| [48] | 1 | #ifndef __SS_SERVER_H_ |
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| 2 | #define __SS_SERVER_H |
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| 3 | |
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| 4 | #include <stdint.h> |
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| 5 | #include <sys/time.h> |
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| 6 | #include <pthread.h> |
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| 7 | |
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| 8 | #include <ros/ros.h> |
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| 9 | #include <shared_serial/LxSerial.h> |
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| 10 | #include <shared_serial/watchdog.h> |
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| 11 | |
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| 12 | #include <shared_serial/Connect.h> |
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| 13 | #include <shared_serial/Send.h> |
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| 14 | #include <shared_serial/SendTo.h> |
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| 15 | #include <shared_serial/Recv.h> |
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| 16 | #include <shared_serial/SendRecv.h> |
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| 17 | #include <shared_serial/Close.h> |
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| 18 | #include <shared_serial/Flush.h> |
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| 19 | |
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| 20 | class SerialServerLock |
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| 21 | { |
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| 22 | protected: |
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| 23 | int socket_, last_socket_; |
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| 24 | struct timeval timeout_; |
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| 25 | pthread_mutex_t mutex_; |
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| 26 | pthread_cond_t condition_; |
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| 27 | |
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| 28 | public: |
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| 29 | SerialServerLock(); |
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| 30 | |
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| 31 | int lock(int socket, float timeout); |
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| 32 | void unlock(); |
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| 33 | void checkTimeout(); |
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| 34 | }; |
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| 35 | |
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| 36 | class SerialServer |
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| 37 | { |
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| 38 | protected: |
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| 39 | ros::NodeHandle nh_; |
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| 40 | ros::ServiceServer connect_service_; |
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| 41 | ros::ServiceServer sendto_service_; |
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| 42 | ros::ServiceServer recv_service_; |
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| 43 | ros::ServiceServer sendrecv_service_; |
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| 44 | ros::Subscriber send_topic_; |
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| 45 | ros::Subscriber close_topic_; |
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| 46 | ros::Subscriber flush_topic_; |
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| 47 | |
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| 48 | LxSerial serial_port_; |
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| 49 | SerialServerLock lock_; |
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| 50 | WatchdogThread watchdog_; |
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| 51 | |
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| 52 | public: |
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| 53 | SerialServer() : nh_("~") |
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| 54 | { |
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| 55 | advertiseServices(); |
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| 56 | readParameters(); |
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| 57 | } |
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| 58 | ~SerialServer() |
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| 59 | { |
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| 60 | nh_.shutdown(); |
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| 61 | } |
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| 62 | |
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| 63 | void checkTimeout() |
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| 64 | { |
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| 65 | lock_.checkTimeout(); |
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| 66 | } |
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| 67 | |
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| 68 | void kickWatchdog() |
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| 69 | { |
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| 70 | watchdog_.kick(); |
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| 71 | } |
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| 72 | |
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| 73 | void advertiseServices(); |
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| 74 | void readParameters(); |
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| 75 | |
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| 76 | void callbackSend(const shared_serial::Send::ConstPtr& msg); |
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| 77 | void callbackClose(const shared_serial::Close::ConstPtr& msg); |
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| 78 | void callbackFlush(const shared_serial::Flush::ConstPtr& msg); |
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| 79 | bool callbackConnect(shared_serial::Connect::Request& req, shared_serial::Connect::Response& res); |
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| 80 | bool callbackSendTo(shared_serial::SendTo::Request& req, shared_serial::SendTo::Response& res); |
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| 81 | bool callbackRecv(shared_serial::Recv::Request& req, shared_serial::Recv::Response& res); |
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| 82 | bool callbackSendRecv(shared_serial::SendRecv::Request& req, shared_serial::SendRecv::Response& res); |
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| 83 | }; |
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| 84 | |
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| 85 | #endif /* __SS_SERVER_H */ |
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