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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/catkin/hardware/blmc_drivers/include/blmc_drivers/serial_reader.hpp	Lines:	0	3	0.0 %
Date:	2020-04-15 11:50:02	Branches:	0	0	- %


/**
 * \file
 * \brief Wrapper for reading new-line terminated list of values from serial port.
 * \author Julian Viereck
 * \date 2020
 * \copyright Copyright (c) 2020, New York University and Max Planck
 *            Gesellschaft.
 */

#pragma once

#include <cstdlib>
#include <iostream>
#include <mutex>
#include <unistd.h>
#include <vector>

#include "real_time_tools/thread.hpp"

namespace blmc_drivers
{

class SerialReader
{
public:
    /**
     * @param serial_port The address of the serial port to use.
     * @pparam num_values The number of values to read in each line.
     */
    SerialReader(const std::string &serial_port, const int &num_values);

    ~SerialReader();

    /**
     * @brief Fills a vector with the latest values.
     * @param values Vector to place values into.
     * @return How often fill_vector was called without new data.
     */
    int fill_vector(std::vector<int>& values);

private:
    /**
     * @brief This is the helper function used for spawning the real time
     * thread.
     *
     * @param instance_pointer is the current object in this case.
     * @return THREAD_FUNCTION_RETURN_TYPE depends on the current OS.
     */
    static THREAD_FUNCTION_RETURN_TYPE loop(void* instance_pointer)
    {
        static_cast<SerialReader*>(instance_pointer)->loop();
        return THREAD_FUNCTION_RETURN_VALUE;
    }

    /**
     * @brief This is the real time thread that streams the data to/from the
     * main board.
     */
    void loop();

    /**
     * @brief This boolean makes sure that the loop is stopped upon destruction
     * of this object.
     */
    bool is_loop_active_;

    /**
     * @brief This is the thread object that allow to spwan a real-time thread
     * or not dependening on the current OS.
     */
    real_time_tools::RealTimeThread rt_thread_;

    /**
     * @brief Holds the device serial port.
     */
    int fd_;

    /**
     * @brief If false, the communication is workinng as expected.
     */
    bool has_error_;

    /**
     * @brief If the communication is active.
     */
    bool is_active_;

    /**
     *
     */
    int new_data_counter_;

    int missed_data_counter_;

    /**
     * @brief Holds vector with the latest double values.
     */
    std::vector<int> latest_values_;

    /**
    * @brief mutex_ multithreading safety
    */
    std::mutex mutex_;
};

}  // namespace blmc_robots


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/**
2			* \file
3			* \brief Wrapper for reading new-line terminated list of values from serial port.
4			* \author Julian Viereck
5			* \date 2020
6			* \copyright Copyright (c) 2020, New York University and Max Planck
7			* Gesellschaft.
8			*/
9
10			#pragma once
11
12			#include <cstdlib>
13			#include <iostream>
14			#include <mutex>
15			#include <unistd.h>
16			#include <vector>
17
18			#include "real_time_tools/thread.hpp"
19
20			namespace blmc_drivers
21			{
22
23			class SerialReader
24			{
25			public:
26			/**
27			* @param serial_port The address of the serial port to use.
28			* @pparam num_values The number of values to read in each line.
29			*/
30			SerialReader(const std::string &serial_port, const int &num_values);
31
32			~SerialReader();
33
34			/**
35			* @brief Fills a vector with the latest values.
36			* @param values Vector to place values into.
37			* @return How often fill_vector was called without new data.
38			*/
39			int fill_vector(std::vector<int>& values);
40
41			private:
42			/**
43			* @brief This is the helper function used for spawning the real time
44			* thread.
45			*
46			* @param instance_pointer is the current object in this case.
47			* @return THREAD_FUNCTION_RETURN_TYPE depends on the current OS.
48			*/
49			static THREAD_FUNCTION_RETURN_TYPE loop(void* instance_pointer)
50			{
51			static_cast<SerialReader*>(instance_pointer)->loop();
52			return THREAD_FUNCTION_RETURN_VALUE;
53			}
54
55			/**
56			* @brief This is the real time thread that streams the data to/from the
57			* main board.
58			*/
59			void loop();
60
61			/**
62			* @brief This boolean makes sure that the loop is stopped upon destruction
63			* of this object.
64			*/
65			bool is_loop_active_;
66
67			/**
68			* @brief This is the thread object that allow to spwan a real-time thread
69			* or not dependening on the current OS.
70			*/
71			real_time_tools::RealTimeThread rt_thread_;
72
73			/**
74			* @brief Holds the device serial port.
75			*/
76			int fd_;
77
78			/**
79			* @brief If false, the communication is workinng as expected.
80			*/
81			bool has_error_;
82
83			/**
84			* @brief If the communication is active.
85			*/
86			bool is_active_;
87
88			/**
89			*
90			*/
91			int new_data_counter_;
92
93			int missed_data_counter_;
94
95			/**
96			* @brief Holds vector with the latest double values.
97			*/
98			std::vector<int> latest_values_;
99
100			/**
101			* @brief mutex_ multithreading safety
102			*/
103			std::mutex mutex_;
104			};
105
106			} // namespace blmc_robots