abs_rxtx.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#pragma once

#include "rptypes.h"

namespace rp
{
namespace hal
{
class serial_rxtx
{
   public:
        enum
        {
                ANS_OK = 0,
                ANS_TIMEOUT = -1,
                ANS_DEV_ERR = -2,
        };

        static serial_rxtx* CreateRxTx();
        static void ReleaseRxTx(serial_rxtx*);

        serial_rxtx() : _is_serial_opened(false) {}
        virtual ~serial_rxtx() {}
        virtual void flush(_u32 flags) = 0;

        virtual bool bind(const char* portname, _u32 baudrate, _u32 flags = 0) = 0;
        virtual bool open() = 0;
        virtual void close() = 0;

        virtual int waitfordata(
                size_t data_count, _u32 timeout = -1,
                size_t* returned_size = nullptr) = 0;

        virtual int senddata(const unsigned char* data, size_t size) = 0;
        virtual int recvdata(unsigned char* data, size_t size) = 0;

        virtual int waitforsent(
                _u32 timeout = -1, size_t* returned_size = nullptr) = 0;
        virtual int waitforrecv(
                _u32 timeout = -1, size_t* returned_size = nullptr) = 0;

        virtual size_t rxqueue_count() = 0;

        virtual void setDTR() = 0;
        virtual void clearDTR() = 0;

        virtual bool isOpened() { return _is_serial_opened; }
   protected:
        volatile bool _is_serial_opened;
};
}
}