Goby3  3.1.5a
2024.05.23
serial.h
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1 // Copyright 2019-2023:
2 // GobySoft, LLC (2013-)
3 // Community contributors (see AUTHORS file)
4 // File authors:
5 // Toby Schneider <toby@gobysoft.org>
6 //
7 //
8 // This file is part of the Goby Underwater Autonomy Project Libraries
9 // ("The Goby Libraries").
10 //
11 // The Goby Libraries are free software: you can redistribute them and/or modify
12 // them under the terms of the GNU Lesser General Public License as published by
13 // the Free Software Foundation, either version 2.1 of the License, or
14 // (at your option) any later version.
15 //
16 // The Goby Libraries are distributed in the hope that they will be useful,
17 // but WITHOUT ANY WARRANTY; without even the implied warranty of
18 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 // GNU Lesser General Public License for more details.
20 //
21 // You should have received a copy of the GNU Lesser General Public License
22 // along with Goby. If not, see <http://www.gnu.org/licenses/>.
23 
24 #ifndef GOBY_MIDDLEWARE_IO_LINE_BASED_SERIAL_H
25 #define GOBY_MIDDLEWARE_IO_LINE_BASED_SERIAL_H
26 
27 #include <istream> // for istream, bas...
28 #include <string> // for string
29 
30 #include <boost/asio/read_until.hpp> // for async_read_u...
31 #include <boost/asio/streambuf.hpp> // for streambuf
32 #include <boost/system/error_code.hpp> // for error_code
33 
34 #include "goby/middleware/io/detail/io_interface.h" // for PubSubLayer
35 #include "goby/middleware/io/detail/serial_interface.h" // for SerialThread
36 #include "goby/middleware/io/line_based/common.h" // for match_regex
37 
38 namespace goby
39 {
40 namespace middleware
41 {
42 class Group;
43 }
44 } // namespace goby
45 namespace goby
46 {
47 namespace middleware
48 {
49 namespace protobuf
50 {
51 class SerialConfig;
52 }
53 } // namespace middleware
54 } // namespace goby
55 
56 namespace goby
57 {
58 namespace middleware
59 {
60 namespace io
61 {
65 template <const goby::middleware::Group& line_in_group,
66  const goby::middleware::Group& line_out_group,
67  PubSubLayer publish_layer = PubSubLayer::INTERPROCESS,
68  PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD,
69  template <class> class ThreadType = goby::middleware::SimpleThread,
70  bool use_indexed_groups = false>
72  : public detail::SerialThread<line_in_group, line_out_group, publish_layer, subscribe_layer,
73  ThreadType, use_indexed_groups>
74 {
75  using Base = detail::SerialThread<line_in_group, line_out_group, publish_layer, subscribe_layer,
76  ThreadType, use_indexed_groups>;
77 
78  public:
83  : Base(config, index), eol_matcher_(this->cfg().end_of_line())
84  {
85  }
86 
87  ~SerialThreadLineBased() override {}
88 
89  private:
91  void async_read() override;
92 
93  private:
94  match_regex eol_matcher_;
95  boost::asio::streambuf buffer_;
96 };
97 } // namespace io
98 } // namespace middleware
99 } // namespace goby
100 
101 template <const goby::middleware::Group& line_in_group,
102  const goby::middleware::Group& line_out_group,
103  goby::middleware::io::PubSubLayer publish_layer,
104  goby::middleware::io::PubSubLayer subscribe_layer, template <class> class ThreadType,
105  bool use_indexed_groups>
106 void goby::middleware::io::SerialThreadLineBased<line_in_group, line_out_group, publish_layer,
107  subscribe_layer, ThreadType,
108  use_indexed_groups>::async_read()
109 {
110  boost::asio::async_read_until(
111  this->mutable_serial_port(), buffer_, eol_matcher_,
112  [this](const boost::system::error_code& ec, std::size_t bytes_transferred) {
113  if (!ec && bytes_transferred > 0)
114  {
115  std::string bytes(bytes_transferred, 0);
116  std::istream is(&buffer_);
117  is.read(&bytes[0], bytes_transferred);
118  this->handle_read_success(bytes_transferred, bytes);
119  this->async_read();
120  }
121  else
122  {
123  this->handle_read_error(ec);
124  }
125  });
126 }
127 
128 #endif
serial_interface.h
goby
The global namespace for the Goby project.
Definition: acomms_constants.h:33
goby::middleware::Thread< goby::middleware::protobuf::SerialConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >::cfg
const goby::middleware::protobuf::SerialConfig & cfg() const
Definition: thread.h:201
goby::acomms::abc::protobuf::config
extern ::google::protobuf::internal::ExtensionIdentifier< ::goby::acomms::protobuf::DriverConfig, ::google::protobuf::internal::MessageTypeTraits< ::goby::acomms::abc::protobuf::Config >, 11, false > config
Definition: abc_driver.pb.h:203
goby::middleware::io::SerialThreadLineBased
Reads/Writes strings from/to serial port using a line-based (typically ASCII) protocol with a defined...
Definition: serial.h:71
goby::middleware::Thread< goby::middleware::protobuf::SerialConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >::index
int index() const
Definition: thread.h:145
goby::middleware::io::SerialThreadLineBased::~SerialThreadLineBased
~SerialThreadLineBased() override
Definition: serial.h:87
goby::middleware::SimpleThread
Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ]...
Definition: simple_thread.h:43
goby::middleware::io::PubSubLayer
PubSubLayer
Definition: io_transporters.h:38
goby::middleware::Group
Class for grouping publications in the Goby middleware. Analogous to "topics" in ROS,...
Definition: group.h:59
goby::middleware::io::detail::SerialThread
Definition: serial_interface.h:59
io_interface.h
goby::middleware::io::PubSubLayer::INTERPROCESS
@ INTERPROCESS
common.h
goby::middleware::io::SerialThreadLineBased::SerialThreadLineBased
SerialThreadLineBased(const goby::middleware::protobuf::SerialConfig &config, int index=-1)
Constructs the thread.
Definition: serial.h:82
goby::middleware::io::match_regex
Provides a matching function object for the boost::asio::async_read_until based on a std::regex.
Definition: common.h:52
goby::middleware::protobuf::SerialConfig
Definition: serial_config.pb.h:97
goby::middleware::io::PubSubLayer::INTERTHREAD
@ INTERTHREAD