serialinterface.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 SERIALINTERFACE_H
#define SERIALINTERFACE_H
 
#include "streaminterface.h"
#include <xsens/xsplatform.h>
#include <xsens/xsmessage.h>
#include <xsens/xsbaud.h>
#include <xsens/xscontrolline.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();
        virtual ~SerialInterface();
 
        // Function overrides
        XsResultValue close(void);
        XsResultValue closeLive(void);
        XsResultValue flushData(void);
        bool isOpen(void) const;
        XsResultValue getLastResult(void) const;
        XsResultValue writeData(const XsByteArray& data, XsSize* written = 0);
        XsResultValue readData(XsSize maxLength, XsByteArray& data);
 
        void cancelIo(void) const;
 
        // 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;
        XsResultValue open(
                const XsPortInfo& portInfo,
                uint32_t readBufSize = XS_DEFAULT_READ_BUFFER_SIZE,
                uint32_t writeBufSize = XS_DEFAULT_WRITE_BUFFER_SIZE);
        XsResultValue setTimeout(uint32_t ms);
        XsResultValue waitForData(XsSize maxLength, XsByteArray& data);
};
 
#endif  // file guard