AbstractInterface.h

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <memory>
#include <string>
 
#include "BinaryLogger.h"
#include "Types.h"
 
 
#define MSG_PREAMBLE_BYTE 0xaa
#define MSG_PREAMBLE_LEN 3
 
// Combine bytes to different types
#define make_short(lowbyte, highbyte) ((unsigned short)lowbyte | ((unsigned short)highbyte << 8))
#define make_signed_short(lowbyte, highbyte)                                                       \
    ((signed short)((unsigned short)lowbyte | ((unsigned short)highbyte << 8)))
#define make_int(lowbyte, mid1, mid2, highbyte)                                                    \
    ((unsigned int)lowbyte | ((unsigned int)mid1 << 8) | ((unsigned int)mid2 << 16) |              \
     ((unsigned int)highbyte << 24))
#define make_float(result, byteptr) memcpy(&result, byteptr, sizeof(float))
 
// Byte access
#define hi(x) (unsigned char)(((x) >> 8) & 0xff) // Returns the upper byte of the passed short
#define lo(x) (unsigned char)((x) & 0xff) // Returns the lower byte of the passed short
 
 
struct Response;
 
class AbstractInterface
{
public:
    AbstractInterface();
    virtual ~AbstractInterface();
    virtual int open() = 0;
    virtual void close() = 0;
    int read(unsigned char* buf, unsigned int len);
    int write(unsigned char* buf, unsigned int len);
 
    bool
    IsConnected() const
    {
        return connected;
    }
 
    virtual std::string toString() const = 0;
 
    int send(unsigned char id, unsigned int len, unsigned char* data);
    int receive(msg_t* msg);
    Response submitCmd(unsigned char id, unsigned char* payload, unsigned int len, bool pending);
    Response receive(bool pending, unsigned char expectedId);
    Response receiveWithoutChecks();
    void fireAndForgetCmd(unsigned char id, unsigned char* payload, unsigned int len, bool pending);
 
    void startLogging(std::string file);
    void logText(std::string message);
 
protected:
    bool connected;
 
    virtual int readInternal(unsigned char* buf, unsigned int len) = 0;
    virtual int writeInternal(unsigned char* buf, unsigned int len) = 0;
 
private:
    friend std::ostream& operator<<(std::ostream&, const AbstractInterface&);
    std::shared_ptr<BinaryLogger> log;
};
 
std::ostream& operator<<(std::ostream& strm, const AbstractInterface& a);