This is the central interface between ROSaic and the Rx(s), managing I/O operations such as reading messages and sending commands.. More...

#include <async_manager.hpp>

Inheritance diagram for io::AsyncManager< IoType >:

[legend]

Public Member Functions
	AsyncManager (ROSaicNodeBase node, TelegramQueue telegramQueue)
	Class constructor. More...

void	close ()

bool	connect ()
	Connects the stream. More...

bool	connected ()

void	send (const std::string &cmd)
	Sends commands to the receiver. More...

void	setPort (const std::string &port)

	~AsyncManager ()

Public Member Functions inherited from io::AsyncManagerBase
bool	connected ()

virtual	~AsyncManagerBase ()

Private Member Functions
void	readSbf (std::size_t length)

void	readSbfHeader ()

void	readString ()

void	readStringElements ()

template<uint8_t index>
void	readSync ()

void	readUnknown ()

void	receive ()

void	resync ()

void	runIoContext ()

void	runWatchdog ()

void	write (const std::string &cmd)

Private Attributes
std::array< uint8_t, 1 >	buf_

bool	connected_ = false

std::shared_ptr< boost::asio::io_context >	ioContext_

IoType	ioInterface_

std::thread	ioThread_

ROSaicNodeBase *	node_
	Pointer to the node. More...

Timestamp	recvStamp_
	Timestamp of receiving buffer. More...

std::atomic< bool >	running_

std::shared_ptr< Telegram >	telegram_
	Telegram. More...

TelegramQueue *	telegramQueue_
	TelegramQueue. More...

std::thread	watchdogThread_

Detailed Description

template<typename IoType>
class io::AsyncManager< IoType >

This is the central interface between ROSaic and the Rx(s), managing I/O operations such as reading messages and sending commands..

IoType is either boost::asio::serial_port or boost::asio::tcp::ip

Definition at line 111 of file async_manager.hpp.

Constructor & Destructor Documentation

◆ AsyncManager()

template<typename IoType >

io::AsyncManager< IoType >::AsyncManager	(	ROSaicNodeBase *	node,
		TelegramQueue *	telegramQueue
	)

Class constructor.

Parameters

[in]	node	Pointer to node
[in]	telegramQueue	Telegram queue

Definition at line 167 of file async_manager.hpp.

◆ ~AsyncManager()

template<typename IoType >

io::AsyncManager< IoType >::~AsyncManager

Definition at line 176 of file async_manager.hpp.

Member Function Documentation

◆ close()

template<typename IoType >

void io::AsyncManager< IoType >::close

virtual

Implements io::AsyncManagerBase.

Definition at line 198 of file async_manager.hpp.

◆ connect()

template<typename IoType >

bool io::AsyncManager< IoType >::connect ( )

virtual

Connects the stream.

Implements io::AsyncManagerBase.

Definition at line 183 of file async_manager.hpp.

◆ connected()

template<typename IoType >

bool io::AsyncManager< IoType >::connected

Definition at line 235 of file async_manager.hpp.

◆ readSbf()

template<typename IoType >

void io::AsyncManager< IoType >::readSbf ( std::size_t length )

private

Definition at line 543 of file async_manager.hpp.

◆ readSbfHeader()

template<typename IoType >

void io::AsyncManager< IoType >::readSbfHeader

private

Definition at line 501 of file async_manager.hpp.

◆ readString()

template<typename IoType >

void io::AsyncManager< IoType >::readString

private

Definition at line 591 of file async_manager.hpp.

◆ readStringElements()

template<typename IoType >

void io::AsyncManager< IoType >::readStringElements

private

Definition at line 599 of file async_manager.hpp.

◆ readSync()

template<typename IoType >

template<uint8_t index>

void io::AsyncManager< IoType >::readSync

private

Definition at line 328 of file async_manager.hpp.

◆ readUnknown()

template<typename IoType >

void io::AsyncManager< IoType >::readUnknown

private

Definition at line 583 of file async_manager.hpp.

