Program Listing for File serial_port.h

↰ Return to documentation for file (/tmp/ws/src/marti_common/swri_serial_util/include/swri_serial_util/serial_port.h)

// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * 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.
//     * Neither the name of Southwest Research Institute® (SwRI®) nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// 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 <COPYRIGHT HOLDER> 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.
//
// *****************************************************************************

#ifndef SERIAL_UTIL_SERIAL_PORT_H_
#define SERIAL_UTIL_SERIAL_PORT_H_

#include <cstdint>

#include <string>
#include <vector>

namespace swri_serial_util
{
  struct SerialConfig
  {
    enum Parity
    {
      NO_PARITY,
      EVEN_PARITY,
      ODD_PARITY
    };

    SerialConfig();

    SerialConfig(
        int32_t baud,
        int32_t data_bits,
        int32_t stop_bits,
        Parity parity,
        bool flow_control,
        bool low_latency_mode,
        bool writable);

    int32_t baud;
    int32_t data_bits;
    int32_t stop_bits;
    Parity parity;
    bool flow_control;
    bool low_latency_mode;
    bool writable;
  };

  class SerialPort
  {
   public:

    enum Result
    {
      SUCCESS,
      TIMEOUT,
      INTERRUPTED,
      ERROR
    };

    int fd_;
    std::string error_msg_;

    SerialPort();

    ~SerialPort();

    virtual bool Open(const std::string &device, SerialConfig config = SerialConfig());

    virtual void Close();

    virtual Result ReadBytes(std::vector<uint8_t>& output, size_t max_bytes, int32_t timeout);

    virtual int32_t Write(const std::vector<uint8_t>& input);

    std::string ErrorMsg() const { return error_msg_; }

   private:
    bool SetLowLatencyMode();

    int32_t ParseBaudRate(int32_t baud);
  };
}

#endif  // SERIAL_UTIL_SERIAL_PORT_H_