81 lines
2.7 KiB
C++
81 lines
2.7 KiB
C++
/**
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Software License Agreement (BSD)
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\file serial_stream.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_STREAM_H
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#define CREATE_SERIAL_STREAM_H
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#include <memory>
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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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#include "create/serial.h"
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namespace create {
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class SerialStream : public 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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// State machine variables
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ReadState readState;
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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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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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protected:
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bool startSensorStream();
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void processByte(uint8_t byteRead);
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public:
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SerialStream(
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std::shared_ptr<Data> data,
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const uint8_t& header = create::util::STREAM_HEADER,
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bool install_signal_handler = true);
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virtual ~SerialStream() = default;
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};
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} // namespace create
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#endif // CREATE_SERIAL_H
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