diff --git a/include/model_car_driver_base.h b/include/model_car_driver_base.h
index 0ff074a285e02124d1503fdbe49ba855b66765da..56882265c38752091694cd8a1e103d7c35e21a80 100644
--- a/include/model_car_driver_base.h
+++ b/include/model_car_driver_base.h
@@ -4,28 +4,24 @@
#include "rs232.h"
#include "commexceptions.h"
#include "threadserver.h"
-// #include "eventserver.h"
+#include "eventserver.h"
#include "eventexceptions.h"
-#include "model_car_exceptions.h"
#include "model_car_protocol.h"
-#include <iostream>
-#include <iomanip>
-#include <vector>
-#include <dirent.h>
-#include <chrono>
-#include <thread>
+
+#define DEFAULT_TIMEOUT 200
+#define NO_RX_TIMEOUT -1.0
enum sm_state { WAIT_START, READ_ID, READ_DATA_LENGTH, READ_TIMESTAMP, READ_DATA, READ_CRC, READ_END};
union TTimeStampUnion
{
- unsigned char raw[4];
+ uint8_t raw[4];
uint32_t time_stamp;
};
union TCRCUnion
{
- unsigned char raw[2];
+ uint8_t raw[2];
uint16_t crc;
};
@@ -39,17 +35,18 @@ class CModelCarDriverBase
{
private:
std::string name;
- uint arduino_id;
+ std::string device;
CRS232 *serial_port;
CMutex port_mutex;
- uint id;
- uint sw_version;
+ uint8_t arduino_id;
+ uint8_t detected_id;
+ uint16_t sw_version;
+ uint32_t rx_timeout;
+ uint32_t timestamp;
/* event attributes */
- CEventServer *event_server;
std::string finish_thread_event_id;
- std::string new_data_event_id;
std::string new_info_event_id;
/* thread attributes */
@@ -58,25 +55,26 @@ class CModelCarDriverBase
protected:
CMutex data_mutex;
+ CEventServer *event_server;
+ std::string new_data_event_id;
+ bool open_dev(std::string &serial_dev);
static void *data_thread(void *param);
- bool process_byte(THeader &header, TDataUnion &data_union, TCRCUnion &crc_union, unsigned char byte);
- bool get_id(uint8_t & id);
void send_request(uint8_t id, uint8_t data_length, uint8_t *data);
- sm_state process_data(THeader & header, TDataUnion & data_union, TCRCUnion & crc_union);
- virtual void process_data_frame(uint8_t id,uint32_t timestamp, TDataUnion data_union)=0;
- void stuff_frame(uint8_t const *frame_in, uint8_t const size_in, uint8_t **frame_out, uint8_t & size_out);
- uint16_t fletcher16(uint8_t const *data, uint8_t bytes);
- void delete_thread_and_events(void);
-
+ void stuff_frame(uint8_t *frame_in, uint8_t size_in, uint8_t **frame_out, uint8_t &size_out);
+ bool process_byte(THeader &header, TDataUnion &data_union, TCRCUnion &crc_union, uint8_t byte);
+ void process_data(THeader & header, TDataUnion & data_union, TCRCUnion & crc_union);
+ virtual void process_data_frame(uint8_t id,TDataUnion data_union)=0;
+ uint16_t fletcher16(uint8_t *data, uint8_t bytes);
public:
CModelCarDriverBase(std::string name, ARDUINO_ID arduino_id);
- void open();
- bool open_dev(std::string &serial_dev);
+ void open(void);
+ uint8_t get_id(void);
+ void set_rx_timeout(double time_s);
+ double get_rx_timeout(void);
+ uint32_t get_last_timestamp(void);
void close(void);
std::string get_new_data_event_id(void);
- void cout_data(unsigned char * data, unsigned int size, std::string name="data");
-
virtual ~CModelCarDriverBase(void);
