abs_rxtx.h
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00001 /*
00002  *  RPLIDAR SDK
00003  *
00004  *  Copyright (c) 2009 - 2014 RoboPeak Team
00005  *  http://www.robopeak.com
00006  *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
00007  *  http://www.slamtec.com
00008  *
00009  */
00010 /*
00011  * Redistribution and use in source and binary forms, with or without 
00012  * modification, are permitted provided that the following conditions are met:
00013  *
00014  * 1. Redistributions of source code must retain the above copyright notice, 
00015  *    this list of conditions and the following disclaimer.
00016  *
00017  * 2. Redistributions in binary form must reproduce the above copyright notice, 
00018  *    this list of conditions and the following disclaimer in the documentation 
00019  *    and/or other materials provided with the distribution.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
00023  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
00024  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
00025  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00026  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
00027  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
00028  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
00029  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
00030  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
00031  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  */
00034 
00035 #pragma once 
00036 
00037 #include "rptypes.h"
00038 
00039 namespace rp{ namespace hal{
00040 
00041 class serial_rxtx
00042 {
00043 public:
00044     enum{
00045         ANS_OK      = 0,
00046         ANS_TIMEOUT = -1,
00047         ANS_DEV_ERR = -2,
00048     };
00049 
00050     static serial_rxtx * CreateRxTx();
00051     static void ReleaseRxTx( serial_rxtx * );
00052 
00053     serial_rxtx():_is_serial_opened(false){}
00054     virtual ~serial_rxtx(){}
00055 
00056     virtual void flush( _u32 flags) = 0;
00057 
00058     virtual bool bind(const char * portname, _u32 baudrate, _u32 flags = 0) = 0;
00059     virtual bool open() = 0;
00060     virtual void close()  = 0;
00061     
00062     virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) = 0;
00063 
00064     virtual int senddata(const unsigned char * data, size_t size) = 0;
00065     virtual int recvdata(unsigned char * data, size_t size) = 0;
00066 
00067     virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL) = 0;
00068     virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL) = 0;
00069 
00070     virtual size_t rxqueue_count() = 0;
00071 
00072     virtual void setDTR() = 0;
00073     virtual void clearDTR() = 0;
00074 
00075     virtual bool isOpened()
00076     {
00077         return _is_serial_opened;
00078     }
00079 
00080 protected:
00081     volatile bool   _is_serial_opened;
00082 };
00083 
00084 }}
00085 
00086 
00087 


rplidar_ros
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autogenerated on Fri Dec 16 2016 03:59:16