compAIR/libcreate
compAIR/libcreate
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Add support for early model Roomba 400s and other robots using the original SCI protocol.

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This commit is contained in:
Ben Wolsieffer 2016-07-13 21:50:32 -04:00
parent c68a308c71
commit 618956e14c
18 changed files with 675 additions and 307 deletions
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39
include/create/serial.h
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@ -47,39 +47,20 @@ POSSIBILITY OF SUCH DAMAGE.
namespace create {
class Serial {
private:
enum ReadState {
READ_HEADER,
READ_NBYTES,
READ_PACKET_ID,
READ_PACKET_BYTES,
READ_CHECKSUM
};
boost::shared_ptr<Data> data;
protected:
boost::asio::io_service io;
boost::asio::serial_port port;
private:
boost::thread ioThread;
boost::condition_variable dataReadyCond;
boost::mutex dataReadyMut;
ReadState readState;
bool dataReady;
bool isReading;
bool firstRead;
// These are for possible diagnostics
uint64_t corruptPackets;
uint64_t totalPackets;
// State machine variables
uint8_t headerByte;
uint8_t packetID;
uint8_t expectedNumBytes;
uint8_t byteRead;
uint16_t packetBytes;
uint8_t numBytesRead;
uint32_t byteSum;
uint8_t numDataBytesRead;
uint8_t expectedNumDataBytes;
// Callback executed when data arrives from Create
void onData(const boost::system::error_code& e, const std::size_t& size);
@ -88,11 +69,21 @@ namespace create {
// Start and stop reading data from Create
bool startReading();
void stopReading();
protected:
boost::shared_ptr<Data> data;
// These are for possible diagnostics
uint64_t corruptPackets;
uint64_t totalPackets;
virtual bool startSensorStream() = 0;
virtual void processByte(uint8_t byteRead) = 0;
// Notifies main thread that data is fresh and makes the user callback
void notifyDataReady();
public:
Serial(boost::shared_ptr<Data> data, const uint8_t& header = create::util::CREATE_2_HEADER);
Serial(boost::shared_ptr<Data> data);
~Serial();
bool connect(const std::string& port, const int& baud = 115200, boost::function<void()> cb = 0);
void disconnect();