};
diff --git a/src/model_car_driver_base.cpp b/src/model_car_driver_base.cpp
index 931eec545d7c0ea6e5ad7376eb7260eaa345e642..e089b007c245b62b028de8e3ba7da5e430d6efac 100644
--- a/src/model_car_driver_base.cpp
+++ b/src/model_car_driver_base.cpp
@@ -1,27 +1,20 @@
#include "model_car_driver_base.h"
-//#include "eventexceptions.h"
-
-struct HexCharStruct
-{
- unsigned char c;
- HexCharStruct(unsigned char _c) : c(_c) { }
-};
-
-inline std::ostream& operator<<(std::ostream& o, const HexCharStruct& hs)
-{
- return (o << std::setw(2) << std::setfill('0') << std::hex << (int)hs.c << std::dec);
-}
-
-inline HexCharStruct hex(unsigned char _c)
-{
- return HexCharStruct(_c);
-}
+#include <iostream>
+#include <vector>
+#include <dirent.h>
CModelCarDriverBase::CModelCarDriverBase(std::string name, ARDUINO_ID arduino_id)
{
this->name=name;
- this->arduino_id=arduino_id;
+ this->device="";
this->serial_port=NULL;
+
+ this->arduino_id=arduino_id;
+ this->detected_id=-1;
+ this->sw_version=-1;
+ this->rx_timeout=DEFAULT_TIMEOUT;
+ this->timestamp=0;
+
/* init events */
this->event_server=CEventServer::instance();
this->finish_thread_event_id=this->name+"_finish_thread_event";
@@ -38,45 +31,6 @@ CModelCarDriverBase::CModelCarDriverBase(std::string name, ARDUINO_ID arduino_id
this->thread_server->attach_thread(this->data_thread_id,this->data_thread,this);
}
-void CModelCarDriverBase::open()
-{
- std::vector<std::string> dev_list;
-
- this->close();
-
- std::cout << "CModelCarDriverBase::open(): scanning ttyACM* devices in /sys/class/tty directory" << std::endl;
- std::string path = "/sys/class/tty";
- std::string str = "ttyACM";
-
- DIR *dir;
- struct dirent *ent;
- if ((dir = opendir (path.c_str())) != NULL)
- {
- while ((ent = readdir (dir)) != NULL)
- {
- std::size_t found = std::string(ent->d_name).find(str);
- if (found!=std::string::npos)
- {
- std::string dev = "/dev/"+std::string(ent->d_name);
- std::cout << " Found ttyACM* dev: " << dev << std::endl;
- dev_list.push_back(dev);
- }
- }
- closedir (dir);
- }
- else
- {
- std::cout << "CModelCarDriverBase: ERROR can't open dir " << path << std::endl;
- }
-
- std::cout << "CModelCarDriverBase: looking for device matching Address arduino_id = " << this->arduino_id << std::endl;
- for(unsigned int i=0; i<dev_list.size();i++)
- {
- if(this->open_dev(dev_list[i]))
- break;
- }
-}
-
bool CModelCarDriverBase::open_dev(std::string &serial_dev)
{
bool ok=false;
@@ -88,93 +42,49 @@ bool CModelCarDriverBase::open_dev(std::string &serial_dev)
serial_config.parity=none;
serial_config.stop_bits=1;
this->serial_port = new CRS232(this->name);
- std::cout << "CModelCarDriverBase: Opening " << serial_dev << std::endl;
this->serial_port->open((void *)&serial_dev);
this->serial_port->config(&serial_config);
this->thread_server->start_thread(this->data_thread_id);
- uint8_t current_id;
- if(!this->get_id(current_id))
- {
- std::cout << "CModelCarDriverBase: couldn't get id. Skipping." << std::endl;
+ if(this->get_id()==-1)
this->close();
- }
else
{
- this->data_mutex.enter();
- bool match = (this->arduino_id == current_id);
