DeviceCommunicator Class Reference

A class that is used for the communcation with a device. More...

#include <devicecommunicator.h>

Inheritance diagram for DeviceCommunicator:

Public Types
typedef XsSize	RxChannelId
	A typedef for Rx chanel ID. More...
Public Types inherited from Communicator
template<typename T >
using	UniquePtr = std::unique_ptr< T, Deleter >
	Initializes of UniquePtr<T> More...

Public Member Functions
void	abortLoadLogFile () override
	Aborts loading a logfile. More...
void	closeLogFile () override
	Close the log file. More...
	DeviceCommunicator (RxChannelId rxChannels=1)
	Default constructor. More...
bool	doTransaction (const XsMessage &message)
	Write a message and await the reply. More...
bool	doTransaction (const XsMessage &message, uint32_t timeout)
	Write a message and await the reply. More...
bool	doTransaction (const XsMessage &message, XsMessage &rcv)
	Write a message and await the reply. More...
virtual bool	doTransaction (const XsMessage &message, XsMessage &rcv, uint32_t timeout)=0
	Write a message and await the reply. More...
virtual bool	doTransaction (const XsMessage &msg, XsMessage &rcv, uint32_t timeout) override
	Write a message and await the reply. More...
XsResultValue	getDeviceId () override
	Request a device to get device ID. More...
XsResultValue	gotoConfig (bool) override
	Request a device to go to config mode. More...
uint32_t	gotoConfigTimeout () const
XsResultValue	gotoMeasurement () override
	Request a device to go to measurement mode. More...
void	handleMessage (const XsMessage &message) override
	Handles a message. More...
bool	isReadingFromFile () const override
void	loadLogFile (XsDevice *device) override
	Load a complete logfile. More...
XsTimeStamp	logFileDate () const override
XsString	logFileName () const override
XsFilePos	logFileReadPosition () const override
XsFilePos	logFileSize () const override
bool	openLogFile (const XsString &filename) override
	Open the log file `. More...
virtual XsResultValue	readLogFile (XsDevice *device)
	Read a log file into cache. More...
XsMessage	readMessage (uint8_t msgId=0) override
	Read a message from the open file. More...
XsMessage	readMessageFromStartOfFile (uint8_t msgId, int maxMsgs=0) override
	Read a message from the start of the open file. More...
std::deque< XsMessage >	readMessagesFromStartOfFile (uint8_t msgId, int maxMsgs=0) override
	Read multiple similar messages from the start of the open file. More...
virtual XsResultValue	readSinglePacketFromFile ()
	Read a single XsDataPacket from an open log file. More...
void	resetLogFileReadPosition (void) override
	Resets the logfile read position. More...
void	setGotoConfigTimeout (uint32_t timeout) override
	Set the timeout for the gotoConfig function. More...
void	setKeepAlive (bool enable) override
	Does nothing. More...
void	waitForLastTaskCompletion () override
	Wait for the last processing task to complete in the threadpool. More...
bool	writeMessage (const XsMessage &message) override
	Write message to the device. More...
Public Member Functions inherited from Communicator
virtual void	addProtocolHandler (IProtocolHandler *handler)
	Adds a protocol handler. More...
std::shared_ptr< ReplyObject >	addReplyObject (ReplyObject *obj)
	Add a custom ReplyObject. More...
std::shared_ptr< ReplyObject >	addReplyObject (uint8_t mid)
	Add a MidReplyObject. More...
std::shared_ptr< ReplyObject >	addReplyObject (uint8_t mid, XsSize offset, XsSize size, uint8_t const *data)
	Add a MidAndDataReplyObject. More...
virtual bool	allowReprocessing () const
XsSize	childDeviceCount () const
virtual void	closePort ()=0
	Closes the open port. More...
	Communicator (void)
	Constructor, creates some management objects and clears the rest by calling initialize() More...
uint32_t	defaultTimeout () const
void	destroy ()
	Destroys the communicator. More...
bool	doTransaction (const XsMessage &message)
	Write a message and await the reply. More...
bool	doTransaction (const XsMessage &message, uint32_t timeout)
	Write a message and await the reply. More...
bool	doTransaction (const XsMessage &message, XsMessage &rcv)
	Write a message and await the reply. More...
virtual void	flushPort ()=0
	Flushes all remaining data on the open port. More...
bool	hasProtocol (XsProtocolType type) const
virtual bool	isDockedAt (Communicator *other) const =0
	Returns true if the other device is docked at this device. More...
virtual bool	isLoadLogFileInProgress () const
virtual bool	isPortOpen () const =0
XsResultValue	lastResult () const
	Get the result value of the last operation. More...
XsString	lastResultText () const
	Get the accompanying error text for the value returned by lastResult() It may provide situation-specific information instead. More...
XsDeviceId	masterDeviceId () const
virtual bool	openPort (const XsPortInfo &portInfo, OpenPortStage stage=OPS_Full, bool detectRs485=false)=0
	Opens a port. More...
virtual XsPortInfo	portInfo () const =0
void	removeProtocolHandler (XsProtocolType type)
	Removes a protocol handler. More...
