION_CORE_HPP