arpirobot::BaseArduinoInterface Class Reference

#include <arpirobot/arduino/iface/BaseArduinoInterface.hpp>

Inheritance diagram for arpirobot::BaseArduinoInterface:

Public Member Functions
	BaseArduinoInterface (const BaseArduinoInterface &other)=delete
BaseArduinoInterface &	operator= (const BaseArduinoInterface &other)=delete
bool	begin ()
void	addDevice (ArduinoDevice &device)
void	addDevice (std::shared_ptr< ArduinoDevice > device)
bool	isReady ()
void	sendFromDevice (uint8_t deviceId, std::vector< uint8_t > data)

Protected Member Functions
void	run ()
uint16_t	calcCCittFalse (const std::vector< uint8_t > &data, size_t len)
void	writeData (const std::vector< uint8_t > &data)
bool	readData ()
bool	checkData ()
std::vector< uint8_t >	waitForMessage (const std::vector< uint8_t > &prefix, int timeoutMs)
virtual void	open ()=0
virtual void	close ()=0
virtual bool	isOpen ()=0
virtual int	available ()=0
virtual uint8_t	readOne ()=0
virtual std::vector< uint8_t >	readAll ()=0
virtual void	write (const uint8_t &b)=0
virtual std::string	getDeviceName ()=0

Friends
class	ArduinoDevice

Detailed Description

Common base class (communication protocol agnostic) for an arduino (or other microcontroller) sensor coprocessor. This class handles all the high-level data between the arduino and pi, without implementing a specific communication protocol. See the below classes for different communication protocols.

Member Function Documentation

addDevice() [1/2]

void arpirobot::BaseArduinoInterface::addDevice

(

ArduinoDevice &

device

)

Add a device to this arduino interface instance. You cannot add devices after BaseArduinoInterface::begin is called

Parameters

device

The ArduinoDevice instance to add. Referenced object must stay in scope.

addDevice() [2/2]

void arpirobot::BaseArduinoInterface::addDevice

(

std::shared_ptr< ArduinoDevice >

device

)

Add a device to this arduino interface instance. You cannot add devices after BaseArduinoInterface::begin is called

Parameters

device

The ArduinoDevice instance to add.

begin()

bool arpirobot::BaseArduinoInterface::begin

(

)

Create devices (as needed) and start processing sensor data. After this is called devices can no longer be added to this arduino using BaseArduinoInterface::addDevice.

checkData()

bool arpirobot::BaseArduinoInterface::checkData ( )

protected

Using the complete dataset in read_dataset, calculates the CRC and reads the CRC Compares the two

isReady()

bool arpirobot::BaseArduinoInterface::isReady

(

)

Returns true when the arduino is ready to process sensor data (after BaseArduinoInterface::begin is successful)

Returns

true if ready, else false

readData()

bool arpirobot::BaseArduinoInterface::readData ( )

protected

This method blocks until at least one byte is available. One byte is then read and stored in the workingBuffer. Escape, start, and end sequences are handled appropriately. When a full dataset has been read into the workingBuffer it is moved into the read_dataset. Then, this method return true. Otherwise it returns false This function will throw exceptions from lower level I/O functions

sendFromDevice()

void arpirobot::BaseArduinoInterface::sendFromDevice	(	uint8_t	deviceId,
		std::vector< uint8_t >	data
	)

Send a message from a specific device. THIS SHOULD NOT BE USED FROM USER CODE. Sends a message to the associated device instance on the arduino.

Parameters

deviceId	The sending/receiving device's ID
data	The data to send

writeData()

void arpirobot::BaseArduinoInterface::writeData ( const std::vector< uint8_t > &  data )

protected

Writes a message to the arduino using proper escape sequences This funcion will throw exceptions from lower level I/O functions

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The documentation for this class was generated from the following file:

• include/arpirobot/arduino/iface/BaseArduinoInterface.hpp