.. _program_listing_file__tmp_ws_src_libcreate_include_create_serial.h:

Program Listing for File serial.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_libcreate_include_create_serial.h>` (``/tmp/ws/src/libcreate/include/create/serial.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   // Based on example from:
   //   https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
   
   #ifndef CREATE_SERIAL_H
   #define CREATE_SERIAL_H
   
   #include <condition_variable>
   #include <functional>
   #include <memory>
   #include <mutex>
   #include <thread>
   
   #include <boost/asio.hpp>
   
   #include "create/data.h"
   #include "create/types.h"
   #include "create/util.h"
   
   namespace create {
     class Serial : public std::enable_shared_from_this<Serial> {
   
       protected:
         boost::asio::io_service io;
         boost::asio::signal_set signals;
         boost::asio::serial_port port;
   
       private:
         std::thread ioThread;
         std::condition_variable dataReadyCond;
         std::mutex dataReadyMut;
         bool dataReady;
         bool isReading;
         bool firstRead;
         uint8_t byteRead;
   
         // Callback executed when data arrives from Create
         void onData(const boost::system::error_code& e, const std::size_t& size);
         // Callback to execute once data arrives
         std::function<void()> callback;
         // Start and stop reading data from Create
         bool startReading();
         void stopReading();
         bool openPort(const std::string& portName, const int& baud);
         bool closePort();
   
       protected:
         std::shared_ptr<Data> data;
         // These are for possible diagnostics
         uint64_t corruptPackets;
         uint64_t totalPackets;
   
         virtual bool startSensorStream() = 0;
         virtual void processByte(uint8_t byteRead) = 0;
   
         void signalHandler(const boost::system::error_code& error, int signal_number);
         // Notifies main thread that data is fresh and makes the user callback
         void notifyDataReady();
   
       public:
         Serial(std::shared_ptr<Data> data, bool install_signal_handler);
         ~Serial();
         bool connect(const std::string& port, const int& baud = 115200, std::function<void()> cb = 0);
         void disconnect();
         inline bool connected() const { return port.is_open(); };
         bool send(const uint8_t* bytes, const uint32_t numBytes);
         bool sendOpcode(const Opcode& code);
         uint64_t getNumCorruptPackets() const;
         uint64_t getTotalPackets() const;
     };
   }  // namespace create
   
   #endif // CREATE_SERIAL_H