95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
#ifndef __COMMUNICATION_H_
|
|
#define __COMMUNICATION_H_
|
|
|
|
#ifdef __cplusplus
|
|
|
|
#include "icsneo/communication/driver.h"
|
|
#include "icsneo/communication/command.h"
|
|
#include "icsneo/communication/network.h"
|
|
#include "icsneo/communication/packet.h"
|
|
#include "icsneo/communication/message/callback/messagecallback.h"
|
|
#include "icsneo/communication/message/serialnumbermessage.h"
|
|
#include "icsneo/api/eventmanager.h"
|
|
#include "icsneo/communication/packetizer.h"
|
|
#include "icsneo/communication/encoder.h"
|
|
#include "icsneo/communication/decoder.h"
|
|
#include <memory>
|
|
#include <vector>
|
|
#include <atomic>
|
|
#include <thread>
|
|
#include <queue>
|
|
#include <map>
|
|
|
|
namespace icsneo {
|
|
|
|
class Communication {
|
|
public:
|
|
Communication(
|
|
device_eventhandler_t report,
|
|
std::unique_ptr<Driver>&& driver,
|
|
std::function<std::unique_ptr<Packetizer>()> makeConfiguredPacketizer,
|
|
std::unique_ptr<Encoder>&& e,
|
|
std::unique_ptr<Decoder>&& md) : makeConfiguredPacketizer(makeConfiguredPacketizer), encoder(std::move(e)), decoder(std::move(md)), report(report), driver(std::move(driver)) {
|
|
packetizer = makeConfiguredPacketizer();
|
|
}
|
|
virtual ~Communication() { close(); }
|
|
|
|
bool open();
|
|
bool close();
|
|
bool isOpen();
|
|
bool isDisconnected();
|
|
virtual void spawnThreads();
|
|
virtual void joinThreads();
|
|
bool rawWrite(const std::vector<uint8_t>& bytes) { return driver->write(bytes); }
|
|
virtual bool sendPacket(std::vector<uint8_t>& bytes);
|
|
bool redirectRead(std::function<void(std::vector<uint8_t>&&)> redirectTo);
|
|
void clearRedirectRead() { redirectingRead = false; }
|
|
|
|
void setWriteBlocks(bool blocks) { driver->writeBlocks = blocks; }
|
|
|
|
virtual bool sendCommand(Command cmd, bool boolean) { return sendCommand(cmd, std::vector<uint8_t>({ (uint8_t)boolean })); }
|
|
virtual bool sendCommand(Command cmd, std::vector<uint8_t> arguments = {});
|
|
bool getSettingsSync(std::vector<uint8_t>& data, std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
|
|
std::shared_ptr<SerialNumberMessage> getSerialNumberSync(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
|
|
|
|
int addMessageCallback(const MessageCallback& cb);
|
|
bool removeMessageCallback(int id);
|
|
std::shared_ptr<Message> waitForMessageSync(
|
|
MessageFilter f = MessageFilter(),
|
|
std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) {
|
|
return waitForMessageSync([](){ return true; }, f, timeout);
|
|
}
|
|
// onceWaitingDo is a way to avoid race conditions.
|
|
// Return false to bail early, in case your initial command failed.
|
|
std::shared_ptr<Message> waitForMessageSync(
|
|
std::function<bool(void)> onceWaitingDo,
|
|
MessageFilter f = MessageFilter(),
|
|
std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
|
|
|
|
std::function<std::unique_ptr<Packetizer>()> makeConfiguredPacketizer;
|
|
std::unique_ptr<Packetizer> packetizer;
|
|
std::unique_ptr<Encoder> encoder;
|
|
std::unique_ptr<Decoder> decoder;
|
|
device_eventhandler_t report;
|
|
|
|
protected:
|
|
std::unique_ptr<Driver> driver;
|
|
static int messageCallbackIDCounter;
|
|
std::mutex messageCallbacksLock;
|
|
std::map<int, MessageCallback> messageCallbacks;
|
|
std::atomic<bool> closing{false};
|
|
std::atomic<bool> redirectingRead{false};
|
|
std::function<void(std::vector<uint8_t>&&)> redirectionFn;
|
|
|
|
void dispatchMessage(const std::shared_ptr<Message>& msg);
|
|
|
|
private:
|
|
std::thread readTaskThread;
|
|
void readTask();
|
|
};
|
|
|
|
}
|
|
|
|
#endif // __cplusplus
|
|
|
|
#endif |