compAIR/libcreate
compAIR/libcreate
4
0
Fork 1
Code Issues Pull requests Projects Releases Packages 1 Wiki Activity Actions

Code cleanup

Browse source
This commit is contained in:
jacobperron 2016-02-12 17:44:30 -08:00
parent 8a3209d6a1
commit bcd27b788a
13 changed files with 142 additions and 146 deletions
Download patch file Download diff file Expand all files Collapse all files

27
src/serial.cpp
View file

@ -14,16 +14,13 @@ namespace create {
dataReady(false),
corruptPackets(0),
totalPackets(0) {
//std::cout << "# Serial Created" << std::endl;
}
Serial::~Serial() {
disconnect();
//std::cout << "# Serial Destroyed" << std::endl;
}
bool Serial::connect(const std::string& portName, const int& baud, boost::function<void()> cb) {
//std::cout << "## Serial connect start" << std::endl;
using namespace boost::asio;
port.open(portName);
port.set_option(serial_port::baud_rate(baud));
@ -32,12 +29,11 @@ namespace create {
if (port.is_open()) {
callback = cb;
bool startReadSuccess = startReading();
if (!startReadSuccess)
if (!startReadSuccess) {
port.close();
//std::cout << "## Serial connect done" << std::endl;
}
return startReadSuccess;
}
//std::cout << "## Serial connect failed" << std::endl;
return false;
}
@ -47,13 +43,11 @@ namespace create {
}
if (connected()) {
//std::cout << "## Serial disconnect start" << std::endl;
// Ensure not in Safe/Full modes
sendOpcode(OC_START);
// Stop OI
sendOpcode(OC_STOP);
port.close();
//std::cout << "## Serial disconnect done" << std::endl;
}
}
@ -68,7 +62,6 @@ namespace create {
// Only allow once
if (isReading) return true;
//std::cout << "### Serial start reading" << std::endl;
// Request from Create that we want a stream containing all packets
uint8_t numPackets = data->getNumPackets();
std::vector<uint8_t> packetIDs = data->getPacketIDs();
@ -102,7 +95,7 @@ namespace create {
// Wait for first complete read to finish
boost::unique_lock<boost::mutex> lock(dataReadyMut);
//std::cout << "#### Waiting for dataReady" << std::endl;
int attempts = 1;
int maxAttempts = 10;
while (!dataReady) {
@ -114,21 +107,19 @@ namespace create {
return false;
}
attempts++;
//std::cout << "Requesting data from Create. Attempt " << attempts << std::endl;
// Request data again
sendOpcode(OC_START);
send(streamReq, 2 + numPackets);
}
}
//std::cout << "#### Data is ready." << std::endl;
isReading = true;
//std::cout << "### Serial start reading DONE" << std::endl;
return true;
}
void Serial::stopReading() {
if (isReading) {
//std::cout << "### Start stopReading" << std::endl;
io.stop();
ioThread.join();
isReading = false;
@ -136,12 +127,10 @@ namespace create {
boost::lock_guard<boost::mutex> lock(dataReadyMut);
dataReady = false;
}
//std::cout << "### End stopReading" << std::endl;
}
}
void Serial::onData(const boost::system::error_code& e, const std::size_t& size) {
//std::cout << "#### onData" << std::endl;
if (e) {
CERR("[create::Serial] ", "serial error - " << e.message());
return;
@ -185,11 +174,11 @@ namespace create {
case READ_PACKET_BYTES:
numDataBytesRead++;
if (expectedNumDataBytes == 2 && numDataBytesRead == 1) {
// high byte first
// High byte first
packetBytes = (byteRead << 8) & 0xff00;
}
else {
// low byte
// Low byte
packetBytes += byteRead;
}
if (numDataBytesRead >= expectedNumDataBytes) {
@ -209,11 +198,9 @@ namespace create {
// Notify first data packets ready
{
boost::lock_guard<boost::mutex> lock(dataReadyMut);
// std::cout << "locking." << std::endl;
if (!dataReady) {
dataReady = true;
dataReadyCond.notify_one();
//std::cout << "##### Notified." << std::endl;
}
}
// Callback to notify data is ready