SingleBusBroker.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __SINGLE_BUS_BROKER_HPP__
#define __SINGLE_BUS_BROKER_HPP__
 
#include <mutex>
#include <string>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Port.h>
#include <yarp/os/PortReaderBuffer.h>
#include <yarp/os/PortWriterBuffer.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Searchable.h>
#include <yarp/os/TypedReaderCallback.h>
 
#include <yarp/dev/CanBusInterface.h>
#include <yarp/dev/PolyDriver.h>
 
#include "CanRxTxThreads.hpp"
#include "SdoReplier.hpp"
#include "BusLoadMonitor.hpp"
 
namespace roboticslab
{
 
class SingleBusBroker final : public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
public:
    SingleBusBroker(const std::string & name);
 
    ~SingleBusBroker() override;
 
    bool configure(const yarp::os::Searchable & config);
 
    bool registerDevice(yarp::dev::PolyDriver * driver);
 
    bool clearFilters();
 
    bool startThreads();
 
    bool stopThreads();
 
    CanReaderThread * getReader() const
    { return readerThread; }
 
    CanWriterThread * getWriter() const
    { return writerThread; }
 
    std::string getName() const
    { return name; }
 
    void onRead(yarp::os::Bottle & b) override;
 
private:
    bool createPorts(const std::string & prefix);
 
    std::string name;
 
    CanReaderThread * readerThread;
    CanWriterThread * writerThread;
 
    yarp::dev::ICanBus * iCanBus;
    yarp::dev::ICanBufferFactory * iCanBufferFactory;
 
    yarp::os::Port dumpPort;
    yarp::os::PortWriterBuffer<yarp::os::Bottle> dumpWriter;
    std::mutex dumpMutex;
 
    yarp::os::Port sendPort;
    yarp::os::PortReaderBuffer<yarp::os::Bottle> commandReader;
 
    yarp::os::RpcServer sdoPort;
    SdoReplier sdoReplier;
 
    yarp::os::Port busLoadPort;
    BusLoadMonitor * busLoadMonitor;
};
 
} // namespace roboticslab
 
#endif // __SINGLE_BUS_BROKER_HPP__