SVHSerialInterface.h

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//
// © Copyright 2022 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2022 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// This file is part of the Schunk SVH Library.
//
// The Schunk SVH Library is free software: you can redistribute it and/or
// modify it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or (at your
// option) any later version.
//
// The Schunk SVH Library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
// Public License for more details.
//
// You should have received a copy of the GNU General Public License along with
// the Schunk SVH Library. If not, see <https://www.gnu.org/licenses/>.
//

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef DRIVER_SVH_SVH_SERIAL_INTERFACE_H_INCLUDED
#define DRIVER_SVH_SVH_SERIAL_INTERFACE_H_INCLUDED

// Windows declarations
#include <schunk_svh_library/ImportExport.h>

#include <memory>
#include <schunk_svh_library/serial/SVHReceiveThread.h>
#include <schunk_svh_library/serial/SVHSerialPacket.h>
#include <schunk_svh_library/serial/Serial.h>
#include <thread>

using driver_svh::serial::Serial;

namespace driver_svh {

class DRIVER_SVH_IMPORT_EXPORT SVHSerialInterface
{
public:
  SVHSerialInterface(const ReceivedPacketCallback& received_packet_callback);

  ~SVHSerialInterface();

  bool connect(const std::string& dev_name);

  void close();

  bool isConnected() { return m_connected; }

  bool sendPacket(SVHSerialPacket& packet);

  unsigned int transmittedPacketCount() { return m_packets_transmitted; }

  void resetTransmitPackageCount();

  void printPacketOnConsole(SVHSerialPacket& packet);

private:
  void receivedPacketCallback(const SVHSerialPacket& packet, unsigned int packet_count);

  bool m_connected;

  uint8_t m_last_index;

  std::shared_ptr<Serial> m_serial_device;

  void calcCheckSum(uint8_t& check_sum1, uint8_t& check_sum2, const SVHSerialPacket& packet);

  std::thread m_receive_thread;

  std::unique_ptr<SVHReceiveThread> m_svh_receiver;

  ReceivedPacketCallback m_received_packet_callback;

  unsigned int m_packets_transmitted;

  unsigned int m_dummy_packets_printed;
};

} // namespace driver_svh

#endif