2b9591f0f7
* Replace boost features with C++11 equivalents Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include <cmath> in util.h Needed for std::abs Signed-off-by: Jacob Perron <jacob@openrobotics.org>
65 lines
2.3 KiB
C++
65 lines
2.3 KiB
C++
/**
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Software License Agreement (BSD)
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\file packet.h
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\authors Jacob Perron <jperron@sfu.ca>
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\copyright Copyright (c) 2015, Autonomy Lab (Simon Fraser University), All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of Autonomy Lab nor the names of its contributors may
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be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CREATE_PACKET_H
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#define CREATE_PACKET_H
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#include <mutex>
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namespace create {
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class Packet {
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private:
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uint16_t data;
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uint16_t tmpData;
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mutable std::mutex dataMutex;
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mutable std::mutex tmpDataMutex;
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protected:
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// Thread safe
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void setData(const uint16_t& d);
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public:
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const uint8_t nbytes;
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const std::string info;
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Packet(const uint8_t& nbytes, const std::string& info);
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~Packet();
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// Thread safe
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void setDataToValidate(const uint16_t& td);
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// Thread safe
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void validate();
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// Thread safe
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uint16_t getData() const;
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};
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} // namepsace create
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#endif // CREATE_PACKET_H
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