real_time/software/raspberry/superviseur-robot/lib/commonitor.h
2018-12-21 16:36:52 +01:00

134 lines
3.6 KiB
C++

/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __COMMONITOR_H__
#define __COMMONITOR_H__
#include "messages.h"
#include <string>
using namespace std;
#define SERVER_PORT 1234
/**
* Class used for generating a server and communicating through it with monitor
*
* @brief Communication class with monitor (server)
*
*/
class ComMonitor {
public:
/**
* Constructor
*/
ComMonitor() {}
/**
* Destructor
*/
virtual ~ComMonitor() {}
/**
* Create a server and open a socket over TCP
*
* @param port Port used for communication
* @return Socket number
* @throw std::runtime_error if it fails
*/
int Open(int port);
/**
* Close socket and server
*/
void Close();
/**
* Wait for a client to connect
* @return Client number
* @throw std::runtime_error if it fails
*/
int AcceptClient();
/**
* Send a message to monitor
*
* @param msg Message to send to monitor
* @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
* @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously
*/
void Write(Message &msg);
/**
* Function called at beginning of Write method
* Use it to do some synchronization (call of mutex, for example)
*/
virtual void Write_Pre() {}
/**
* Function called at end of Write method
* Use it to do some synchronization (release of mutex, for example)
*/
virtual void Write_Post() {}
/**
* Receive a message from monitor
*
* @return Message received from monitor
* @attention Message provided is produced by the method. You must delete it when you are done using it
* @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously
*/
Message *Read();
/**
* Function called at beginning of Read method
* Use it to do some synchronization (call of mutex, for example)
*/
virtual void Read_Pre() {}
/**
* Function called at end of Read method
* Use it to do some synchronization (release of mutex, for example)
*/
virtual void Read_Post() {}
protected:
/**
* Socket descriptor
*/
int socketFD = -1;
/**
* Socket descriptor
*/
int clientID = -1;
/**
* Method used internally to convert a message content to a string that can be sent over TCP
* @param msg Message to be converted
* @return A string, image of the message
*/
string MessageToString(Message &msg);
/**
* Method used internally to convert a string received over TCP to a message
* @param s String containing message
* @return A message, image of the string
*/
Message *StringToMessage(string &s);
};
#endif /* __COMMONITOR_H__ */