packet_finder.hpp

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/*****************************************************************************
 ** Ifdefs
 *****************************************************************************/

#ifndef PACKET_FINDER_HPP_
#define PACKET_FINDER_HPP_

/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <iomanip>
#include <ecl/containers.hpp>
#include <ecl/sigslots.hpp>
#include "../macros.hpp"

/*****************************************************************************
 ** Namespaces
 *****************************************************************************/

namespace kobuki
{

/*****************************************************************************
 ** Using
 *****************************************************************************/

/*****************************************************************************
 ** Interface
 *****************************************************************************/
class kobuki_PUBLIC PacketFinderBase
{
public:
  typedef ecl::PushAndPop<unsigned char> BufferType;

  enum packetFinderState
  {
    clearBuffer = 0,
    waitingForStx,
    waitingForPayloadSize,
    waitingForPayloadToEtx,
    waitingForEtx,
  };
  enum packetFinderState state;
protected:

  unsigned int size_stx;
  unsigned int size_etx;
  unsigned int size_length_field;
  bool variable_size_payload;
  unsigned int size_max_payload;
  unsigned int size_payload;
  unsigned int size_checksum_field;

  BufferType STX;
  BufferType ETX;
  BufferType buffer;

  bool verbose;

  ecl::Signal<const std::string&> sig_warn, sig_error;

public:
  PacketFinderBase(); 
  virtual ~PacketFinderBase() {};

  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 clear();
  void enableVerbose();
  virtual bool update(const unsigned char * incoming, unsigned int numberOfIncoming);
  virtual bool checkSum();
  unsigned int numberOfDataToRead();
  void getBuffer(BufferType & bufferRef);
  void getPayload(BufferType & bufferRef);

protected:
  bool WaitForStx(const unsigned char datum);
  bool waitForPayloadSize(const unsigned char * incoming, unsigned int numberOfIncoming);
  bool waitForEtx(const unsigned char incoming, bool & foundPacket);
  bool waitForPayloadAndEtx(const unsigned char * incoming, unsigned int numberOfIncoming, bool & foundPacket);
};

}
;
// namespace kobuki

#endif /* PACKET_FINDER_HPP_ */