serialinterface.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#ifndef SERIALINTERFACE_H
#define SERIALINTERFACE_H

#include <xsens/xsbaud.h>
#include <xsens/xscontrolline.h>
#include <xsens/xsmessage.h>
#include <xsens/xsplatform.h>
#include "streaminterface.h"

struct XsPortInfo;

//////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////// SerialInterface
////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////

/*! \brief The low-level serial communication class.
 */
class SerialInterface : public StreamInterface
{
   private:
    XSENS_DISABLE_COPY(SerialInterface)

    XsFileHandle* rx_log;
    XsFileHandle* tx_log;

   protected:
    //! The baudrate that was last set to be used by the port
    XsBaudRate m_baudrate;
    //! The time at which an operation will end in ms, used by several
    //! functions.
    uint32_t m_endTime;
    //! The last result of an operation
    mutable XsResultValue m_lastResult;
    //! The opened COM port nr
    uint16_t m_port;
    //! The name of the open serial port
    char m_portname[32];
    /*! The default timeout value to use during blocking operations.
        A value of 0 means that all operations become non-blocking.
    */
    uint32_t m_timeout;

#ifdef _WIN32
    /** The serial port handle, also indicates if the port is open or not. */
    XsIoHandle m_handle;
#else
    /** Stored settings about the serial port */
    termios m_commState;
    /** The serial port handle, also indicates if the port is open or not. */
    int32_t m_handle;
#endif
   public:
    SerialInterface();
    ~SerialInterface() override;

    // Function overrides
    XsResultValue close(void) override;
    XsResultValue closeLive(void);
    XsResultValue flushData(void) override;
    bool isOpen(void) const override;
    XsResultValue getLastResult(void) const override;
    XsResultValue writeData(
        const XsByteArray& data, XsSize* written = 0) override;
    XsResultValue readData(XsSize maxLength, XsByteArray& data) override;

    void cancelIo(void) const override;

    // Other functions
    XsResultValue escape(XsControlLine mask, XsControlLine state);
    XsBaudRate getBaudrate(void) const;
    XsIoHandle getHandle(void) const;
    uint16_t getPortNumber(void) const;
    void getPortName(XsString& portname) const;
    uint32_t getTimeout(void) const override;
    XsResultValue open(
        const XsPortInfo& portInfo,
        uint32_t readBufSize = XS_DEFAULT_READ_BUFFER_SIZE,
        uint32_t writeBufSize = XS_DEFAULT_WRITE_BUFFER_SIZE) override;
    XsResultValue setTimeout(uint32_t ms) override;
    XsResultValue waitForData(XsSize maxLength, XsByteArray& data) override;
};

#endif  // file guard