Bus.hpp

Go to the documentation of this file.

#ifndef IODRIVERS_BASE_BUS_HH
#define IODRIVERS_BASE_BUS_HH

#include <iodrivers_base/Driver.hpp>
#include <list>
#include <inttypes.h>
#include <boost/thread/recursive_mutex.hpp>

namespace iodrivers_base {
class Bus;

class Parser{
public:
        /*
         * Give the Constructer the bus, which it belongs to
         */
        Parser(Bus *bus);
        virtual ~Parser(){};

        virtual int readPacket(uint8_t* buffer, int buffer_size, int packet_timeout, int first_byte_timeout=-1);
        virtual int extractPacket(uint8_t const* buffer, size_t buffer_size) const = 0;
        bool writePacket(uint8_t const* buffer, int bufsize, int timeout);
protected:
        Bus *bus;
};


class BusHandler : public Parser{
public:
        BusHandler(Bus *bus, bool auto_register=true);
        ~BusHandler();
        
        virtual void packedReady(uint8_t const* buffer, size_t size)=0;

        virtual int readPacket(uint8_t* buffer, int buffer_size, int packet_timeout, int first_byte_timeout=-1);
};


class Bus : public Driver{
public:
        Bus(int max_packet_size, bool extract_last = false);
        int readPacket(uint8_t* buffer, int buffer_size, int packet_timeout, int first_byte_timeout=-1, Parser *parser=0);
        void addParser(Parser *parser);
        void removeParser(Parser *parser);
        int extractPacket(uint8_t const* buffer, size_t buffer_size) const;
        bool writePacket(uint8_t const* buffer, int buffer_size, int timeout);
protected:
        std::list<Parser*> parser;
        Parser *caller;
        boost::recursive_mutex mutex;
};
}

#endif