1563e2b3e1
This gives the user the option to create their own signal handler without having create::Create interfere. They can disable the sigint/sigterm handler and be responsible for disconnecting from the robot themselves. Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
/**
|
|
Software License Agreement (BSD)
|
|
|
|
\file serial_stream.h
|
|
\authors Jacob Perron <jperron@sfu.ca>
|
|
\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
* Redistributions of source code must retain the above copyright notice,
|
|
this list of conditions and the following disclaimer.
|
|
* Redistributions in binary form must reproduce the above copyright notice,
|
|
this list of conditions and the following disclaimer in the
|
|
documentation and/or other materials provided with the distribution.
|
|
* Neither the name of Autonomy Lab nor the names of its contributors may
|
|
be used to endorse or promote products derived from this software without
|
|
specific prior written permission.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
|
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
// Based on example from:
|
|
// https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
|
|
|
|
#ifndef CREATE_SERIAL_STREAM_H
|
|
#define CREATE_SERIAL_STREAM_H
|
|
|
|
#include <memory>
|
|
|
|
#include "create/data.h"
|
|
#include "create/types.h"
|
|
#include "create/util.h"
|
|
#include "create/serial.h"
|
|
|
|
namespace create {
|
|
class SerialStream : public Serial {
|
|
private:
|
|
enum ReadState {
|
|
READ_HEADER,
|
|
READ_NBYTES,
|
|
READ_PACKET_ID,
|
|
READ_PACKET_BYTES,
|
|
READ_CHECKSUM
|
|
};
|
|
|
|
// State machine variables
|
|
ReadState readState;
|
|
uint8_t headerByte;
|
|
uint8_t packetID;
|
|
uint8_t expectedNumBytes;
|
|
uint16_t packetBytes;
|
|
uint8_t numBytesRead;
|
|
uint32_t byteSum;
|
|
uint8_t numDataBytesRead;
|
|
uint8_t expectedNumDataBytes;
|
|
|
|
protected:
|
|
bool startSensorStream();
|
|
void processByte(uint8_t byteRead);
|
|
|
|
public:
|
|
SerialStream(
|
|
std::shared_ptr<Data> data,
|
|
const uint8_t& header = create::util::STREAM_HEADER,
|
|
bool install_signal_handler = true);
|
|
|
|
};
|
|
} // namespace create
|
|
|
|
#endif // CREATE_SERIAL_H
|