Abstract base class for an asynchronous communication port. More...

#include <comm.h>

Inheritance diagram for async_comm::Comm:

Classes
struct	ReadBuffer

struct	WriteBuffer

Public Member Functions
void	close ()
	Closes the port. More...

	Comm (MessageHandler &message_handler=default_message_handler_)
	Set up asynchronous communication base class. More...

bool	init ()
	Initializes and opens the port. More...

void	register_listener (CommListener &listener)
	Register a listener for when bytes are received on the port. More...

void	register_receive_callback (std::function< void(const uint8_t *, size_t)> fun)
	Register a callback function for when bytes are received on the port. More...

void	send_byte (uint8_t data)
	Send a single byte over the port. More...

void	send_bytes (const uint8_t *src, size_t len)
	Send bytes from a buffer over the port. More...

virtual	~Comm ()

Protected Member Functions
virtual void	do_async_read (const boost::asio::mutable_buffers_1 &buffer, boost::function< void(const boost::system::error_code &, size_t)> handler)=0

virtual void	do_async_write (const boost::asio::const_buffers_1 &buffer, boost::function< void(const boost::system::error_code &, size_t)> handler)=0

virtual void	do_close ()=0

virtual bool	do_init ()=0

virtual bool	is_open ()=0

Protected Attributes
boost::asio::io_service	io_service_

MessageHandler &	message_handler_

Static Protected Attributes
static DefaultMessageHandler	default_message_handler_

static constexpr size_t	READ_BUFFER_SIZE = 1024

static constexpr size_t	WRITE_BUFFER_SIZE = 1024

Private Types
typedef std::lock_guard< std::recursive_mutex >	mutex_lock

Private Member Functions
void	async_read ()

void	async_read_end (const boost::system::error_code &error, size_t bytes_transferred)

void	async_write (bool check_write_state)

void	async_write_end (const boost::system::error_code &error, size_t bytes_transferred)

void	process_callbacks ()

Private Attributes
std::mutex	callback_mutex_

std::thread	callback_thread_

std::condition_variable	condition_variable_

std::thread	io_thread_

std::vector< std::reference_wrapper< CommListener > >	listeners_

bool	new_data_

uint8_t	read_buffer_ [READ_BUFFER_SIZE]

std::list< ReadBuffer >	read_queue_

std::function< void(const uint8_t *, size_t)>	receive_callback_ = nullptr

bool	shutdown_requested_

bool	write_in_progress_

std::recursive_mutex	write_mutex_

std::list< WriteBuffer >	write_queue_

Detailed Description

Abstract base class for an asynchronous communication port.

Definition at line 81 of file comm.h.

Member Typedef Documentation

typedef std::lock_guard<std::recursive_mutex> async_comm::Comm::mutex_lock

private

Definition at line 192 of file comm.h.

Constructor & Destructor Documentation

async_comm::Comm::Comm ( MessageHandler & message_handler = default_message_handler_ )

Set up asynchronous communication base class.

Parameters

message_handler Custom message handler, or omit for default handler

Definition at line 48 of file comm.cpp.

async_comm::Comm::~Comm ( )

virtual

Definition at line 57 of file comm.cpp.

Member Function Documentation

void async_comm::Comm::async_read ( )

private

Definition at line 120 of file comm.cpp.

void async_comm::Comm::async_read_end	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)

private

Definition at line 131 of file comm.cpp.

void async_comm::Comm::async_write ( bool check_write_state )

private

Definition at line 150 of file comm.cpp.

void async_comm::Comm::async_write_end	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)

private

Definition at line 168 of file comm.cpp.

void async_comm::Comm::close ( )

Closes the port.

Definition at line 74 of file comm.cpp.

virtual void async_comm::Comm::do_async_read	(	const boost::asio::mutable_buffers_1 &	buffer,
		boost::function< void(const boost::system::error_code &, size_t)>	handler
	)

protectedpure virtual

Implemented in async_comm::Serial, async_comm::UDP, and async_comm::TCPClient.

virtual void async_comm::Comm::do_async_write	(	const boost::asio::const_buffers_1 &	buffer,
		boost::function< void(const boost::system::error_code &, size_t)>	handler
	)

protectedpure virtual

Implemented in async_comm::Serial, async_comm::UDP, and async_comm::TCPClient.

virtual void async_comm::Comm::do_close ( )

protectedpure virtual

Implemented in async_comm::Serial, async_comm::UDP, and async_comm::TCPClient.

virtual bool async_comm::Comm::do_init ( )

protectedpure virtual

Implemented in async_comm::Serial, async_comm::UDP, and async_comm::TCPClient.

bool async_comm::Comm::init ( )

Initializes and opens the port.

