CommModule.h

00001 #ifndef COMMUNICATION_MODULE_H
00002 #define COMMUNICATION_MODULE_H
00003 
00004 #include "mbed.h"
00005 #include "cmsis_os.h"
00006 #include "RTP.h"
00007 #include "ThreadHelper.h"
00008 #include "MailHelper.h"
00009 #include "Logger.h"
00010 #include "FunctionPointerRJ.h"
00011 
00012 #include <algorithm>    // std::binary_search, std::sort
00013 #include <vector>
00014 
00015 #define COMM_MODULE_TX_QUEUE_SIZE           20
00016 #define COMM_MODULE_RX_QUEUE_SIZE           4
00017 #define COMM_MODULE_NBR_PORTS               15
00018 #define COMM_MODULE_SIGNAL_START_THREAD     0x01
00019 
00020 class CommLink;
00021 
00022 // Base class for a communication module
00023 class CommModule
00024 {
00025 public:
00026     // Default Constructor
00027     CommModule();
00028 
00029     // Deconstructor
00030     virtual ~CommModule();
00031 
00032     // Class constants - set in CommModule.cpp
00033     static const int NBR_PORTS;
00034     static const int TX_QUEUE_SIZE;
00035     static const int RX_QUEUE_SIZE;
00036 
00037     // Open a socket connection for communicating.
00038     template <typename T>
00039     void TxHandler(T *tptr, void(T::*mptr)(RTP_t*), uint8_t portNbr) {
00040         _txH_called = true;
00041         ready();
00042         _tx_handles[portNbr].attach(tptr, mptr);
00043     }
00044     
00045     template <typename T>
00046     void RxHandler(T *tptr, void(T::*mptr)(RTP_t*), uint8_t portNbr) {
00047         ready();
00048         _rx_handles[portNbr].attach(tptr, mptr);
00049     }
00050 
00051     void TxHandler(void(*)(RTP_t*), uint8_t);
00052     void RxHandler(void(*)(RTP_t*), uint8_t);
00053     
00054     void RxHandler(void(*)(void), uint8_t);
00055 
00056     void openSocket(uint8_t);
00057 
00058     template <class T>
00059     void openSocket(T*, void(T::*)(RTP_t*), uint8_t);
00060 
00061     void openSocket(CommLink*, void(*)(void const*), uint8_t);
00062 
00063     // Send a RTP packet. The details of exactly how the packet will be sent are determined from the RTP packet's port and subclass values
00064     void send(RTP_t&);
00065     void receive(RTP_t&);
00066     
00067     //osThreadId rxID(void);
00068 
00069 protected:
00070     // NOP function for keeping a oommunication link active
00071     void nopFunc(void);
00072 
00073     // Memory Queue IDs
00074     osMailQId   _txQueue;
00075     osMailQId   _rxQueue;
00076 
00077     // Thread IDs
00078     osThreadId      _txID;
00079     osThreadId      _rxID;
00080 
00081     std::vector<uint8_t> *_open_ports;
00082 
00083 private:
00084     // Used to help define the class's threads in the constructor
00085     friend void define_thread(osThreadDef_t&, void(*task)(void const *arg), osPriority, uint32_t, unsigned char*);
00086 
00087     // The working threads for handeling rx and tx data queues
00088     static void txThread(void const*);
00089     static void rxThread(void const*);
00090 
00091     void ready(void);
00092 
00093     static bool isReady;
00094 
00095     // Thread and Mail defintion data structures
00096     osThreadDef_t   _txDef;
00097     osThreadDef_t   _rxDef;
00098     osMailQDef_t    _txQDef;
00099     osMailQDef_t    _rxQDef;
00100 
00101     // Mail helper objects
00102     MailHelper<RTP_t, COMM_MODULE_TX_QUEUE_SIZE>   _txQueueHelper;
00103     MailHelper<RTP_t, COMM_MODULE_RX_QUEUE_SIZE>   _rxQueueHelper;
00104 
00105     CommLink        *_link[COMM_MODULE_NBR_PORTS];
00106 
00107     FunctionPointerRJ   _rx_handles[COMM_MODULE_NBR_PORTS];
00108     FunctionPointerRJ   _tx_handles[COMM_MODULE_NBR_PORTS];
00109     
00110     bool    _txH_called;
00111 
00112     // Ignore for now
00113     // bool _dynamic_stack;
00114 
00115 };
00116 
00117 #endif  // COMMUNICATION_MODULE_H