serial.h

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// Copyright 2019-2021:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MIDDLEWARE_IO_MAVLINK_SERIAL_H
#define GOBY_MIDDLEWARE_IO_MAVLINK_SERIAL_H
 
#include <iosfwd> // for size_t
 
#include <boost/asio/buffer.hpp>               // for buffer
#include <boost/asio/completion_condition.hpp> // for transfer_at_...
#include <boost/asio/read.hpp>                 // for async_read
#include <boost/system/error_code.hpp>         // for error_code
 
#include "goby/middleware/io/detail/io_interface.h"     // for PubSubLayer
#include "goby/middleware/io/detail/serial_interface.h" // for SerialThread
#include "goby/middleware/io/mavlink/common.h"          // for IOThreadMAVLink
 
namespace goby
{
namespace middleware
{
class Group;
}
} // namespace goby
namespace goby
{
namespace middleware
{
namespace protobuf
{
class SerialConfig;
}
} // namespace middleware
} // namespace goby
 
namespace goby
{
namespace middleware
{
namespace io
{
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group, PubSubLayer publish_layer,
          PubSubLayer subscribe_layer, template <class> class ThreadType>
using SerialThreadMAVLinkBase = IOThreadMAVLink<
    line_in_group, line_out_group, publish_layer, subscribe_layer,
    detail::SerialThread<line_in_group, line_out_group, publish_layer, subscribe_layer, ThreadType>,
    goby::middleware::protobuf::SerialConfig>;
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          PubSubLayer publish_layer = PubSubLayer::INTERPROCESS,
          PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD,
          template <class> class ThreadType = goby::middleware::SimpleThread>
class SerialThreadMAVLink
    : public SerialThreadMAVLinkBase<line_in_group, line_out_group, publish_layer, subscribe_layer,
                                     ThreadType>
{
  public:
    SerialThreadMAVLink(const goby::middleware::protobuf::SerialConfig& config)
        : SerialThreadMAVLinkBase<line_in_group, line_out_group, publish_layer, subscribe_layer,
                                  ThreadType>(config)
    {
    }
 
    ~SerialThreadMAVLink() {}
 
  private:
    void async_read() override;
};
} // namespace io
} // namespace middleware
} // namespace goby
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          goby::middleware::io::PubSubLayer publish_layer,
          goby::middleware::io::PubSubLayer subscribe_layer, template <class> class ThreadType>
void goby::middleware::io::SerialThreadMAVLink<line_in_group, line_out_group, publish_layer,
                                               subscribe_layer, ThreadType>::async_read()
{
    boost::asio::async_read(
        this->mutable_serial_port(), boost::asio::buffer(this->buffer()),
        boost::asio::transfer_at_least(1),
        [this](const boost::system::error_code& ec, std::size_t bytes_transferred) {
            if (!ec && bytes_transferred > 0)
            {
                this->try_parse(bytes_transferred);
                this->async_read();
            }
            else
            {
                this->handle_read_error(ec);
            }
        });
}
 
#endif