Thread-safe class responsible for managing the underlying serial device and data link framing. More...

#include <datalink.h>

Collaboration diagram for DataLink:

[legend]

Public Member Functions
	DataLink (const char fname, int baud, Link _link, bool noDSRCheck, unsigned short verbose, const int cancellationFd)

	~DataLink ()

void	send (BufferStore &b, bool isEPOC)
	Send a buffer out to serial line. More...

int	getSpeed ()

bool	linkFailed ()

void	reset ()

Private Member Functions
void	addToCrc (unsigned char a, unsigned short *crc)

bool	processInputData (std::vector< BufferStore > &receivedData)
	Reads the incoming data and processes data frames. More...

void	sendReceivedData (std::vector< BufferStore > &receivedData)

void	shutdown ()
	Store a flag that we're shutting down and signal any waiting send calls. More...

void	internalReset (bool resetBaudRateIndex)

void	signalPumpThread ()

Private Attributes
pthread_t	dataPumpThreadId_

unsigned int	crc_table [256]

std::mutex	serialMutex_

int	fd

int	serialStatus = -1

int	baudRateIndex_ = 0

int	baudRate_

bool	lastFatal = false

std::mutex	inputMutex_

bool	esc = false

bool	justStarted = true

BufferStore	rcv

int	startPkt = -1

int	lastSYN = -1

unsigned short	crcIn = 0

unsigned short	inCRCstate

unsigned short	receivedCRC

unsigned char *	inBuffer

int	inWrite = 0

int	inRead = 0

std::mutex	outputMutex_

bool	isCancelled_ = false

unsigned char *	outBuffer

int	outWrite = 0

int	outRead = 0

bool	noDSRCheck_ = false

std::condition_variable	outputCondition_

Link *const	link_

const std::string	devname

const int	requestedBaudRate_
	Requested baud rate; -1 indicates automatic. More...

const int	cancellationFd_
	Used to signal cancellation. More...

const short int	verbose_

int	outputDataReadyPipe_ [2] = { -1, -1 }

Friends
void *	data_pump_thread (void *)

Detailed Description

Thread-safe class responsible for managing the underlying serial device and data link framing.

Definition at line 43 of file datalink.h.

Constructor & Destructor Documentation

◆ DataLink()

DataLink::DataLink	(	const char *	fname,
		int	baud,
		Link *	_link,
		bool	noDSRCheck,
		unsigned short	verbose,
		const int	cancellationFd
	)

Definition at line 219 of file datalink.cc.

◆ ~DataLink()

DataLink::~DataLink ( )

Definition at line 265 of file datalink.cc.

Member Function Documentation

◆ addToCrc()

void DataLink::addToCrc	(	unsigned char	a,
		unsigned short *	crc
	)

inlineprivate

Definition at line 70 of file datalink.h.

◆ getSpeed()

int DataLink::getSpeed ( )

Definition at line 348 of file datalink.cc.

◆ internalReset()

void DataLink::internalReset ( bool resetBaudRateIndex )

private

Definition at line 301 of file datalink.cc.

◆ linkFailed()

bool DataLink::linkFailed ( )

Definition at line 549 of file datalink.cc.

◆ processInputData()

bool DataLink::processInputData ( std::vector< BufferStore > & receivedData )

private

Reads the incoming data and processes data frames.

Returns: true if the link is stable and more data can be consumed; false otherwise.

Definition at line 422 of file datalink.cc.

◆ reset()

void DataLink::reset ( )

Definition at line 290 of file datalink.cc.

◆ send()

void DataLink::send	(	BufferStore &	b,
		bool	isEPOC
	)

Send a buffer out to serial line.

This blocks until there's enough space in the output buffer to write the whole message atomically (to ensure messages can't get interleaved), suspending the current thread until signaled by the data pump thread if there's insufficient space.

Drops messages on the floor when shutting down.

Parameters

b	buffer to send
isEPOC	flag indicating if additional EPOC32 byte-stuffing should be used

Definition at line 353 of file datalink.cc.

◆ sendReceivedData()

void DataLink::sendReceivedData ( std::vector< BufferStore > & receivedData )

private

Definition at line 543 of file datalink.cc.

◆ shutdown()

void DataLink::shutdown ( )

private

Store a flag that we're shutting down and signal any waiting send calls.

Definition at line 294 of file datalink.cc.

◆ signalPumpThread()

void DataLink::signalPumpThread ( )

private

Definition at line 343 of file datalink.cc.

Friends And Related Function Documentation

◆ data_pump_thread

void * data_pump_thread ( void * )

friend

Definition at line 77 of file datalink.cc.

Member Data Documentation

◆ baudRate_

int DataLink::baudRate_

private

Definition at line 112 of file datalink.h.