◆ receive()

template<typename IoType >

void io::AsyncManager< IoType >::receive

private

Definition at line 241 of file async_manager.hpp.

◆ resync()

template<typename IoType >

void io::AsyncManager< IoType >::resync

private

Definition at line 320 of file async_manager.hpp.

◆ runIoContext()

template<typename IoType >

void io::AsyncManager< IoType >::runIoContext

private

Definition at line 252 of file async_manager.hpp.

◆ runWatchdog()

template<typename IoType >

void io::AsyncManager< IoType >::runWatchdog

private

Definition at line 260 of file async_manager.hpp.

◆ send()

template<typename IoType >

void io::AsyncManager< IoType >::send ( const std::string & cmd )

virtual

Sends commands to the receiver.

Implements io::AsyncManagerBase.

Definition at line 221 of file async_manager.hpp.

◆ setPort()

template<typename IoType >

void io::AsyncManager< IoType >::setPort ( const std::string & port )

Definition at line 215 of file async_manager.hpp.

◆ write()

template<typename IoType >

void io::AsyncManager< IoType >::write ( const std::string & cmd )

private

Definition at line 298 of file async_manager.hpp.

Member Data Documentation

◆ buf_

template<typename IoType >

std::array<uint8_t, 1> io::AsyncManager< IoType >::buf_

private

Definition at line 157 of file async_manager.hpp.

◆ connected_

template<typename IoType >

bool io::AsyncManager< IoType >::connected_ = false

private

Definition at line 155 of file async_manager.hpp.

◆ ioContext_

template<typename IoType >

std::shared_ptr<boost::asio::io_context> io::AsyncManager< IoType >::ioContext_

private

Definition at line 149 of file async_manager.hpp.

◆ ioInterface_

template<typename IoType >

IoType io::AsyncManager< IoType >::ioInterface_

private

Definition at line 150 of file async_manager.hpp.

◆ ioThread_

template<typename IoType >

std::thread io::AsyncManager< IoType >::ioThread_

private

Definition at line 152 of file async_manager.hpp.

◆ node_

template<typename IoType >

ROSaicNodeBase* io::AsyncManager< IoType >::node_

private

Pointer to the node.

Definition at line 148 of file async_manager.hpp.

◆ recvStamp_

template<typename IoType >

Timestamp io::AsyncManager< IoType >::recvStamp_

private

Timestamp of receiving buffer.

Definition at line 159 of file async_manager.hpp.

◆ running_

template<typename IoType >

std::atomic<bool> io::AsyncManager< IoType >::running_

private

Definition at line 151 of file async_manager.hpp.

◆ telegram_

template<typename IoType >

std::shared_ptr<Telegram> io::AsyncManager< IoType >::telegram_

private

Telegram.

Definition at line 161 of file async_manager.hpp.

◆ telegramQueue_

template<typename IoType >

TelegramQueue* io::AsyncManager< IoType >::telegramQueue_

private

TelegramQueue.

Definition at line 163 of file async_manager.hpp.

◆ watchdogThread_

template<typename IoType >

std::thread io::AsyncManager< IoType >::watchdogThread_

private

Definition at line 153 of file async_manager.hpp.

The documentation for this class was generated from the following file:

async_manager.hpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename IoType> class io::AsyncManager< IoType >

Constructor & Destructor Documentation

◆ AsyncManager()

◆ ~AsyncManager()

Member Function Documentation

◆ close()

◆ connect()

◆ connected()

◆ readSbf()

◆ readSbfHeader()

◆ readString()

◆ readStringElements()

◆ readSync()

◆ readUnknown()

◆ receive()

◆ resync()

◆ runIoContext()

◆ runWatchdog()

◆ send()

◆ setPort()

◆ write()

Member Data Documentation

◆ buf_

◆ connected_

◆ ioContext_

◆ ioInterface_

◆ ioThread_

◆ node_

◆ recvStamp_

◆ running_

◆ telegram_

◆ telegramQueue_

◆ watchdogThread_

template<typename IoType>
class io::AsyncManager< IoType >