usbinterface.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 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 = NULL);
        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 = NULL);
        XsResultValue readData(XsSize maxLength, void *data, XsSize* length = NULL);
        XsResultValue waitForData(XsSize maxLength, void *data, XsSize* length = NULL);
        //lint +e1411

        void getPortName(XsString& portname) const;

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

#endif  // file guard