usbinterface.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#ifndef USBINTERFACE_H
#define USBINTERFACE_H

#include <xsens/xstime.h>

#include <stdlib.h>
#include <stdio.h>
#ifdef _WIN32
#include <windows.h>
//# include <sys/types.h>
#else
#include <termios.h>
// these are not required by level 1, but to keep the higher levels
// platform-independent they are put here
#include <string.h>
#include <stddef.h>
#define _strnicmp strncasecmp
#endif

#include "streaminterface.h"
#include <stdio.h>

struct XsPortInfo;

class UsbInterfacePrivate;

class UsbInterface : public StreamInterface
{
   public:
    UsbInterface();
    ~UsbInterface();

    XsResultValue open(
        const XsPortInfo& portInfo, uint32_t readBufSize = 0,
        uint32_t writeBufSize = 0);
    XsResultValue close(void);
    XsResultValue closeUsb(void);
    XsResultValue flushData(void);

    bool isOpen(void) const;
    uint8_t usbBus() const;
    uint8_t usbAddress() const;

    XsResultValue getLastResult(void) const;

    XsResultValue setTimeout(uint32_t ms);
    uint32_t getTimeout(void) const;

    void setRawIo(bool enable);
    bool getRawIo(void);

    virtual XsResultValue writeData(
        const XsByteArray& data, XsSize* written = nullptr);
    virtual XsResultValue readData(XsSize maxLength, XsByteArray& data);
    using IoInterface::waitForData;

    // lint -e1411 inherited definitions are also available (see above)
    XsResultValue writeData(
        XsSize length, const void* data, XsSize* written = nullptr);
    XsResultValue readData(
        XsSize maxLength, void* data, XsSize* length = nullptr);
    XsResultValue waitForData(
        XsSize maxLength, void* data, XsSize* length = nullptr);
    // lint +e1411

    void getPortName(XsString& portname) const;

   private:
    XSENS_DISABLE_COPY(UsbInterface)
    UsbInterfacePrivate* d;
};

#endif  // file guard