- this->data_mutex.exit();
- if(match)
+ if(this->arduino_id == this->detected_id)
{
std::cout << "CModelCarDriverBase: correct arduino found!" << std::endl;
+ this->device=serial_dev;
ok=true;
}
else
- {
- std::cout << "CModelCarDriverBase: incorrect arduino" << std::endl;
this->close();
- }
}
}
catch(CException &e)
{
- std::cout << e.what() << std::endl;
this->close();
- throw;
+ throw e;
}
- return ok;
-}
-void CModelCarDriverBase::close()
-{
- if(this->thread_server->get_thread_state(this->data_thread_id)==starting ||
- this->thread_server->get_thread_state(this->data_thread_id)==active)
- {
- this->event_server->set_event(this->finish_thread_event_id);
- this->thread_server->end_thread(this->data_thread_id);
- this->event_server->reset_event(this->finish_thread_event_id);
- }
- else
- std::cout << "CModelCarDriverBase::close(): data thread already ended" << std::endl;
-
- this->port_mutex.enter();
- if(this->serial_port!=NULL)
- {
- this->serial_port->close();
- delete this->serial_port;
- this->serial_port=NULL;
- }
- else
- std::cout << "CModelCarDriverBase::close(): serial port already closed" << std::endl;
- this->port_mutex.exit();
-}
-
-void CModelCarDriverBase::delete_thread_and_events()
-{
- this->thread_server->detach_thread(this->data_thread_id);
- this->thread_server->delete_thread(this->data_thread_id);
- this->data_thread_id="";
- this->event_server->delete_event(this->finish_thread_event_id);
- this->finish_thread_event_id="";
- this->event_server->delete_event(this->new_data_event_id);
- this->new_data_event_id="";
+ return ok;
}
void *CModelCarDriverBase::data_thread(void *param)
{
CModelCarDriverBase *driver=(CModelCarDriverBase *)param;
+ uint8_t *frame_data=NULL;
+ TRS232_config serial_config;
+ uint32_t num,index;
bool end=false;
-
- unsigned char * frame_data=NULL;
- unsigned int num;
- THeader header;
+ THeader header;
TDataUnion data_union;
- TCRCUnion crc_union;
+ TCRCUnion crc_union;
std::list<std::string> events;
events.push_back(driver->serial_port->get_rx_event_id());
+ events.push_back(driver->finish_thread_event_id);
while(!end)
{
@@ -185,74 +95,66 @@ void *CModelCarDriverBase::data_thread(void *param)
if(num==0)
{
driver->port_mutex.exit();
- driver->event_server->wait_all(events,1000);
+ index=driver->event_server->wait_first(events,driver->rx_timeout);
driver->port_mutex.enter();
num=driver->serial_port->get_num_data();
}
+ else
+ index=0;
- frame_data = new unsigned char[num];
- driver->serial_port->read(frame_data,num);
- driver->port_mutex.exit();
-
- //driver->cout_data(frame_data,num,"frame_data");
-
- for(unsigned int i=0; i<num; i++)
+ if(index==0)
{
- bool frame_ready = driver->process_byte(header, data_union, crc_union, frame_data[i]);
- if(frame_ready)
- driver->process_data(header, data_union, crc_union);
- else
+ frame_data = new uint8_t[num];
+ driver->serial_port->read(frame_data,num);
+ driver->port_mutex.exit();
+ for(uint32_t i=0;i<num;i++)
{
- if(i==num-1)
- std::cout<< "CModelCarDriverBase::data_thread: buffer ended and frame not fully read" << std::endl;
