serial_port.h

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#ifndef SERIAL_UTIL_SERIAL_PORT_H_
#define SERIAL_UTIL_SERIAL_PORT_H_

#include <stdint.h>

#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();

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

    void Close();

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

    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_