mtinterface.h

00001 /*!
00002  * \file
00003  * \copyright Copyright (C) Xsens Technologies B.V., 2015.
00004  *
00005  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
00006  * use this file except in compliance with the License. You may obtain a copy
00007  * of the License at
00008  *
00009  * http://www.apache.org/licenses/LICENSE-2.0
00010  *
00011  * Unless required by applicable law or agreed to in writing, software
00012  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00013  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
00014  * License for the specific language governing permissions and limitations
00015  * under the License.
00016  */
00017 #ifndef MTINTERFACE_H
00018 #define MTINTERFACE_H
00019 
00020 #include "mbed.h"
00021 #include "rtos.h"
00022 #include "xbusmessage.h "
00023 #include "xbusparser.h "
00024 
00025 class MtInterface
00026 {
00027 public:
00028     MtInterface();
00029     virtual ~MtInterface();
00030 
00031     /*! \brief This function must be periodically called from the main loop. Classes which inherid
00032         from MtInterface can place functionality which must run periodically in this function.
00033     */
00034     virtual void process() = 0;
00035 
00036     /*! \brief Interface for sending xbus messages to the module
00037     */
00038     virtual void sendXbusMessage(XbusMessage const* xbusMessage) = 0;
00039 
00040     /*! \brief Interface for requesting the low level format used by an MtInterface instance
00041     */
00042     virtual XbusBusFormat busFormat() = 0;
00043 
00044     XbusMessage* getXbusMessage();
00045     void releaseXbusMessage(XbusMessage *xbusMessage);
00046 
00047     XbusMessage* sendAndWait(XbusMessage const* xbusMessage);
00048 
00049 protected:
00050     static const int m_rxBufferSize = 300;
00051     MemoryPool<uint8_t[m_rxBufferSize], 3> m_memoryPool;
00052     MemoryPool<XbusMessage, 6> m_xbusMessagePool;
00053     XbusParser *m_xbusParser;
00054     Queue<XbusMessage, 4> m_xbusRxQueue;
00055 
00056     void *allocateMessageData(size_t bufferSize);
00057     void deallocateMessageData(void const *buffer);
00058     void xbusParserCallbackFunction(struct XbusMessage const *message);
00059 
00060     friend void *allocateMessageDataWrapper(size_t bufferSize);
00061     friend void deallocateMessageDataWrapper(void const *buffer);
00062     friend void xbusParserCallbackFunctionWrapper(struct XbusMessage const *message);
00063 };
00064 
00065 #endif //MTINTERFACE_H