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130 lines (115 loc) · 3.26 KB
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/*
* Copyright (c) 2016 PolySync
*
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
/**
* \example SerialReader.cpp
*
* PolySync Serial Reader C++ API example application
* Demonstrate the user of a serial reader node
*/
#include <iostream>
#include <string>
#include <PolySyncNode.hpp>
#include <PolySyncSerial.hpp>
#include <PolySyncDTCException.hpp>
using namespace std;
// Constant values for use in the example
const ps_datarate_kind MY_DATARATE = DATARATE_9600;
const string SERIAL_PORT( "/dev/ttyUSB0" );
const string NODE_NAME( "polysync-serial-reader-cpp" );
/**
* @brief SerialReaderNode class
*
* The SerialReaderNode class exists to demonstrate how to use the node class
* to perform serial read functions.
*/
class SerialReaderNode : public polysync::Node
{
private:
polysync::Serial myDevice;
public:
SerialReaderNode()
: myDevice( SERIAL_PORT )
{
}
/**
* @brief initStateEvent
*
* Initialize the serial port here
*
*/
void initStateEvent() override
{
myDevice.open();
myDevice.setDataRate( MY_DATARATE );
myDevice.applySettings();
}
/**
* @brief okStateEvent
*
* Perform a read here and process any data that has been read.
*
*/
void okStateEvent() override
{
vector< uchar > readBuffer;
ps_timestamp ts;
// Returns number of bytes read.
myDevice.read( readBuffer, ts );
// Up to the user on what to do with the data here.
// Options include: print it, consume it, publish it, transform it...
}
/**
* @brief releaseStateEvent
*
* Perform the serial port cleanup here.
*
*/
void releaseStateEvent() override
{
myDevice.close();
}
};
/**
* @brief main
*
* The "connectPolySync" function begins the node's PolySync execution loop.
*
* @return int - exit code
*/
int main()
{
try
{
// Create an instance of the SerialReaderNode and connect it to PolySync
SerialReaderNode serialReaderNode;
serialReaderNode.setNodeName(NODE_NAME);
serialReaderNode.connectPolySync();
}
catch( polysync::DTCException & e )
{
std::cout << e.what() << std::endl;
}
return 0;
}