macOS/net_serial.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 |
   +------------------------------------------------------------------------+ */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#pragma once

#include "hal/abs_rxtx.h"

namespace rp
{
namespace arch
{
namespace net
{
class raw_serial : public rp::hal::serial_rxtx
{
   public:
        enum
        {
                SERIAL_RX_BUFFER_SIZE = 512,
                SERIAL_TX_BUFFER_SIZE = 128,
        };

        raw_serial();
        virtual ~raw_serial();
        virtual bool bind(
                const char* portname, uint32_t baudrate, uint32_t flags = 0);
        virtual bool open();
        virtual void close();
        virtual void flush(_u32 flags);

        virtual int waitfordata(
                _word_size_t data_count, _u32 timeout = -1,
                _word_size_t* returned_size = nullptr);

        virtual int senddata(const unsigned char* data, _word_size_t size);
        virtual int recvdata(unsigned char* data, _word_size_t size);

        virtual int waitforsent(
                _u32 timeout = -1, _word_size_t* returned_size = nullptr);
        virtual int waitforrecv(
                _u32 timeout = -1, _word_size_t* returned_size = nullptr);

        virtual size_t rxqueue_count();

        virtual void setDTR();
        virtual void clearDTR();

        _u32 getTermBaudBitmap(_u32 baud);

   protected:
        bool open(const char* portname, uint32_t baudrate, uint32_t flags = 0);
        void _init();

        char _portName[200];
        uint32_t _baudrate;
        uint32_t _flags;

        int serial_fd;

        size_t required_tx_cnt;
        size_t required_rx_cnt;
};
}
}
}