SVHReceiveThread.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_RECEIVE_THREAD_H_INCLUDED
#define DRIVER_SVH_SVH_RECEIVE_THREAD_H_INCLUDED
 
#include <schunk_svh_library/serial/ByteOrderConversion.h>
#include <schunk_svh_library/serial/Serial.h>
 
#include <schunk_svh_library/serial/SVHSerialPacket.h>
 
#include <atomic>
#include <chrono>
#include <functional>
#include <memory>
 
using driver_svh::serial::Serial;
 
namespace driver_svh {
 
using ReceivedPacketCallback =
  std::function<void(const SVHSerialPacket& packet, unsigned int packet_count)>;
 
class SVHReceiveThread
{
public:
  SVHReceiveThread(const std::chrono::microseconds& idle_sleep,
                   std::shared_ptr<Serial> device,
                   ReceivedPacketCallback const& received_callback);
 
  ~SVHReceiveThread() {}
 
  void run();
 
  void stop() { m_continue = false; };
 
  unsigned int receivedPacketCount() { return m_packets_received; }
 
  void resetReceivedPackageCount() { m_packets_received = 0; }
 
private:
  std::atomic<bool> m_continue{true};
 
  std::chrono::microseconds m_idle_sleep;
 
  std::shared_ptr<Serial> m_serial_device;
 
  enum
  {
    RS_HEADE_R1,
    RS_HEADE_R2,
    RS_INDEX,
    RS_ADDRESS,
    RS_LENGT_H1,
    RS_LENGT_H2,
    RS_DATA,
    RS_CHECKSU_M1,
    RS_CHECKSU_M2
  } typedef tState;
 
  tState m_received_state;
 
  uint16_t m_length;
 
  uint8_t m_checksum1;
  uint8_t m_checksum2;
 
  std::vector<uint8_t> m_data;
 
  driver_svh::ArrayBuilder m_ab;
 
  std::atomic<unsigned int> m_packets_received;
 
  unsigned int m_skipped_bytes;
 
  bool receiveData();
 
  ReceivedPacketCallback m_received_callback;
};
 
} // namespace driver_svh
 
#endif