CInterfaceFTDI_common.cpp

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/* +---------------------------------------------------------------------------+
   |                     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    |
   +---------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"   // Precompiled headers

#include <mrpt/hwdrivers/CInterfaceFTDI.h>

using namespace mrpt;
using namespace mrpt::hwdrivers;

/*-------------------------------------------------------------
                                        Read
-------------------------------------------------------------*/
size_t  CInterfaceFTDI::Read(void *Buffer, size_t Count)
{
        if (!Count) return 0;

        // Employ a circular_buffer to speed-up lots of small readings:
        if (m_readBuffer.size()>=Count)
        {
                // It's enough with the data in the buffer:
                m_readBuffer.pop_many(reinterpret_cast<uint8_t*>(Buffer),Count);
                return Count;
        }
        else
        {
                // More data must be read:
                uint8_t   buf[4000];

                unsigned long nActualRead=0;
                unsigned long to_read=std::min(m_readBuffer.available(),sizeof(buf));

                ftdi_read(buf,to_read,&nActualRead);            //ftdi_read(Buffer,(unsigned long)Count, &ret );

                // Save data into the circular buffer:
                m_readBuffer.push_many(buf,nActualRead);

                // Read the required amount of bytes:
                size_t nActualReturn = std::min( m_readBuffer.size(), Count );

                m_readBuffer.pop_many(reinterpret_cast<uint8_t*>(Buffer),nActualReturn);

                return nActualReturn;
        }
}

/*-------------------------------------------------------------
                                        Write
-------------------------------------------------------------*/
size_t  CInterfaceFTDI::Write(const void *Buffer, size_t Count)
{
        unsigned long   ret=0;
        ftdi_write(Buffer,(unsigned long)Count, &ret );
        return (size_t)ret;
}

/*-------------------------------------------------------------
                                        Seek
-------------------------------------------------------------*/
uint64_t CInterfaceFTDI::Seek(int64_t Offset, CStream::TSeekOrigin Origin)
{
        MRPT_UNUSED_PARAM(Offset);
        MRPT_UNUSED_PARAM(Origin);
        return 0;
}

/*-------------------------------------------------------------
                                        getTotalBytesCount
-------------------------------------------------------------*/
uint64_t CInterfaceFTDI::getTotalBytesCount()
{
        return 0;
}

/*-------------------------------------------------------------
                                        getPosition
-------------------------------------------------------------*/
uint64_t CInterfaceFTDI::getPosition()
{
        return 0;
}

/*-------------------------------------------------------------
                                        ReadBufferImmediate
-------------------------------------------------------------*/
size_t CInterfaceFTDI::ReadBufferImmediate(void *Buffer, size_t Count)
{
        unsigned long nRead;
        ftdi_read(Buffer, Count, &nRead);
        return nRead;
}