+ if(driver->process_byte(header, data_union, crc_union, frame_data[i]))
+ driver->process_data(header, data_union, crc_union);
}
+ delete[] frame_data;
+ }
+ else
+ {
+ driver->port_mutex.exit();
+ end=true;
}
- if(frame_data!=NULL)
- delete []frame_data;
}
catch(CEventTimeoutException &e)
{
- //do nothing;
- //std::cout << "CModelCarDriverBase::data_thread: " << e.what() << std::endl;
+ serial_config.baud=115200;
+ serial_config.num_bits=8;
+ serial_config.parity=none;
+ serial_config.stop_bits=1;
+ driver->serial_port->close();
+ driver->serial_port->open((void *)&driver->device);
+ driver->serial_port->config(&serial_config);
}
- catch(CException &e)
- {
- std::cout << "CModelCarDriverBase::data_thread: " << e.what() << std::endl;
+ catch(CException &e){
+ std::cout << e.what() << std::endl;
}
-
- if(driver->event_server->event_is_set(driver->finish_thread_event_id))
- end=true;
}
pthread_exit(NULL);
}
-
-
-bool CModelCarDriverBase::process_byte(THeader &header, TDataUnion &data_union, TCRCUnion &crc_union, unsigned char byte)
+bool CModelCarDriverBase::process_byte(THeader &header, TDataUnion &data_union, TCRCUnion &crc_union, uint8_t byte)
{
bool frame_ready=false;
-
- static sm_state state=WAIT_START;
- static bool escaped =false;
- static int ts_count =0;
- static int data_count=0;
- static int crc_count =0;
- TTimeStampUnion ts_union;
+ static sm_state state=WAIT_START;
+ static bool escaped=false;
+ static int ts_count=0;
+ static int data_count=0;
+ static int crc_count=0;
+ static TTimeStampUnion ts_union;
if(byte==ESCAPE_BYTE && !escaped)
escaped=true;
else
{
if(byte==START_BYTE && !escaped && state!=WAIT_START)
- {
- std::cout << "CModelCarDriverBase::data_thread: WARNING, found unexpected START_BYTE" << std::endl;
state=READ_ID;
- }
else if(byte==END_BYTE && !escaped && state!=READ_END)
- {
- std::cout << "CModelCarDriverBase::data_thread: WARNING, found unexpected END_BYTE" << std::endl;
state=WAIT_START;
- }
switch(state)
{
@@ -336,7 +238,6 @@ bool CModelCarDriverBase::process_byte(THeader &header, TDataUnion &data_union,
{
if(escaped)
escaped=false;
- std::cout << "CModelCarDriverBase::data_thread: error, no END BYTE found" << std::endl;
state=WAIT_START;
}
break;
@@ -345,43 +246,33 @@ bool CModelCarDriverBase::process_byte(THeader &header, TDataUnion &data_union,
return frame_ready;
}
-sm_state CModelCarDriverBase::process_data(THeader & header, TDataUnion & data_union, TCRCUnion & crc_union)
+void CModelCarDriverBase::process_data(THeader & header, TDataUnion & data_union, TCRCUnion & crc_union)
{
- sm_state state;
- unsigned char * single_frame=NULL;
+ uint8_t * single_frame=NULL;
uint16_t calculated_crc;
- TInfoData info_data;
+ uint8_t frame_size;
TErrorData error_data;
-
- unsigned int frame_size = sizeof(THeader)+header.data_length;
- single_frame = new unsigned char[frame_size];
-
+
+ frame_size = sizeof(THeader)+header.data_length;
+ single_frame = new uint8_t[frame_size];
memcpy(single_frame, &header, sizeof(THeader));
memcpy(&single_frame[sizeof(THeader)], &data_union, header.data_length);
-
