boardTransceiver.hpp

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/* Copyright (C) 2014  iCub Facility, Istituto Italiano di Tecnologia
 * Author: Alberto Cardellino
 * email: alberto.cardellino@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program 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
 */
 
// - include guard ----------------------------------------------------------------------------------------------------
#ifndef _HOSTTRANSCEIVER_H_
#define _HOSTTRANSCEIVER_H_
 
 
// - external dependencies --------------------------------------
 
#include "FeatureInterface.h"
 
#include "EoCommon.h"
#include "EOdeviceTransceiver.h"
#include "EOtransceiver.h"
#include "EOnvSet.h"
#include "EOnv.h"
#include "EOpacket.h"
#include "EoProtocol.h"
 
// Boards configurations
 
// ACE includes
#include <ace/ACE.h>
#include <ace/config.h>
#include <ace/Thread.h>
#include <ace/SOCK_Dgram_Bcast.h>
 
#include <yarp/os/RFModule.h>
#include <yarp/dev/DeviceDriver.h>
 
using namespace yarp::dev;
 
#define RECV_BUFFER_SIZE        4000
 
 
// debug
void checkDataForDebug(uint8_t *data, uint16_t size);
void fromDouble(ACE_Time_Value &v, double x,int unit=1);
 
class BoardTransceiver : public yarp::os::RFModule
{
protected:
    eOprotBRD_t                 protboardnumber;     
    EOdeviceTransceiver*        devtxrx;             
    EOtransceiver*              transceiver;
    eOdevicetransceiver_cfg_t   devtxrxcfg;          
    EOnvSet*                    nvset;
    uint32_t                    localipaddr;
    uint32_t                    remoteipaddr;
    uint16_t                    remoteipport;
    EOpacket                    *p_RxPkt;
 
    FEAT_ID                     _fId;
    ACE_SOCK_Dgram*             UDP_socket;
    ACE_INET_Addr               pc104Addr;
 
    eOmn_appl_status_t*         pApplStatus;
    EOnv*                       oneNV;
 
public:
    BoardTransceiver();
    ~BoardTransceiver();
 
    // yarp module methods
    bool createSocket(ACE_INET_Addr local_addr);
    bool configure(yarp::os::ResourceFinder &rf);
    bool updateModule();
 
    // Transceiver class
    bool init(yarp::os::Searchable &config, uint32_t localipaddr, uint32_t remoteipaddr, uint16_t ipport, uint16_t pktsize, FEAT_boardnumber_t board_n);
 
 
    // and Processes it
    virtual void onMsgReception(uint8_t *data, uint16_t size);
 
protected:
 
    /* Ask the transceiver to get the ropframe to be sent
     * This pointer will be modified by the getPack function to point to the TX buffer.
     * No need to allocate memory here */
    void getTransmit(uint8_t **data, uint16_t *size);
 
 
private:
 
    bool initProtocol(yarp::os::Searchable &config);
 
    void eoprot_override_mn(void);
    void eoprot_override_mc(void);
    void eoprot_override_as(void);
    void eoprot_override_sk(void); 
 
    bool prepareTransceiverConfig(yarp::os::Searchable &config);
 
 
    const eOnvset_DEVcfg_t * getNVset_DEVcfg(yarp::os::Searchable &config);  
 
public:
    
    eOprotBRD_t get_protBRDnumber(void);    // the number in range [0, max-1]
};
 
#endif  // include-guard
 
 
// - end-of-file (leave a blank line after)----------------------------------------------------------------------------