63 lines
2.2 KiB
C++
63 lines
2.2 KiB
C++
#ifndef __COMMUNICATION_H_
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#define __COMMUNICATION_H_
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#include "communication/include/icommunication.h"
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#include "communication/include/command.h"
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#include "communication/include/network.h"
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#include "communication/include/packet.h"
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#include "communication/message/callback/include/messagecallback.h"
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#include "communication/message/include/serialnumbermessage.h"
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#include "communication/include/packetizer.h"
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#include "communication/include/messagedecoder.h"
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#include <memory>
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#include <vector>
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#include <atomic>
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#include <thread>
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#include <queue>
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#include <map>
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namespace icsneo {
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class Communication {
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public:
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Communication(std::shared_ptr<ICommunication> com, std::shared_ptr<Packetizer> p, std::shared_ptr<MessageDecoder> md) : impl(com), packetizer(p), decoder(md) {}
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virtual ~Communication() { close(); }
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bool open();
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bool close();
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virtual void spawnThreads();
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virtual void joinThreads();
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bool rawWrite(const std::vector<uint8_t>& bytes) { return impl->write(bytes); }
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bool sendPacket(std::vector<uint8_t>& bytes);
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virtual bool sendCommand(Command cmd, bool boolean) { return sendCommand(cmd, std::vector<uint8_t>({ (uint8_t)boolean })); }
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virtual bool sendCommand(Command cmd, std::vector<uint8_t> arguments = {});
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bool getSettingsSync(std::vector<uint8_t>& data, std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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std::shared_ptr<SerialNumberMessage> getSerialNumberSync(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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int addMessageCallback(const MessageCallback& cb);
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bool removeMessageCallback(int id);
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std::shared_ptr<Message> waitForMessageSync(MessageFilter f = MessageFilter(), std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) {
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return waitForMessageSync(std::make_shared<MessageFilter>(f), timeout);
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}
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std::shared_ptr<Message> waitForMessageSync(std::shared_ptr<MessageFilter> f, std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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std::shared_ptr<Packetizer> packetizer;
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std::shared_ptr<MessageDecoder> decoder;
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protected:
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std::shared_ptr<ICommunication> impl;
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static int messageCallbackIDCounter;
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std::map<int, MessageCallback> messageCallbacks;
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std::atomic<bool> closing{false};
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private:
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bool isOpen = false;
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std::thread readTaskThread;
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void readTask();
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};
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};
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#endif |