serial_reader.hpp

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#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:
    SerialReader(const std::string &serial_port, const int &num_values);

    ~SerialReader();

    int fill_vector(std::vector<int>& values);

private:
    static THREAD_FUNCTION_RETURN_TYPE loop(void* instance_pointer)
    {
        static_cast<SerialReader*>(instance_pointer)->loop();
        return THREAD_FUNCTION_RETURN_VALUE;
    }

    void loop();

    bool is_loop_active_;

    real_time_tools::RealTimeThread rt_thread_;

    int fd_;

    bool has_error_;

    bool is_active_;

    int new_data_counter_;

    int missed_data_counter_;

    std::vector<int> latest_values_;

    std::mutex mutex_;
};

}  // namespace blmc_robots