calculated_crc = this->fletcher16(single_frame, frame_size);
-
- if(single_frame!=NULL)
- delete []single_frame;
+ delete[] single_frame;
if (calculated_crc != crc_union.crc)
- {
std::cout << "CModelCarDriverBase: error, frame CRC invalid. Skipping frame" << std::endl;
- state=WAIT_START;
- }
else
{
switch(header.id)
{
case ID_ARD_SENSOR_INFO:
this->data_mutex.enter();
- info_data.arduino_address = data_union.info.arduino_address;
- info_data.arduino_version = data_union.info.arduino_version;
- this->id = info_data.arduino_address;
- this->sw_version = info_data.arduino_version;
+ this->detected_id = data_union.info.arduino_address;
+ this->sw_version = data_union.info.arduino_version;
this->data_mutex.exit();
- this->event_server->set_event(this->new_info_event_id);
- std::cout << "CModelCarDriverBase: processed info data, Address="<< unsigned(info_data.arduino_address) << ", Version="<< unsigned(info_data.arduino_version) << std::endl;
+ if(!this->event_server->event_is_set(this->new_info_event_id))
+ this->event_server->set_event(this->new_info_event_id);
break;
case ID_ARD_SENS_ERROR:
error_data.error_number = data_union.error.error_number;
@@ -429,113 +320,79 @@ sm_state CModelCarDriverBase::process_data(THeader & header, TDataUnion & data_u
break;
default:
this->data_mutex.enter();
- this->process_data_frame(header.id, header.time_stamp, data_union);
- if(!this->event_server->event_is_set(this->new_data_event_id))
- this->event_server->set_event(this->new_data_event_id);
+ this->process_data_frame(header.id, data_union);
this->data_mutex.exit();
break;
}
}
- state=WAIT_START;
- return state;
}
-bool CModelCarDriverBase::get_id(uint8_t & id)
+uint8_t CModelCarDriverBase::get_id(void)
{
- bool ok=false;
- this->send_request(ID_ARD_ACT_REQUEST,0,NULL);
-
std::list<std::string> events;
+
events.push_back(this->new_info_event_id);
- try
- {
- this->event_server->wait_all(events,1000);
+ this->send_request(ID_ARD_ACT_REQUEST,0,NULL);
+ try{
+ this->event_server->wait_all(events,100);
}
- catch(CEventTimeoutException &e)
- {
- std::cout << e.what() << std::endl;
+ catch(CEventTimeoutException &e){
+ return -1;
}
- ok=true;
- id=this->id;
- return ok;
+ return this->detected_id;
}
void CModelCarDriverBase::send_request(uint8_t id, uint8_t data_length, uint8_t *data)
{
- unsigned int req_frame_size = sizeof(uint8_t)+sizeof(uint8_t)+sizeof(TTimeStampUnion)+data_length;
- unsigned char *frame;
- frame = new unsigned char[req_frame_size];
- std::fill(frame, frame + req_frame_size, 0x00);
-
- TTimeStampUnion ts={0x00,0x00,0x00,0x00};
-
- memcpy(frame, &id, sizeof(uint8_t));
- memcpy(frame+sizeof(uint8_t), &data_length, sizeof(uint8_t));
- memcpy(frame+2*sizeof(uint8_t), &ts, sizeof(TTimeStampUnion));
-
- for(unsigned int i=0; i<data_length; i++)
- memcpy(frame+2*sizeof(uint8_t)+sizeof(TTimeStampUnion), &data[i], sizeof(uint8_t));
-
- uint16_t calculated_crc = fletcher16(frame, uint8_t(req_frame_size));
-
- unsigned char *frame_with_crc;
- frame_with_crc = new unsigned char[req_frame_size+sizeof(uint16_t)];
- std::fill(frame_with_crc, frame_with_crc + req_frame_size+sizeof(uint16_t), 0x00);
