From 9cb32502686de8605404bb6e36b6605ee910a755 Mon Sep 17 00:00:00 2001
From: jacobperron <jacobmperron@gmail.com>
Date: Fri, 12 Feb 2016 18:06:26 -0800
Subject: [PATCH] Expose functions for getting number of corrupt packets and
 total packets in Create class

---
 CMakeLists.txt          | 7 -------
 include/create/create.h | 8 ++++++++
 include/create/serial.h | 4 ++--
 src/create.cpp          | 8 ++++++++
 src/serial.cpp          | 4 ++--
 5 files changed, 20 insertions(+), 11 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index def8c81..036c026 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,7 +22,6 @@ target_link_libraries(create
 
 ## Declare example executables
 add_executable(create_demo examples/create_demo.cpp)
-add_executable(odom_test examples/odom_test.cpp)
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(create_demo
@@ -30,13 +29,7 @@ target_link_libraries(create_demo
   create
 )
 
-target_link_libraries(odom_test
-  ${Boost_LIBRARIES}
-  create
-)
-
 ## Install
-## I'm not familiar with install rules, do these make sense?
 install(TARGETS create DESTINATION lib)
 install(FILES
         include/create/create.h
diff --git a/include/create/create.h b/include/create/create.h
index 660e84f..31c9911 100644
--- a/include/create/create.h
+++ b/include/create/create.h
@@ -357,6 +357,14 @@ namespace create {
       /* Get the estimated velocity of Create based on wheel encoders.
        */
       const create::Vel& getVel() const;
+
+      /* Get the number of corrupt serial packets since first connecting to Create.
+       */
+      uint64_t getNumCorruptPackets() const;
+
+      /* Get the total number of serial packets (including corrupt packets) since first connecting to Create.
+       */
+      uint64_t getTotalPackets() const;
   };  // end Create class
 
 }  // namespace create
diff --git a/include/create/serial.h b/include/create/serial.h
index d339876..04b7006 100644
--- a/include/create/serial.h
+++ b/include/create/serial.h
@@ -97,8 +97,8 @@ namespace create {
       inline bool connected() const { return port.is_open(); };
       bool send(const uint8_t* bytes, const uint32_t numBytes);
       bool sendOpcode(const Opcode& code);
-      uint64_t getNumCorruptPackets();
-      uint64_t getNumTotalPackets();
+      uint64_t getNumCorruptPackets() const;
+      uint64_t getTotalPackets() const;
   };
 }  // namespace create
 
diff --git a/src/create.cpp b/src/create.cpp
index bb99910..333184c 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -505,4 +505,12 @@ namespace create {
     return vel;
   }
 
+  uint64_t Create::getNumCorruptPackets() const {
+    return serial->getNumCorruptPackets();
+  }
+
+  uint64_t Create::getTotalPackets() const {
+    return serial->getTotalPackets();
+  }
+
 } // end namespace
diff --git a/src/serial.cpp b/src/serial.cpp
index ed2ba8d..89d16dd 100644
--- a/src/serial.cpp
+++ b/src/serial.cpp
@@ -239,11 +239,11 @@ namespace create {
     return send(&oc, 1);
   }
 
-  uint64_t Serial::getNumCorruptPackets() {
+  uint64_t Serial::getNumCorruptPackets() const {
     return corruptPackets;
   }
 
-  uint64_t Serial::getNumTotalPackets() {
+  uint64_t Serial::getTotalPackets() const {
     return totalPackets;
   }
 } // namespace create