CSerialPort.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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/io/CStream.h>
#include <mrpt/system/CTicTac.h>
 
namespace mrpt
{
namespace comms
{
/** A communications serial port built as an implementation of a utils::CStream.
 * On communication errors (eg. the given port number does not exist,
 * timeouts,...), most of the methods will
 * raise an exception of the class `std::exception`
 *
 *  The serial port to open is passed in the constructor in the form of a string
 * description, which is platform dependent.
 *
 *  In Windows they are numbered "COM1"-"COM4" and "\\.\COMXXX" for numbers
 * above. It is recomended to always use the prefix "\\.\" despite the actual
 * port number.
 *
 *  In Linux the name must refer to the device, for example: "ttyUSB0","ttyS0".
 * If the name string does not start with "/" (an absolute path), the
 * constructor will assume the prefix "/dev/".
 *
 *  History:
 *    - 1/DEC/2005:  (JLBC) First version
 *    - 20/DEC/2006: (JLBC) Integration into the MRPT framework
 *    - 12/DEC/2007: (JLBC) Added support for Linux.
 *    - 22/AUG/2017: (JLBC) Moved to new module mrpt-comms
 *
 * \todo Add the internal buffer to the Windows implementation also
 * \ingroup mrpt_comms_grp
 */
class CSerialPort : public mrpt::io::CStream
{
        friend class PosixSignalDispatcherImpl;
 
   public:
        /** Constructor
         * \param portName The serial port to open. See comments at the begining of
         * this page.
         * \param openNow Whether to try to open the port now. If not selected, the
         * port should be open later with "open()".
         *
         */
        CSerialPort(const std::string& portName, bool openNow = true);
 
        /** Default constructor: it does not open any port - later you must call
         * "setSerialPortName" and then "open"
         */
        CSerialPort();
 
        /** Destructor
        */
        virtual ~CSerialPort();
 
        /** Sets the serial port to open (it is an error to try to change this while
         * open yet).
          * \sa open, close
          */
        void setSerialPortName(const std::string& COM_name);
 
        /** Open the port. If is already open results in no action.
        * \exception std::exception On communication errors
        */
        void open();
 
        /** Open the given serial port. If it is already open and the name does not
        * match, an exception is raised.
        * \exception std::exception On communication errors or a different serial
        * port already open.
        */
        void open(const std::string& COM_name);
 
        /** Close the port. If is already closed, results in no action.
        */
        void close();
 
        /** Returns if port has been correctly open.
        */
        bool isOpen() const;
 
        /** Purge tx and rx buffers.
           * \exception std::exception On communication errors
           */
        void purgeBuffers();
 
        /** Changes the configuration of the port.
        *  \param parity  0:No parity, 1:Odd, 2:Even (WINDOWS ONLY: 3:Mark, 4:Space)
        *  \param baudRate The desired baud rate Accepted values: 50 - 230400
        *  \param bits Bits per word (typ. 8) Accepted values: 5,6,7,8.
        *  \param nStopBits Stop bits (typ. 1) Accepted values: 1,2
        *  \param enableFlowControl Whether to enable the hardware flow control
        * (RTS/CTS) (default=no)
        * \exception std::exception On communication errors
        */
        void setConfig(
                int baudRate, int parity = 0, int bits = 8, int nStopBits = 1,
                bool enableFlowControl = false);
 
        /** Changes the timeouts of the port, in milliseconds.
        * \exception std::exception On communication errors
        */
        void setTimeouts(
                int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier,
                int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier,
                int WriteTotalTimeoutConstant);
 
        /** Implements the virtual method responsible for reading from the stream -
         * Unlike CStream::ReadBuffer, this method will not raise an exception on
         * zero bytes read, as long as there is not any fatal error in the
         * communications.
          * \exception std::exception On communication errors
         */
        size_t Read(void* Buffer, size_t Count);
 
        /** Reads one text line from the serial port in POSIX "canonical mode".
          *  This method reads from the serial port until one of the characters in
         * \a eol are found.
          * \param eol_chars A line reception is finished when one of these
         * characters is found. Default: LF (10), CR (13).
          * \param total_timeout_ms If >0, the maximum number of milliseconds to
         * wait.
          * \param out_timeout If provided, will hold true on return if a timeout
         * ocurred, false on a valid read.
          * \return The read string, without the final
          * \exception std::exception On communication errors
          */
        std::string ReadString(
                const int total_timeout_ms = -1, bool* out_timeout = nullptr,
                const char* eol_chars = "\r\n");
 
        // See base class docs
        size_t Write(const void* Buffer, size_t Count) override;
        /** not applicable in a serial port */
        uint64_t Seek(
                int64_t off, CStream::TSeekOrigin o = sFromBeginning) override;
        /** not applicable in a serial port */
        uint64_t getTotalBytesCount() const override;
        /** not applicable in a serial port */
        uint64_t getPosition() const override;
 
   protected:
        /** The complete name of the serial port device (i.e.
         * "\\.\COM10","/dev/ttyS2",...)
          */
        std::string m_serialName;
        int m_baudRate;
        int m_totalTimeout_ms, m_interBytesTimeout_ms;
        mrpt::system::CTicTac m_timer;
#ifdef _WIN32
        // WINDOWS
        void* hCOM;
#else
        // LINUX
        /** The file handle (-1: Not open)
          */
        int hCOM;
#endif
};  // end of class
}  // end of namespace
}  // end of namespace