- memcpy(frame_with_crc, frame, req_frame_size);
- memcpy(frame_with_crc+req_frame_size, &calculated_crc, sizeof(uint16_t));
-
- req_frame_size+=sizeof(uint16_t);
-
- delete []frame;
- uint8_t *stuffed_frame=NULL;
- uint8_t stuffed_frame_size=0;
-
- this->stuff_frame(frame_with_crc,req_frame_size,&stuffed_frame,stuffed_frame_size);
- delete []frame_with_crc;
+ uint8_t req_frame_size=sizeof(uint8_t)+sizeof(uint8_t)+sizeof(TTimeStampUnion)+data_length+sizeof(uint16_t),stuffed_frame_size;
+ uint16_t crc_value;
+ uint8_t *frame=NULL,*stuffed_frame=NULL;
+
+ frame = new uint8_t[req_frame_size];
+ frame[0]=id;
+ frame[1]=data_length;
+ memset(frame+2*sizeof(uint8_t), 0x00, sizeof(TTimeStampUnion));
+ memcpy(frame+2*sizeof(uint8_t)+sizeof(TTimeStampUnion),data,data_length);
+ crc_value=fletcher16(frame,req_frame_size-sizeof(uint16_t));
+ memcpy(frame+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(TTimeStampUnion)+data_length,&crc_value,sizeof(uint16_t));
+ this->stuff_frame(frame,req_frame_size,&stuffed_frame,stuffed_frame_size);
this->port_mutex.enter();
this->serial_port->write(stuffed_frame,stuffed_frame_size);
- //cout_data(stuffed_frame,stuffed_frame_size,"stuffed_frame");
this->port_mutex.exit();
- delete []stuffed_frame;
+ delete[] stuffed_frame;
+ delete[] frame;
}
-void CModelCarDriverBase::stuff_frame(uint8_t const *frame_in, uint8_t const size_in, uint8_t **frame_out, uint8_t & size_out)
+void CModelCarDriverBase::stuff_frame(uint8_t *frame_in, uint8_t size_in, uint8_t **frame_out, uint8_t & size_out)
{
- unsigned int esc_num=0;
- for(unsigned int i=0; i<(unsigned int)size_in; i++)
- {
+ uint8_t esc_num=0;
+
+ for(uint8_t i=0;i<size_in; i++)
if( (frame_in[i]==START_BYTE) || (frame_in[i]==END_BYTE) || (frame_in[i]==ESCAPE_BYTE ) )
esc_num++;
- }
- size_out = (unsigned int)size_in+esc_num+2;
+ size_out = size_in+esc_num+2;
*frame_out = new uint8_t[size_out];
- std::fill(*frame_out, *frame_out + (unsigned int)size_out, 0x00);
-
- unsigned int ii=1;
(*frame_out)[0]=START_BYTE;
- (*frame_out)[(unsigned int)size_out-1]=END_BYTE;
- for(unsigned int i=0; i<(unsigned int)size_in; i++)
+ for(uint8_t input_byte=0,output_byte=1;input_byte<size_in;input_byte++)
{
- if( (frame_in[i]==START_BYTE) || (frame_in[i]==END_BYTE) || (frame_in[i]==ESCAPE_BYTE ) )
- {
- (*frame_out)[ii]=ESCAPE_BYTE;
- ii++;
- (*frame_out)[ii]=frame_in[i];
- ii++;
- }
- else
+ if( (frame_in[input_byte]==START_BYTE) || (frame_in[input_byte]==END_BYTE) || (frame_in[input_byte]==ESCAPE_BYTE ) )
{
- (*frame_out)[ii]=frame_in[i];
- ii++;
+ (*frame_out)[output_byte]=ESCAPE_BYTE;
+ output_byte++;
}
+ (*frame_out)[output_byte]=frame_in[input_byte];
+ output_byte++;
}
+ (*frame_out)[size_out-3]=frame_in[size_in-2];
+ (*frame_out)[size_out-2]=frame_in[size_in-1];
+ (*frame_out)[size_out-1]=END_BYTE;
}
-uint16_t CModelCarDriverBase::fletcher16(uint8_t const *data, uint8_t bytes)
+uint16_t CModelCarDriverBase::fletcher16(uint8_t *data, uint8_t bytes)
{
uint16_t sum1 = 0xff, sum2 = 0xff;
