md49_serialport.h

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#include <stdexcept>
#include <termios.h>
#include <string>
#include <vector>
#include <stdint.h>

#include <boost/function.hpp>
#include <boost/thread/thread.hpp>

#define MAX_LENGTH 128

namespace cereal
{
        #define DEF_EXCEPTION(name, parent) \
        class name : public parent { \
                public: \
        name(const char* msg) : parent(msg) {} \
        }
  
        DEF_EXCEPTION(Exception, std::runtime_error);

        DEF_EXCEPTION(TimeoutException, Exception);

        #undef DEF_EXCEPTION

        class CerealPort
        {
                public:
                CerealPort();
                ~CerealPort();


                void open(const char * port_name, int baud_rate = 115200);


                void close();

                bool portOpen() { return fd_ != -1; }

                int baudRate() { return baud_; }


                int write(const char * data, int length = -1);
                //int write(unsigned char data, int length = -1);
                

            int read(char * data, int max_length, int timeout = -1);


            int readBytes(char * data, int length, int timeout = -1);


            int readLine(char * data, int length, int timeout = -1);
            

            bool readLine(std::string * data, int timeout = -1);
            

                //TODO: int readBetween(char * data, int length, char start, char end, int timeout = -1);
            bool readBetween(std::string * data, char start, char end, int timeout = -1);

            int flush();
            
            //*** Stream functions ***
            

            bool startReadStream(boost::function<void(char*, int)> f);
            

            bool startReadLineStream(boost::function<void(std::string*)> f);
            

            bool startReadBetweenStream(boost::function<void(std::string*)> f, char start, char end);
            
                void stopStream();
                void pauseStream();
                void resumeStream();
                
                private:
                int fd_;
                int baud_;
                
                //std::vector<char> leftovers;
                

                void readThread();
                

            void readLineThread();
            

            void readBetweenThread(char start, char end);
                
                boost::thread * stream_thread_;
                
                boost::function<void(char*, int)> readCallback;
                boost::function<void(std::string*)> readLineCallback;
                boost::function<void(std::string*)> readBetweenCallback;
                
                bool stream_paused_;
                bool stream_stopped_;
        };

}