serialinterface.h

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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    |
   +---------------------------------------------------------------------------+ */
#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
                XsIoHandle      m_handle;                       //!< The serial port handle, also indicates if the port is open or not.
        #else
                termios m_commState;            //!< Stored settings about the serial port
                int32_t m_handle;                       //!< The serial port handle, also indicates if the port is open or not.
        #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