.. _program_listing_file__tmp_ws_src_mavros_libmavconn_include_mavconn_serial.hpp:

Program Listing for File serial.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mavros_libmavconn_include_mavconn_serial.hpp>` (``/tmp/ws/src/mavros/libmavconn/include/mavconn/serial.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   //
   // libmavconn
   // Copyright 2013,2014,2015,2016,2021 Vladimir Ermakov, All rights reserved.
   //
   // This file is part of the mavros package and subject to the license terms
   // in the top-level LICENSE file of the mavros repository.
   // https://github.com/mavlink/mavros/tree/master/LICENSE.md
   //
   #pragma once
   #ifndef MAVCONN__SERIAL_HPP_
   #define MAVCONN__SERIAL_HPP_
   
   #include <atomic>
   #include <deque>
   #include <string>
   
   #include <asio.hpp>
   #include <mavconn/interface.hpp>
   #include <mavconn/msgbuffer.hpp>
   
   namespace mavconn
   {
   
   class MAVConnSerial : public MAVConnInterface,
     public std::enable_shared_from_this<MAVConnSerial>
   {
   public:
     static constexpr auto DEFAULT_DEVICE = "/dev/ttyACM0";
     static constexpr auto DEFAULT_BAUDRATE = 57600;
   
     MAVConnSerial(
       uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
       std::string device = DEFAULT_DEVICE, unsigned baudrate = DEFAULT_BAUDRATE, bool hwflow = false);
     virtual ~MAVConnSerial();
   
     void connect(
       const ReceivedCb & cb_handle_message,
       const ClosedCb & cb_handle_closed_port = ClosedCb()) override;
     void close() override;
   
     void send_message(const mavlink::mavlink_message_t * message) override;
     void send_message(const mavlink::Message & message, const uint8_t source_compid) override;
     void send_bytes(const uint8_t * bytes, size_t length) override;
   
     inline bool is_open() override
     {
       return serial_dev.is_open();
     }
   
   private:
     asio::io_service io_service;
     std::thread io_thread;
     asio::serial_port serial_dev;
   
     std::atomic<bool> tx_in_progress;
     std::deque<MsgBuffer> tx_q;
     std::array<uint8_t, MsgBuffer::MAX_SIZE> rx_buf;
     std::recursive_mutex mutex;
   
     void do_read();
     void do_write(bool check_tx_state);
   };
   
   }  // namespace mavconn
   
   #endif  // MAVCONN__SERIAL_HPP_