Kobuki 1.0.0
C++ API for the Kobuki research robot
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packet_finder.hpp
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1
14/*****************************************************************************
15 ** Ifdefs
16 *****************************************************************************/
17
18#ifndef PACKET_FINDER_HPP_
19#define PACKET_FINDER_HPP_
20
21/*****************************************************************************
22 ** Includes
23 *****************************************************************************/
24
25#include <iomanip>
26#include <ecl/containers.hpp>
27#include <ecl/sigslots.hpp>
28#include "../macros.hpp"
29
30/*****************************************************************************
31 ** Namespaces
32 *****************************************************************************/
33
34namespace kobuki
35{
36
37/*****************************************************************************
38 ** Using
39 *****************************************************************************/
40
41/*****************************************************************************
42 ** Interface
43 *****************************************************************************/
72class kobuki_PUBLIC PacketFinderBase
73{
74public:
75 typedef ecl::PushAndPop<unsigned char> BufferType;
76
77 enum packetFinderState
78 {
79 clearBuffer = 0,
80 waitingForStx,
81 waitingForPayloadSize,
82 waitingForPayloadToEtx,
83 waitingForEtx,
84 };
85 enum packetFinderState state;
86protected:
87
88 unsigned int size_stx;
89 unsigned int size_etx;
90 unsigned int size_length_field;
91 bool variable_size_payload;
92 unsigned int size_max_payload;
93 unsigned int size_payload;
94 unsigned int size_checksum_field;
95
96 BufferType STX;
97 BufferType ETX;
98 BufferType buffer;
99
100 bool verbose;
101
102 ecl::Signal<const std::string&> sig_warn, sig_error;
103
104public:
105 PacketFinderBase();
107 virtual ~PacketFinderBase() {};
108
109 void configure(const std::string &sigslots_namespace,
110 const BufferType & putStx, const BufferType & putEtx, unsigned int sizeLengthField,
111 unsigned int sizeMaxPayload, unsigned int sizeChecksumField, bool variableSizePayload);
112 void clear();
113 void enableVerbose();
114 virtual bool update(const unsigned char * incoming, unsigned int numberOfIncoming);
115 virtual bool checkSum();
116 unsigned int numberOfDataToRead();
117 void getBuffer(BufferType & bufferRef);
118 void getPayload(BufferType & bufferRef);
119
120protected:
121 bool WaitForStx(const unsigned char datum);
122 bool waitForPayloadSize(const unsigned char * incoming, unsigned int numberOfIncoming);
123 bool waitForEtx(const unsigned char incoming, bool & foundPacket);
124 bool waitForPayloadAndEtx(const unsigned char * incoming, unsigned int numberOfIncoming, bool & foundPacket);
125};
126
127}
128
129// namespace kobuki
130
131#endif /* PACKET_FINDER_HPP_ */
kobuki::PacketFinderBase
Provides simple packet finder which may be consist of stx, etx, payload, ...
Definition packet_finder.hpp:73