.. _program_listing_file__tmp_ws_src_libcreate_include_create_serial_query.h:

Program Listing for File serial_query.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_libcreate_include_create_serial_query.h>` (``/tmp/ws/src/libcreate/include/create/serial_query.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_QUERY_H
   #define CREATE_SERIAL_QUERY_H
   
   #include <memory>
   
   #include <boost/asio.hpp>
   
   #include "create/data.h"
   #include "create/types.h"
   #include "create/util.h"
   #include "create/serial.h"
   
   namespace create {
     class SerialQuery : public Serial {
   
       private:
         boost::asio::deadline_timer streamRecoveryTimer;
         uint8_t packetID;
         int8_t packetByte;
         uint16_t packetData;
         const uint8_t maxPacketID;
   
         bool started;
   
         void requestSensorData();
         void restartSensorStream(const boost::system::error_code& err);
   
         void flushInput();
   
       protected:
         bool startSensorStream();
         void processByte(uint8_t byteRead);
   
       public:
         SerialQuery(std::shared_ptr<Data> data, bool install_signal_handler = true);
         virtual ~SerialQuery() = default;
     };
   }  // namespace create
   
   #endif // CREATE_SERIAL_H