U3VisionInterface.h

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#ifndef U3VISIONINTERFACE_H
#define U3VISIONINTERFACE_H
 
#include <vector>
#include <memory>
 
#include "CommandInterface.h"
#include "Sensors/SensorBoard.h"
#include "U3VDelegate.h"
 
#include "libdaq/gpio.h"
 
#include "PayloadSetter.h"
#include "Utility/Mutex.h"
#include "Utility/Observer.h"
 
namespace SocCamera
{
 
#define SERIAL_PORT_0 "/dev/ttyS0"
#define DEFAULT_BUFF_SIZE (2048)
 
class tcRegisterFile;
 
class tcU3VisionInterface: public tcCommandInterface, public tcPayloadSetter, public tcObserver
{
public:
    tcU3VisionInterface(tcIOChannel * apChannel, tcSensorBoard *apSensor,
        std::string *apData);
 
    virtual ~tcU3VisionInterface();
 
    virtual void* run();
 
    virtual void getInput(std::string *apStringOutput);
 
    virtual std::string parseInput(std::string &arStringToParse);
 
    virtual void respond(std::string anResponse);
 
    virtual void finish(std::string &arOriginalBuffer);
 
    virtual void update_payload_size(const uint32_t payload_size);
 
    void update(tsUpdate anMsg);
 
private:
    static void pushAllBack(uint8_t *apBuf, std::vector<uint8_t> &arVec, int32 num);
    static bool clipToPrefix(std::vector<uint8_t> &arVec);
    static bool checkCommand(std::vector<uint8_t> &arVec);
    void processCommand(std::vector<uint8_t> &arVec);
    void clipCommand(std::vector<uint8_t> &arVec);
 
    void sendMessage(tsU3VMsg &arMsg);
 
    void exec();
 
    tcRegisterFile* mpRegisterFile; //Registers are stored in network byte order
 
    static void configure_port(int32 fd);
 
    static int32 open_port(const char *apPath);
 
    int32 mhFD;
    std::vector<uint8_t> buff;
    tcU3VDelegate mcDelegate;
 
        std::unique_ptr<MityDSP::tcGpio> mcGpio;
 
    friend class tcU3VDelegate;
 
    tcMutex mcWriteMutex;
 
    bool mbLogTransactions; 
};
 
}
 
#endif // U3VISIONINTERFACE_H