virtual bool	reopenPort (OpenPortStage stage=OPS_Full, bool skipDeviceIdCheck=false)=0
	Reopens the port. More...
bool	sanityCheck (XsMessage const &msg) const
	Do a sanity check on a potential message. More...
virtual void	scheduleClosePort ()
	Schedules to close the open port. More...
virtual void	setCredentials (XsString const &id, XsString const &key)
	Set the credentials required for using the device. More...
void	setDefaultTimeout (uint32_t timeout)
	Sets a default timeout. More...
void	setMasterDevice (XsDevice *masterDevice)
	Sets a master device. More...
Public Member Functions inherited from CallbackManagerXda
void	addCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Add a handler to the list. More...
void	addChainedManager (CallbackManagerXda *cm)
	Add a chained manager to the list. More...
	CallbackManagerXda ()
	Constructor, initializes the callback list. More...
void	clearCallbackHandlers (bool chain=true)
	Clear the callback list. More...
void	clearChainedManagers ()
	Clear the chained manager list. More...
void	copyCallbackHandlersFrom (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from cm into this manager. More...
void	copyCallbackHandlersTo (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from this manager into cm. More...
void	onAllBufferedDataAvailable (XsDevicePtrArray *devs, const XsDataPacketPtrArray *packets) override
	The XsCallback::onAllBufferedDataAvailable() callback forwarding function. More...
void	onAllDataAvailable (XsDevicePtrArray *devs, const XsDataPacketPtrArray *packets) override
	The XsCallback::onAllDataAvailable() callback forwarding function. More...
void	onAllLiveDataAvailable (XsDevicePtrArray *devs, const XsDataPacketPtrArray *packets) override
	The XsCallback::onAllLiveDataAvailable() callback forwarding function. More...
void	onAllRecordedDataAvailable (XsDevicePtrArray *devs, const XsDataPacketPtrArray *packets) override
	The XsCallback::onAllRecordedDataAvailable() callback forwarding function. More...
void	onBufferedDataAvailable (XsDevice *dev, const XsDataPacket *data) override
	The XsCallback::onBufferedDataAvailable() callback forwarding function. More...
void	onConnectivityChanged (XsDevice *dev, XsConnectivityState newState) override
	The XsCallback::onConnectivityChanged() callback forwarding function. More...
void	onDataAvailable (XsDevice *dev, const XsDataPacket *data) override
	The XsCallback::onDataAvailable() callback forwarding function. More...
void	onDataUnavailable (XsDevice *dev, int64_t packetId) override
	The XsCallback::onDataUnavailable() callback forwarding function. More...
void	onDeviceStateChanged (XsDevice *dev, XsDeviceState newState, XsDeviceState oldState) override
	The XsCallback::onDeviceStateChanged() callback forwarding function. More...
void	onError (XsDevice *dev, XsResultValue error) override
	The Xscallback::onError() callback forwarding function. More...
void	onInfoResponse (XsDevice *dev, XsInfoRequest request) override
	The XsCallback::onInfoResponse() callback forwarding function. More...
void	onLiveDataAvailable (XsDevice *dev, const XsDataPacket *packet) override
	The XsCallback::onLiveDataAvailable() callback forwarding function. More...
void	onMessageDetected (XsDevice *dev, XsProtocolType type, XsByteArray const *rawMessage) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...
void	onMessageReceivedFromDevice (XsDevice *dev, XsMessage const *message) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...
void	onMessageSentToDevice (XsDevice *dev, XsMessage const *message) override
	The Xscallback::onMessageSentToDevice() callback forwarding function. More...
void	onMissedPackets (XsDevice *dev, int count, int first, int last) override
	The XsCallback::onMissedPackets() callback forwarding function. More...
void	onNonDataMessage (XsDevice *dev, XsMessage const *message) override
	The Xscallback::onNonDataMessage() callback forwarding function. More...
void	onProgressUpdated (XsDevice *dev, int current, int total, const XsString *identifier) override
	The XsCallback::onProgressUpdated() callback forwarding function. More...
void	onRecordedDataAvailable (XsDevice *dev, const XsDataPacket *data) override
	The XsCallback::onRecordedDataAvailable() callback forwarding function. More...
void	onRestoreCommunication (const XsString *portName, XsResultValue result) override
	The Xscallback::onRestoreCommunication callback forwarding function. More...
void	onTransmissionRequest (int channelId, const XsByteArray *data) override
void	onWakeupReceived (XsDevice *dev) override
	The XsCallback::onWakeupReceived() callback forwarding function. More...
int	onWriteMessageToLogFile (XsDevice *dev, const XsMessage *message) override
	The XsCallback::onWriteMessageToLogFile() callback forwarding function. More...
void	removeCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Remove a handler from the list. More...
void	removeChainedManager (CallbackManagerXda *cm)
	Remove achained manager from the list. More...
	~CallbackManagerXda ()
	Destructor, clears the callback list. More...

