kobuki::PacketFinderBase Class Reference

Provides simple packet finder which may be consist of stx, etx, payload, ... More...

#include <packet_finder.hpp>

Inheritance diagram for kobuki::PacketFinderBase:

Public Types
typedef ecl::PushAndPop< unsigned char >	BufferType
enum	packetFinderState {   clearBuffer = 0, waitingForStx, waitingForPayloadSize, waitingForPayloadToEtx,   waitingForEtx }

Public Member Functions
virtual bool	checkSum ()
void	clear ()
void	configure (const std::string &sigslots_namespace, const BufferType &putStx, const BufferType &putEtx, unsigned int sizeLengthField, unsigned int sizeMaxPayload, unsigned int sizeChecksumField, bool variableSizePayload)
void	enableVerbose ()
void	getBuffer (BufferType &bufferRef)
void	getPayload (BufferType &bufferRef)
unsigned int	numberOfDataToRead ()
	PacketFinderBase ()
virtual bool	update (const unsigned char *incoming, unsigned int numberOfIncoming)
virtual	~PacketFinderBase ()

Public Attributes
enum packetFinderState	state

Protected Member Functions
bool	waitForEtx (const unsigned char incoming, bool &foundPacket)
bool	waitForPayloadAndEtx (const unsigned char *incoming, unsigned int numberOfIncoming, bool &foundPacket)
bool	waitForPayloadSize (const unsigned char *incoming, unsigned int numberOfIncoming)
bool	WaitForStx (const unsigned char datum)

Protected Attributes
BufferType	buffer
BufferType	ETX
ecl::Signal< const std::string & >	sig_error
ecl::Signal< const std::string & >	sig_warn
unsigned int	size_checksum_field
unsigned int	size_etx
unsigned int	size_length_field
unsigned int	size_max_payload
unsigned int	size_payload
unsigned int	size_stx
BufferType	STX
bool	variable_size_payload
bool	verbose

Detailed Description

Provides simple packet finder which may be consist of stx, etx, payload, ...

Note

Usage:

@code

Todo:

(1) getting buffer from this class
(2) simple construction of this class
(3) device abstraction
(4) extend-able packet structures
(5) like ros, auto-generation of code from scripts
(6) packetFinder to ros converter
(7) evaluate it (valgrind)

Definition at line 72 of file packet_finder.hpp.

Member Typedef Documentation

typedef ecl::PushAndPop<unsigned char> kobuki::PacketFinderBase::BufferType

Definition at line 75 of file packet_finder.hpp.

Member Enumeration Documentation

enum kobuki::PacketFinderBase::packetFinderState

Enumerator
clearBuffer
waitingForStx
waitingForPayloadSize
waitingForPayloadToEtx
waitingForEtx

Definition at line 77 of file packet_finder.hpp.

Constructor & Destructor Documentation

kobuki::PacketFinderBase::PacketFinderBase

(

)

Default constructor. Use with configure().

Definition at line 27 of file packet_finder.cpp.

virtual kobuki::PacketFinderBase::~PacketFinderBase ( )

inlinevirtual

Definition at line 107 of file packet_finder.hpp.

Member Function Documentation

bool kobuki::PacketFinderBase::checkSum ( )

virtual

Reimplemented in kobuki::PacketFinder.

Definition at line 73 of file packet_finder.cpp.

void kobuki::PacketFinderBase::clear

(

)

Definition at line 62 of file packet_finder.cpp.

void kobuki::PacketFinderBase::configure	(	const std::string &	sigslots_namespace,
		const BufferType &	putStx,
		const BufferType &	putEtx,
		unsigned int	sizeLengthField,
		unsigned int	sizeMaxPayload,
		unsigned int	sizeChecksumField,
		bool	variableSizePayload
	)

Definition at line 37 of file packet_finder.cpp.

void kobuki::PacketFinderBase::enableVerbose

(

)

Definition at line 68 of file packet_finder.cpp.

void kobuki::PacketFinderBase::getBuffer

(

BufferType &

bufferRef

)

Definition at line 110 of file packet_finder.cpp.

void kobuki::PacketFinderBase::getPayload

(

BufferType &

bufferRef

)

Definition at line 115 of file packet_finder.cpp.

unsigned int kobuki::PacketFinderBase::numberOfDataToRead

(

)

Definition at line 78 of file packet_finder.cpp.

bool kobuki::PacketFinderBase::update ( const unsigned char *  incoming, unsigned int  numberOfIncoming  )

virtual

Checks for incoming packets.

Parameters

incoming
numberOfIncoming

Returns

bool : true if a valid incoming packet has been found.

Definition at line 131 of file packet_finder.cpp.

bool kobuki::PacketFinderBase::waitForEtx ( const unsigned char  incoming, bool &  foundPacket  )

protected

Definition at line 278 of file packet_finder.cpp.

bool kobuki::PacketFinderBase::waitForPayloadAndEtx ( const unsigned char *  incoming, unsigned int  numberOfIncoming, bool &  foundPacket  )

protected

Definition at line 313 of file packet_finder.cpp.

bool kobuki::PacketFinderBase::waitForPayloadSize ( const unsigned char *  incoming, unsigned int  numberOfIncoming  )

protected

Definition at line 225 of file packet_finder.cpp.

bool kobuki::PacketFinderBase::WaitForStx ( const unsigned char  datum )

protected

Definition at line 204 of file packet_finder.cpp.

Member Data Documentation

BufferType kobuki::PacketFinderBase::buffer

protected

Definition at line 98 of file packet_finder.hpp.

BufferType kobuki::PacketFinderBase::ETX

protected

Definition at line 97 of file packet_finder.hpp.

ecl::Signal<const std::string&> kobuki::PacketFinderBase::sig_error

protected

Definition at line 102 of file packet_finder.hpp.

ecl::Signal<const std::string&> kobuki::PacketFinderBase::sig_warn

protected

Definition at line 102 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_checksum_field

protected

Definition at line 94 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_etx

protected

Definition at line 89 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_length_field

protected

Definition at line 90 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_max_payload

protected

Definition at line 92 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_payload

protected

Definition at line 93 of file packet_finder.hpp.

unsigned int kobuki::PacketFinderBase::size_stx

protected

Definition at line 88 of file packet_finder.hpp.

enum packetFinderState kobuki::PacketFinderBase::state

Definition at line 85 of file packet_finder.hpp.

BufferType kobuki::PacketFinderBase::STX

protected

Definition at line 96 of file packet_finder.hpp.

bool kobuki::PacketFinderBase::variable_size_payload

protected

Definition at line 91 of file packet_finder.hpp.

bool kobuki::PacketFinderBase::verbose

protected

Definition at line 100 of file packet_finder.hpp.

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The documentation for this class was generated from the following files:

• packet_finder.hpp
• packet_finder.cpp