TCPDevice.hpp

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/*********************************************************************
 * Author: Đula Nađ
 *   Date: 20.10.2010.
 *********************************************************************/
#ifndef TCPDEVICE_HPP_
#define TCPDEVICE_HPP_
#include <labust/tritech/tritechfwd.hpp>
#include <labust/preprocessor/mem_serialized_struct.hpp>

#include <boost/asio.hpp>
#include <boost/thread.hpp>


#include <string>
#include <map>

namespace labust
{
        namespace tritech
        {
      struct TCPRequest
      {
                  enum {default_size = 23};
                  enum client_server_command {scAttachToNode = 1, scDetachFromNode = 7};
              enum app_classes {atNull=0, atGeneric = 15, atAMNAV = 26, atMiniAttSen = 33};
          enum con_type {rctHead = 1};

                  TCPRequest():
                  size(default_size),
                          node(labust::tritech::Nodes::USBL),
                          command(scAttachToNode),
                          priority(129),
                          app_class(atAMNAV),
                          type(rctHead){};

                uint16_t size;
        uint8_t node, command, priority, app_class, type;
        uint8_t guid[16];
      };

          struct TCONMsg
          {
                  enum {default_size = 14};
                  TCONMsg():
                                size(default_size),
                                time(0),
                                txNode(255),
                                rxNode(255),
                                msgType(0),
                                seq(128),
                                node(255),
                                data(new boost::asio::streambuf()){};

                        inline void setup()
                        {
                                this->size = data->size()+ default_size;
                        }

                        uint16_t size;
                        double time;
                        uint8_t txNode, rxNode;
                        uint8_t msgType;
                        uint8_t seq;
                        uint8_t node;

                        StreamPtr data;
          };

                class TCPDevice
                {
                        enum {Sync,Header,Data};
                        enum {ringBufferSize = 7};
                public:
                        typedef boost::function<void (TCONMsgPtr)> FunctorType;
                        typedef std::map<int,FunctorType> HandlerMap;

                        TCPDevice(const std::string& address, uint32_t port,
                                uint8_t device = Nodes::USBL,
                                uint8_t app_class = TCPRequest::atAMNAV,
                                uint8_t priority = 129);
                        ~TCPDevice();

                        void send(TCONMsgPtr message);
                        inline void registerHandlers(const HandlerMap& map)
                        {
                                this->handlers.insert(map.begin(),map.end());
                        }

                private:
                        void _setup();
                        void registerDevice(bool register=true);
                        void onSync(const boost::system::error_code& error, std::size_t bytes_transferred);
                        void onHeader(StreamPtr data, const boost::system::error_code& error, std::size_t bytes_transferred);
                        void onData(const boost::system::error_code& error, std::size_t bytes_transferred);
                        void start_receive(uint8_t state);

                        boost::asio::io_service io;
                        boost::asio::ip::tcp::socket socket;
                        std::string address;
                        uint32_t port;
                        boost::asio::streambuf input;
                        std::vector<uint8_t> ringBuffer;
                        boost::thread service;
                        HandlerMap handlers;
                        uint8_t device,app_class,priority;
                };
        }
}

PP_LABUST_MAKE_BOOST_SERIALIZATOR(labust::tritech::TCPRequest,
        (uint16_t, size)
        (uint8_t, node)
        (uint8_t, command)
        (uint8_t, priority)
        (uint8_t, app_class)
        (uint8_t, type))
        BOOST_CLASS_IMPLEMENTATION(labust::tritech::TCPRequest, boost::serialization::primitive_type)

PP_LABUST_MAKE_BOOST_SERIALIZATOR_CLEAN(labust::tritech::TCONMsg,
        (uint16_t, size)
        (double, time)
        (uint8_t, txNode)
        (uint8_t, rxNode)
        (uint8_t, msgType)
        (uint8_t, seq)
        (uint8_t, node))

/* TCPDEVICE_HPP_ */
#endif