◆ baudRateIndex_

int DataLink::baudRateIndex_ = 0

private

Definition at line 111 of file datalink.h.

◆ cancellationFd_

const int DataLink::cancellationFd_

private

Used to signal cancellation.

Should never be read.

Definition at line 155 of file datalink.h.

◆ crc_table

unsigned int DataLink::crc_table[256]

private

Definition at line 94 of file datalink.h.

◆ crcIn

unsigned short DataLink::crcIn = 0

private

Definition at line 123 of file datalink.h.

◆ dataPumpThreadId_

pthread_t DataLink::dataPumpThreadId_

private

Definition at line 92 of file datalink.h.

◆ devname

const std::string DataLink::devname

private

Definition at line 143 of file datalink.h.

◆ esc

bool DataLink::esc = false

private

Definition at line 118 of file datalink.h.

◆ fd

int DataLink::fd

private

Definition at line 109 of file datalink.h.

◆ inBuffer

unsigned char* DataLink::inBuffer

private

Definition at line 126 of file datalink.h.

◆ inCRCstate

unsigned short DataLink::inCRCstate

private

Definition at line 124 of file datalink.h.

◆ inputMutex_

std::mutex DataLink::inputMutex_

private

Definition at line 117 of file datalink.h.

◆ inRead

int DataLink::inRead = 0

private

Definition at line 126 of file datalink.h.

◆ inWrite

int DataLink::inWrite = 0

private

Definition at line 126 of file datalink.h.

◆ isCancelled_

bool DataLink::isCancelled_ = false

private

Definition at line 131 of file datalink.h.

◆ justStarted

bool DataLink::justStarted = true

private

Definition at line 119 of file datalink.h.

◆ lastFatal

bool DataLink::lastFatal = false

private

Definition at line 113 of file datalink.h.

◆ lastSYN

int DataLink::lastSYN = -1

private

Definition at line 122 of file datalink.h.

◆ link_

Link* const DataLink::link_

private

Definition at line 141 of file datalink.h.

◆ noDSRCheck_

bool DataLink::noDSRCheck_ = false

private

Definition at line 133 of file datalink.h.

◆ outBuffer

unsigned char* DataLink::outBuffer

private

Definition at line 132 of file datalink.h.

◆ outputCondition_

std::condition_variable DataLink::outputCondition_

private

Definition at line 137 of file datalink.h.

◆ outputDataReadyPipe_

int DataLink::outputDataReadyPipe_[2] = { -1, -1 }

private

Definition at line 158 of file datalink.h.

◆ outputMutex_

std::mutex DataLink::outputMutex_

private

Definition at line 130 of file datalink.h.

◆ outRead

int DataLink::outRead = 0

private

Definition at line 132 of file datalink.h.

◆ outWrite

int DataLink::outWrite = 0

private

Definition at line 132 of file datalink.h.

◆ rcv

BufferStore DataLink::rcv

private

Definition at line 120 of file datalink.h.

◆ receivedCRC

unsigned short DataLink::receivedCRC

private

Definition at line 125 of file datalink.h.

◆ requestedBaudRate_

const int DataLink::requestedBaudRate_

private

Requested baud rate; -1 indicates automatic.

Definition at line 148 of file datalink.h.

◆ serialMutex_

std::mutex DataLink::serialMutex_

private

Definition at line 108 of file datalink.h.

◆ serialStatus

int DataLink::serialStatus = -1

private

Definition at line 110 of file datalink.h.

◆ startPkt

int DataLink::startPkt = -1

private

Definition at line 121 of file datalink.h.

◆ verbose_

const short int DataLink::verbose_

private

Definition at line 156 of file datalink.h.

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

lib/datalink.h
lib/datalink.cc

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ DataLink()

◆ ~DataLink()

Member Function Documentation

◆ addToCrc()

◆ getSpeed()

◆ internalReset()

◆ linkFailed()

◆ processInputData()

◆ reset()

◆ send()

◆ sendReceivedData()

◆ shutdown()

◆ signalPumpThread()

Friends And Related Function Documentation

◆ data_pump_thread

Member Data Documentation

◆ baudRate_

◆ baudRateIndex_

◆ cancellationFd_

◆ crc_table

◆ crcIn

◆ dataPumpThreadId_

◆ devname

◆ esc

◆ fd

◆ inBuffer

◆ inCRCstate

◆ inputMutex_

◆ inRead

◆ inWrite

◆ isCancelled_

◆ justStarted

◆ lastFatal

◆ lastSYN

◆ link_

◆ noDSRCheck_

◆ outBuffer

◆ outputCondition_

◆ outputDataReadyPipe_

◆ outputMutex_

◆ outRead

◆ outWrite

◆ rcv

◆ receivedCRC

◆ requestedBaudRate_

◆ serialMutex_

◆ serialStatus

◆ startPkt

◆ verbose_