rs232.h

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#ifndef __RS232_H__
#define __RS232_H__

#include <sys/ioctl.h>
#include <sys/time.h>
#include <ros/ros.h>
#ifdef APPLE
#include ETC_DIR "/drivers/termios/termios.h"
#else
#include <termios.h>
#endif

#include "../ipc/semaphores.h"
#include "../common_errors.h"

#define DEFAULT_BAUDRATE 19200

#define SP_READ_TIMEOUT 2000

#define SPLT_READ_TIMEOUT 10000

#define SP_MSG_SIZE 64

#define SP_MAX_FILENAME_SIZE 64

class Rs232 {
    public:
        int initCommunication(int baudrate, char *serialDevice, char *semFile);

        int endCommunication();

        /* Read and Write from/to the Serial Port functions */

        int writeToRS232(char *command, int commandSize);

        int readFromRS232(char * buff);

        int askToRS232(char *command, int commandsize, char *response);

        // Functions added by David García to use with protocol not ended with "CRLF"

        int readSerial(char *response, int responseSize);

        int askToSerial(char *command, int commandSize, char *response, int responseSize);

        long int timeDifferenceMsec(struct timeval *before, struct timeval *after);

    private:
        // RSd file descriptor of the serial port
        // semID semaphore identifier
        int _RSd, _semID;
};

#endif