@@ -554,24 +411,111 @@ uint16_t CModelCarDriverBase::fletcher16(uint8_t const *data, uint8_t bytes)
/* Second reduction step to reduce sums to 8 bits */
sum1 = (sum1 & 0xff) + (sum1 >> 8);
sum2 = (sum2 & 0xff) + (sum2 >> 8);
+
return sum2 << 8 | sum1;
}
-std::string CModelCarDriverBase::get_new_data_event_id(void)
+void CModelCarDriverBase::open(void)
{
- return this->new_data_event_id;
+ std::vector<std::string> dev_list;
+ std::stringstream error;
+ bool found=false;
+
+ this->close();
+
+ std::string path = "/sys/class/tty";
+ std::string str = "ttyACM";
+
+ DIR *dir;
+ struct dirent *ent;
+ if ((dir = opendir (path.c_str())) != NULL)
+ {
+ while ((ent = readdir (dir)) != NULL)
+ {
+ std::size_t found = std::string(ent->d_name).find(str);
+ if (found!=std::string::npos)
+ {
+ std::string dev = "/dev/"+std::string(ent->d_name);
+ dev_list.push_back(dev);
+ }
+ }
+ closedir (dir);
+ }
+ else
+ {
+ error << "Can't open folder " << path;
+ throw CException(_HERE_,error.str());
+ }
+
+ for(uint32_t i=0; i<dev_list.size();i++)
+ {
+ found=this->open_dev(dev_list[i]);
+ if(found)
+ return;
+ }
+ error << "Impossible to find arduino with ID " << (int)this->arduino_id;
+ throw CException(_HERE_,error.str());
+}
+
+void CModelCarDriverBase::close(void)
+{
+ if(this->thread_server->get_thread_state(this->data_thread_id)==starting ||
+ this->thread_server->get_thread_state(this->data_thread_id)==active)
+ {
+ this->event_server->set_event(this->finish_thread_event_id);
+ this->thread_server->end_thread(this->data_thread_id);
+ }
+
+ this->port_mutex.enter();
+ if(this->serial_port!=NULL)
+ {
+ this->serial_port->close();
+ delete this->serial_port;
+ this->serial_port=NULL;
+ }
+ this->port_mutex.exit();
+}
+
+void CModelCarDriverBase::set_rx_timeout(double time_s)
+{
+ std::stringstream error;
+
+ if(time_s<0.0 && time_s!=NO_RX_TIMEOUT)
+ {
+ error << "Invalid timeout value " << time_s;
+ throw CException(_HERE_,error.str());
+ }
+ if(time_s==NO_RX_TIMEOUT)
+ this->rx_timeout=-1;
+ else
+ this->rx_timeout=(int)(time_s*1000.0);
+}
+
+double CModelCarDriverBase::get_rx_timeout(void)
+{
+ return this->rx_timeout;
}
-void CModelCarDriverBase::cout_data(unsigned char * data, unsigned int size, std::string name)
+uint32_t CModelCarDriverBase::get_last_timestamp(void)
{
- std::cout << "CModelCarDriverBase::cout_data: " << name << "= ";
- for(unsigned int i=0; i<size; i++)
- std::cout << hex(data[i]) << "," << std::dec;
- std::cout << std::endl;
+ return this->timestamp;
+}
+
+std::string CModelCarDriverBase::get_new_data_event_id(void)
+{
+ return this->new_data_event_id;
}
CModelCarDriverBase::~CModelCarDriverBase()
{
this->close();
- this->delete_thread_and_events();
+ this->thread_server->detach_thread(this->data_thread_id);
+ this->thread_server->delete_thread(this->data_thread_id);
+ this->data_thread_id="";
+ this->event_server->delete_event(this->finish_thread_event_id);
+ this->finish_thread_event_id="";
+ this->event_server->delete_event(this->new_data_event_id);
+ this->new_data_event_id="";
+ this->event_server->delete_event(this->new_info_event_id);
+ this->new_info_event_id="";
}