ROSaic
communication_core.hpp
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58 
59 
60 #ifndef COMMUNICATION_CORE_HPP // This block is called a conditional group. The controlled text will get included
61  // in the preprocessor output iff the macroname is not defined.
62 #define COMMUNICATION_CORE_HPP // Include guards help to avoid the double inclusion of header files, by defining a token = macro.
63 
64 // Boost includes
65 #include <boost/function.hpp>
66 #include <boost/date_time/posix_time/posix_time.hpp>
67 #include <boost/asio.hpp>
68 #include <boost/exception/diagnostic_information.hpp> // dealing with bad file descriptor error
69 #include <boost/bind.hpp>
70 #include <boost/asio/serial_port.hpp>
71 // C++ library includes
72 #include <sstream>
73 #include <memory>
74 #include <unistd.h> // for usleep()
75 // ROSaic includes
78 
89 namespace io_comm_rx
90 {
91 
93  const static uint32_t BAUDRATES[] = {1200, 2400, 4800, 9600, 19200, 38400, 57600,
94  115200, 230400, 460800, 500000, 576000, 921600,
95  1000000, 1152000, 1500000, 2000000, 2500000,
96  3000000, 3500000, 4000000};
97 
102  class Comm_IO
103  {
104  public:
105 
109  Comm_IO();
110 
114  virtual ~Comm_IO() = default;
115 
124  bool initializeSerial(std::string port, uint32_t baudrate = 115200, std::string flowcontrol = "None");
125 
132  bool initializeTCP(std::string host, std::string port);
133 
134 
139  void setManager(const boost::shared_ptr<Manager>& manager);
140 
145  void resetSerial(std::string port);
146 
148 
149  void send(std::string cmd);
150 
153 
154  private:
155 
157  std::string serial_port_;
160  boost::shared_ptr<Manager> manager_;
162  uint32_t baudrate_;
163 
164  friend class CallbackHandlers;
165  friend class RxMessage;
166 
168  std::string host_;
170  std::string port_;
173  const static unsigned int SET_BAUDRATE_SLEEP_ = 500000;
174  };
175 }
176 
177 #endif // for COMMUNICATION_CORE_HPP
std::string serial_port_
Saves the port description.
virtual ~Comm_IO()=default
Default destructor of the class Comm_IO.
bool initializeTCP(std::string host, std::string port)
Initializes the TCP I/O.
CallbackHandlers getHandlers() const
Implements asynchronous operations for an I/O manager.
boost::shared_ptr< Manager > manager_
bool initializeSerial(std::string port, uint32_t baudrate=115200, std::string flowcontrol="None")
Initializes the serial port.
void send(std::string cmd)
Can search buffer for messages, read/parse them, and so on.
Definition: rx_message.hpp:200
Represents ensemble of (to be constructed) ROS messages, to be handled at once by this class...
Handles communication with and configuration of the mosaic (and beyond) receiver(s) ...
std::string host_
Host currently connected to.
static const unsigned int SET_BAUDRATE_SLEEP_
void setManager(const boost::shared_ptr< Manager > &manager)
Set the I/O manager.
static const uint32_t BAUDRATES[]
Possible baudrates for the Rx.
std::string port_
Port over which TCP/IP connection is currently established.
void resetSerial(std::string port)
Reset the Serial I/O port, e.g. after a Rx reset.
CallbackHandlers handlers_
Callback handlers for the inwards streaming messages.
Handles callbacks when reading NMEA/SBF messages.
Comm_IO()
Default constructor of the class Comm_IO.
uint32_t baudrate_
Baudrate at the moment, unless InitializeSerial or ResetSerial fail.