.. _program_listing_file_include_create_serial_stream.h:

Program Listing for File serial_stream.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_create_serial_stream.h>` (``include/create/serial_stream.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   // Based on example from:
   //   https://github.com/labust/labust-ros-pkg/wiki/Create-a-Serial-Port-application
   
   #ifndef CREATE_SERIAL_STREAM_H
   #define CREATE_SERIAL_STREAM_H
   
   #include <memory>
   
   #include "create/data.h"
   #include "create/types.h"
   #include "create/util.h"
   #include "create/serial.h"
   
   namespace create {
     class SerialStream : public Serial {
       private:
         enum ReadState {
           READ_HEADER,
           READ_NBYTES,
           READ_PACKET_ID,
           READ_PACKET_BYTES,
           READ_CHECKSUM
         };
   
         // State machine variables
         ReadState readState;
         uint8_t headerByte;
         uint8_t packetID;
         uint8_t expectedNumBytes;
         uint16_t packetBytes;
         uint8_t numBytesRead;
         uint32_t byteSum;
         uint8_t numDataBytesRead;
         uint8_t expectedNumDataBytes;
   
       protected:
         bool startSensorStream();
         void processByte(uint8_t byteRead);
   
       public:
         SerialStream(
           std::shared_ptr<Data> data,
           const uint8_t& header = create::util::STREAM_HEADER,
           bool install_signal_handler = true);
         virtual ~SerialStream() = default;
   
     };
   }  // namespace create
   
   #endif // CREATE_SERIAL_H