ethParser.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2017 iCub Facility - Istituto Italiano di Tecnologia
 * Author:  Marco Accame
 * email:   marco.accame@iit.it
 * website: www.robotcub.org
 * 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 _ETHPARSER_H_
#define _ETHPARSER_H_
 
#include <cstdint>
#include <string>
 
#include "EoProtocol.h"
#include <yarp/os/Searchable.h>
 
 
namespace eth { namespace parser {
 
    // -- library eth parser
 
    struct boardProperties
    {
        eOipv4addressing_t  ipv4addressing;
        eObrd_ethtype_t     type;
        std::uint16_t       maxSizeRXpacket;
        std::uint16_t       maxSizeROP;
        std::string         ipv4addressingstring;
        std::string         ipv4string;
        std::string         typestring;
 
        boardProperties() {
            reset();
        }
        boardProperties() {…}
        void reset() {
            type = eobrd_ethtype_none; ipv4addressing.addr = 0; ipv4addressing.port = 0;
            maxSizeRXpacket = 768; maxSizeROP = 384; ipv4string = ""; ipv4addressingstring = "";
        }
        void reset() {…}
    };
    struct boardProperties {…};
 
    struct boardSettings
    {
        std::string         name;
        eOmn_appl_config_t  txconfig;
 
        boardSettings()  
        {
            reset();
        }
        boardSettings()   {…}
        void reset()
        {
            name = "none";
            txconfig.runnermode = eomn_appl_runnermode_synchronized;
            txconfig.safetygap = 0; txconfig.cycletime = 1000; txconfig.txratedivider = 1;
            txconfig.maxtimeRX = 400; txconfig.maxtimeDO = 300; txconfig.maxtimeTX = 300;
            txconfig.logging.period10ms = 0; txconfig.logging.flags = 0;
        }
        void reset() {…}
 
        enum class ENTITY { name, runningmode, logging };
        std::string to_string(ENTITY e) const
        {
            switch(e)
            {
                case ENTITY::name:
                {
                    return name;
                } break;
                case ENTITY::runningmode:
                {
                    return std::string(" runnermode = ") + ((txconfig.runnermode == eomn_appl_runnermode_besteffort) ? "besteffort" : "synchronized") +
                           " safetygap = " + std::to_string(txconfig.safetygap) +
                           " cycletime = " + std::to_string(txconfig.cycletime) +
                           " maxtimeRX = " + std::to_string(txconfig.maxtimeRX) +
                           " maxtimeDO = " + std::to_string(txconfig.maxtimeDO) +
                           " txratedivider = " + std::to_string(txconfig.txratedivider)
                        ;
                } break;
                case ENTITY::logging:
                {
                    return std::string(" logging.period = ") + std::to_string(txconfig.logging.period10ms / 100.0) + " flags = TBD";
                } break;
                default:
                {
                } break;
            }
            return "";
 
        }
        std::string to_string(ENTITY e) const {…}
 
    };
    struct boardSettings {…};
 
    struct boardActions
    {
        bool    monitorpresence_enabled;
        double  monitorpresence_timeout;
        double  monitorpresence_periodofmissingreport;
 
        boardActions()  {
            reset();
        }
        boardActions() {…}
        void reset() {
            monitorpresence_enabled = true;
            monitorpresence_timeout = 0.020; monitorpresence_periodofmissingreport = 60.0;
        }
        void reset() {…}
    };
    struct boardActions {…};
 
    struct boardData
    {
        boardProperties         properties;
        boardSettings           settings;
        boardActions            actions;
        void reset() {
            properties.reset();
            settings.reset();
            actions.reset();
        }
        void reset() {…}
    };
    struct boardData {…};
 
 
    struct pc104Data
    {
        bool embBoardsConnected;
        eOipv4addressing_t localaddressing;
        std::uint16_t  txrate;
        std::uint16_t rxrate;
        std::string addressingstring;
        void reset() {
            embBoardsConnected = true;
            localaddressing.addr = eo_common_ipv4addr(10, 0, 1, 104); localaddressing.port = 12345;
            txrate = 1; rxrate = 5;
            addressingstring = "10.0.1.104:12345";
        }
        void reset() {…}
        void setdefault() {
            embBoardsConnected = true;
            localaddressing.addr = eo_common_ipv4addr(10, 0, 1, 104); localaddressing.port = 12345;
            txrate = 1; rxrate = 5;
            addressingstring = "10.0.1.104:12345";
        }
        void setdefault() {…}
    };
    struct pc104Data {…};
 
    bool read(yarp::os::Searchable &cfgtotal, pc104Data &pc104data);
    bool read(yarp::os::Searchable &cfgtotal, boardData &boarddata);
 
    bool print(const pc104Data &pc104data);
    bool print(const boardData &boarddata);
 
 
}} // namespace eth { namespace parser {
namespace eth { namespace parser {…}
 
 
 
#endif  // include-guard
 
 
// - end-of-file (leave a blank line after)----------------------------------------------------------------------------