Protected Member Functions
RxChannelId	addRxChannel ()
	Adds an RX (receive) channel to the device communicator. Each channel maintains its own message parsing state. More...
XsResultValue	extractMessages (const XsByteArray &rawIn, std::deque< XsMessage > &messages, RxChannelId channel=0)
	Read all messages available in the incoming data stream after adding new data supplied in rawIn. More...
MessageExtractor &	messageExtractor (RxChannelId=0)
	Returns the message extractor for the given rx channel. More...
XsSize	messageExtractorCount () const
	Returns the number of message extractor this device communicator has. More...
virtual XsResultValue	writeRawData (const XsByteArray &data)=0
	Writes a raw data to a device. More...
	~DeviceCommunicator () override
Protected Member Functions inherited from Communicator
XsDevice *	masterDevice () const
virtual void	prepareForDestruction ()
	Prepares communicator for destruction. More...
std::shared_ptr< ProtocolManager >	protocolManager () const
XsResultValue	setAndReturnLastResult (XsResultValue lastResult, XsString const &text=XsString()) const
	Sets the last result and returns it. More...
void	setLastResult (XsResultValue lastResult, XsString const &text=XsString()) const
	Sets the last result. More...
void	setMasterDeviceId (const XsDeviceId &deviceId)
	Sets a master device ID. More...
virtual	~Communicator ()
	Destructor, waits for the last scheduled task to complete and then cleans up the object by calling clear() More...

Private Attributes
uint32_t	m_gotoConfigTimeout
std::vector< MessageExtractor >	m_messageExtractors
RxChannelId	m_nextRxChannelId

Static Private Attributes
static const uint32_t	m_defaultGotoConfigTimeout = 200

Additional Inherited Members
Static Public Member Functions inherited from Communicator
static int	configurationMessageSearchLimit ()
template<typename T >
static UniquePtr< T >	createUniquePtr ()
	Constructs a new Communicator of type T and returns it as a UniquePtr<T> More...
template<typename T >
static UniquePtr< T >	createUniquePtr (T *communicator)
	Creates a UniquePtr<T> from a Communicator*. More...
Protected Attributes inherited from Communicator
uint32_t	m_defaultTimeout
	A default timeout variable. More...
xsens::Mutex	m_handleMux
	A handle mutex. More...
XsResultValue	m_lastResult
	A last result variable. More...
XsString	m_lastResultText
	A last result string. More...
XsDeviceId	m_masterDeviceId
	A master device ID. More...
XsDevice *	m_masterInfo
	A master device object. More...
bool	m_preparedForDestruction
	Prepared for destruction boolean variable. More...
std::shared_ptr< ProtocolManager >	m_protocolManager
	A shared pointer to protocl manager. More...
std::unique_ptr< xsens::ReplyMonitor >	m_replyMonitor
	An unique pointer to a reply monitor. More...

Detailed Description

A class that is used for the communcation with a device.

Definition at line 76 of file devicecommunicator.h.

Member Typedef Documentation

RxChannelId

typedef XsSize DeviceCommunicator::RxChannelId

A typedef for Rx chanel ID.

Definition at line 81 of file devicecommunicator.h.

Constructor & Destructor Documentation

DeviceCommunicator()

DeviceCommunicator::DeviceCommunicator

(

RxChannelId

rxChannels = 1

)

Default constructor.

Definition at line 83 of file devicecommunicator.cpp.

~DeviceCommunicator()

DeviceCommunicator::~DeviceCommunicator ( )

overrideprotected

Definition at line 100 of file devicecommunicator.cpp.

Member Function Documentation

abortLoadLogFile()

void DeviceCommunicator::abortLoadLogFile ( )

overridevirtual

Aborts loading a logfile.