Returns: True if the port was succesfully initialized

Definition at line 61 of file comm.cpp.

virtual bool async_comm::Comm::is_open ( )

protectedpure virtual

Implemented in async_comm::Serial, async_comm::UDP, and async_comm::TCPClient.

void async_comm::Comm::process_callbacks ( )

private

Definition at line 197 of file comm.cpp.

void async_comm::Comm::register_listener ( CommListener & listener )

Register a listener for when bytes are received on the port.

The listener must inherit from CommListener and implement the receive_callback function. This is another mechanism for receiving data from the Comm interface without needing to create function pointers. Multiple listeners can be added and all will get the callback

Parameters

listener Reference to listener

Definition at line 115 of file comm.cpp.

void async_comm::Comm::register_receive_callback ( std::function< void(const uint8_t *, size_t)> fun )

Register a callback function for when bytes are received on the port.

The callback function needs to accept two parameters. The first is of type const uint8_t*, and is a constant pointer to the data buffer. The second is of type size_t, and specifies the number of bytes available in the buffer.

Warning: The data buffer passed to the callback function will be invalid after the callback function exits. If you want to store the data for later processing, you must copy the data to a new buffer rather than storing the pointer to the buffer.

Parameters

fun	Function to call when bytes are received

Definition at line 110 of file comm.cpp.

void async_comm::Comm::send_byte ( uint8_t data )

inline

Send a single byte over the port.

Parameters

data	Byte to send

Definition at line 113 of file comm.h.

void async_comm::Comm::send_bytes	(	const uint8_t *	src,
		size_t	len
	)

Send bytes from a buffer over the port.

Parameters

src	Address of the buffer
len	Number of bytes to send

Definition at line 97 of file comm.cpp.

Member Data Documentation

std::mutex async_comm::Comm::callback_mutex_

private

Definition at line 207 of file comm.h.

std::thread async_comm::Comm::callback_thread_

private

Definition at line 203 of file comm.h.

std::condition_variable async_comm::Comm::condition_variable_

private

Definition at line 208 of file comm.h.

DefaultMessageHandler async_comm::Comm::default_message_handler_

staticprotected

Definition at line 146 of file comm.h.

boost::asio::io_service async_comm::Comm::io_service_

protected

Definition at line 157 of file comm.h.

std::thread async_comm::Comm::io_thread_

private

Definition at line 202 of file comm.h.

std::vector<std::reference_wrapper<CommListener> > async_comm::Comm::listeners_

private

Definition at line 217 of file comm.h.

MessageHandler& async_comm::Comm::message_handler_

protected

Definition at line 156 of file comm.h.

bool async_comm::Comm::new_data_

private

Definition at line 209 of file comm.h.

uint8_t async_comm::Comm::read_buffer_[READ_BUFFER_SIZE]

private

Definition at line 205 of file comm.h.

constexpr size_t async_comm::Comm::READ_BUFFER_SIZE = 1024

staticprotected

Definition at line 143 of file comm.h.

std::list<ReadBuffer> async_comm::Comm::read_queue_

private

Definition at line 206 of file comm.h.

std::function<void(const uint8_t *, size_t)> async_comm::Comm::receive_callback_ = nullptr

private

Definition at line 216 of file comm.h.

bool async_comm::Comm::shutdown_requested_

private

Definition at line 210 of file comm.h.

constexpr size_t async_comm::Comm::WRITE_BUFFER_SIZE = 1024

staticprotected

Definition at line 144 of file comm.h.

bool async_comm::Comm::write_in_progress_

private

Definition at line 214 of file comm.h.

std::recursive_mutex async_comm::Comm::write_mutex_

private

Definition at line 213 of file comm.h.

std::list<WriteBuffer> async_comm::Comm::write_queue_

private

Definition at line 212 of file comm.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation