108 lines
3.8 KiB
C++
108 lines
3.8 KiB
C++
/**
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Software License Agreement (BSD)
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\file serial.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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// Based on example from:
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// https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
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#ifndef CREATE_SERIAL_H
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#define CREATE_SERIAL_H
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#include <boost/asio.hpp>
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#include <boost/thread.hpp>
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#include <boost/thread/condition_variable.hpp>
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#include <boost/function.hpp>
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#include <boost/shared_ptr.hpp>
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#include "create/data.h"
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#include "create/types.h"
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#include "create/util.h"
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namespace create {
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class Serial {
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private:
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enum ReadState {
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READ_HEADER,
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READ_NBYTES,
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READ_PACKET_ID,
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READ_PACKET_BYTES,
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READ_CHECKSUM
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};
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boost::shared_ptr<Data> data;
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boost::asio::io_service io;
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boost::asio::serial_port port;
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boost::thread ioThread;
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boost::condition_variable dataReadyCond;
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boost::mutex dataReadyMut;
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ReadState readState;
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bool dataReady;
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bool isReading;
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bool firstRead;
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// These are just for diagnostics, maybe not necessary
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// TODO: Investigate
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uint64_t corruptPackets;
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uint64_t totalPackets;
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// State machine variables
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uint8_t headerByte;
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uint8_t packetID;
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uint8_t expectedNumBytes;
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uint8_t byteRead;
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uint16_t packetBytes;
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uint8_t numBytesRead;
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uint32_t byteSum;
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uint8_t numDataBytesRead;
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uint8_t expectedNumDataBytes;
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// Callback executed when data arrives from Create
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// TODO: Should size be const?
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// Not sure, this was from example
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void onData(const boost::system::error_code& e, const std::size_t& size);
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// Callback to execute once data arrives
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boost::function<void()> callback;
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// Start and stop reading data from Create
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bool startReading();
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void stopReading();
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public:
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Serial(boost::shared_ptr<Data> data, const uint8_t& header = create::util::CREATE_2_HEADER);
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~Serial();
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bool connect(const std::string& port, const int& baud = 115200, boost::function<void()> cb = 0);
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void disconnect();
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inline bool connected() const { return port.is_open(); };
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bool send(const uint8_t* bytes, const uint32_t numBytes);
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bool sendOpcode(const Opcode& code);
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uint64_t getNumCorruptPackets();
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uint64_t getNumTotalPackets();
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};
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} // namespace create
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#endif // CREATE_SERIAL_H
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