Implements Communicator.

addRxChannel()

DeviceCommunicator::RxChannelId DeviceCommunicator::addRxChannel ( )

protected

Adds an RX (receive) channel to the device communicator. Each channel maintains its own message parsing state.

Returns

The id of the added channel

Definition at line 274 of file devicecommunicator.cpp.

closeLogFile()

void DeviceCommunicator::closeLogFile ( )

overridevirtual

Close the log file.

Returns

true if the log file was successfully closed or never open

Implements Communicator.

doTransaction() [1/5]

bool Communicator::doTransaction

Write a message and await the reply.

Definition at line 222 of file communicator.cpp.

doTransaction() [2/5]

bool Communicator::doTransaction

Write a message and await the reply.

Definition at line 214 of file communicator.cpp.

doTransaction() [3/5]

bool Communicator::doTransaction

Write a message and await the reply.

Definition at line 229 of file communicator.cpp.

doTransaction() [4/5]

virtual bool Communicator::doTransaction

Write a message and await the reply.

doTransaction() [5/5]

bool DeviceCommunicator::doTransaction ( const XsMessage &  msg, XsMessage &  rcv, uint32_t  timeout  )

overridevirtual

Write a message and await the reply.

Parameters

msg	The message to send
rcv	The message to receive
timeout	The timeout in ms

Returns

True if successful

Implements Communicator.

Reimplemented in ProxyCommunicator.

Definition at line 110 of file devicecommunicator.cpp.

extractMessages()

XsResultValue DeviceCommunicator::extractMessages ( const XsByteArray &  rawIn, std::deque< XsMessage > &  messages, RxChannelId  channel = 0  )

protected

Read all messages available in the incoming data stream after adding new data supplied in rawIn.

This function will read all messages present in the DeviceCommunicator's message extracting buffer after appending it with the newly received data.

Parameters

[in]	rawIn	the newly incoming data
[out]	messages	the list of messages that was extracted
[in]	channel	the channel to extract from

Returns

XRV_OK on success, something else on failure

Definition at line 290 of file devicecommunicator.cpp.

getDeviceId()

XsResultValue DeviceCommunicator::getDeviceId ( )

overridevirtual

Request a device to get device ID.

Implements Communicator.

Definition at line 168 of file devicecommunicator.cpp.

gotoConfig()

XsResultValue DeviceCommunicator::gotoConfig ( bool  )

overridevirtual

Request a device to go to config mode.

Implements Communicator.

Reimplemented in SerialCommunicator, and UsbCommunicator.

Definition at line 212 of file devicecommunicator.cpp.

gotoConfigTimeout()

uint32_t DeviceCommunicator::gotoConfigTimeout ( ) const

inline

Returns

The timeout value for gotoConfig function

Definition at line 91 of file devicecommunicator.h.

gotoMeasurement()

XsResultValue DeviceCommunicator::gotoMeasurement ( )

overridevirtual

Request a device to go to measurement mode.

Implements Communicator.

Reimplemented in SerialCommunicator, and UsbCommunicator.

Definition at line 229 of file devicecommunicator.cpp.

handleMessage()

void DeviceCommunicator::handleMessage ( const XsMessage &  message )

overridevirtual

Handles a message.

Reimplemented from Communicator.

Reimplemented in SerialCommunicator, and ProxyCommunicator.

Definition at line 327 of file devicecommunicator.cpp.

isReadingFromFile()

bool DeviceCommunicator::isReadingFromFile ( ) const

overridevirtual

Returns

true if we are reading from the file

Implements Communicator.

loadLogFile()

void DeviceCommunicator::loadLogFile ( XsDevice *  device )

overridevirtual

Load a complete logfile.

Implements Communicator.

logFileDate()

XsTimeStamp DeviceCommunicator::logFileDate ( ) const

overridevirtual

Returns

The date of the logfile

Implements Communicator.

logFileName()

XsString DeviceCommunicator::logFileName ( ) const

overridevirtual

Returns

The name of the logfile

Implements Communicator.

logFileReadPosition()

XsFilePos DeviceCommunicator::logFileReadPosition ( ) const

overridevirtual

Returns

The read position of the logfile

Implements Communicator.

logFileSize()

XsFilePos DeviceCommunicator::logFileSize ( ) const

overridevirtual

Returns

The size of the logfile

Implements Communicator.

messageExtractor()

MessageExtractor & DeviceCommunicator::messageExtractor ( RxChannelId  channel = 0 )

protected

Returns the message extractor for the given rx channel.

Definition at line 319 of file devicecommunicator.cpp.

messageExtractorCount()

XsSize DeviceCommunicator::messageExtractorCount ( ) const

protected

Returns the number of message extractor this device communicator has.

Definition at line 312 of file devicecommunicator.cpp.

openLogFile()

bool DeviceCommunicator::openLogFile ( const XsString &  filename )

overridevirtual

Open the log file `.

Parameters

filename

a name of file to open

Returns

true if the file was opened successfully

Implements Communicator.

readLogFile()

virtual XsResultValue DeviceCommunicator::readLogFile ( XsDevice *  device )

virtual

Read a log file into cache.

Parameters

device

The device to read log from

Returns

XRV_OK if successful

readMessage()

XsMessage DeviceCommunicator::readMessage ( uint8_t  msgId = 0 )

overridevirtual

Read a message from the open file.

Parameters

msgId

an ID of message

Returns

The message that was read or if no matching message was found a cleared message

Implements Communicator.

readMessageFromStartOfFile()

XsMessage DeviceCommunicator::readMessageFromStartOfFile ( uint8_t  msgId, int  maxMsgs = 0  )

overridevirtual

Read a message from the start of the open file.

Parameters

msgId	an ID of message
maxMsgs	a maximum of messages to read

Returns

The message that was read or if no matching message was found a cleared message

Implements Communicator.

readMessagesFromStartOfFile()

std::deque<XsMessage> DeviceCommunicator::readMessagesFromStartOfFile ( uint8_t  msgId, int  maxMsgs = 0  )

overridevirtual

Read multiple similar messages from the start of the open file.

Parameters

msgId	an ID of message
maxMsgs	a maximum of messages to read

Returns

The message that was read or if no matching message was found a cleared message

Implements Communicator.

readSinglePacketFromFile()

virtual XsResultValue DeviceCommunicator::readSinglePacketFromFile ( )

virtual

Read a single XsDataPacket from an open log file.

Returns

XRV_OK if successful

resetLogFileReadPosition()

void DeviceCommunicator::resetLogFileReadPosition ( void  )

overridevirtual

Resets the logfile read position.

Implements Communicator.

setGotoConfigTimeout()

void DeviceCommunicator::setGotoConfigTimeout ( uint32_t  timeout )

overridevirtual

Set the timeout for the gotoConfig function.

\details The goto config function will try to put the device in config mode, but if the communication
channel is less than 100% reliable (especially in half-duplex communication like RS485) this
may fail. For this reason, the function will keep trying until it succeeds or until the timeout
is reached. Every attempt (even a successful one) will take between 20 and 30ms, so the specified
timeout is a lower bound for the actual timeout.

\param timeout The desired timeout value in ms, if 0 the default value is used

Implements Communicator.

Definition at line 158 of file devicecommunicator.cpp.

setKeepAlive()

void DeviceCommunicator::setKeepAlive ( bool  enable )

overridevirtual

Does nothing.

Parameters

enable

.

Implements Communicator.

Definition at line 143 of file devicecommunicator.cpp.

waitForLastTaskCompletion()

void DeviceCommunicator::waitForLastTaskCompletion ( )

overridevirtual

Wait for the last processing task to complete in the threadpool.

Implements Communicator.

writeMessage()

bool DeviceCommunicator::writeMessage ( const XsMessage &  message )

overridevirtual

Write message to the device.

Parameters

message

The message to write

Returns

true on successful write, false otherwise. This doesn't guarantee proper delivery of the message. Use doTransaction for that.

Implements Communicator.

Definition at line 248 of file devicecommunicator.cpp.

writeRawData()

virtual XsResultValue DeviceCommunicator::writeRawData ( const XsByteArray &  data )

protectedpure virtual

Writes a raw data to a device.

Parameters

data	The raw data to write

Returns

XRV_OK if successful

Implemented in ProxyCommunicator, and SerialCommunicator.

Member Data Documentation

m_defaultGotoConfigTimeout

const uint32_t DeviceCommunicator::m_defaultGotoConfigTimeout = 200

staticprivate

Definition at line 151 of file devicecommunicator.h.

m_gotoConfigTimeout

uint32_t DeviceCommunicator::m_gotoConfigTimeout

private

Definition at line 153 of file devicecommunicator.h.

m_messageExtractors

std::vector<MessageExtractor> DeviceCommunicator::m_messageExtractors

private

Definition at line 156 of file devicecommunicator.h.

m_nextRxChannelId

RxChannelId DeviceCommunicator::m_nextRxChannelId

private

Definition at line 155 of file devicecommunicator.h.

---

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

• devicecommunicator.h
• devicecommunicator.cpp