Program Listing for File default_serial.hpp
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// Copyright (c) 2023 PickNik, Inc.
//
// 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 the {copyright_holder} 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
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#pragma once
#include <serial/serial.h>
#include <memory>
#include <string>
#include <vector>
#include <robotiq_driver/serial.hpp>
namespace serial
{
class Serial;
}
namespace robotiq_driver
{
class DefaultSerial : public Serial
{
public:
DefaultSerial();
void open() override;
[[nodiscard]] bool is_open() const override;
void close() override;
[[nodiscard]] std::vector<uint8_t> read(size_t size = 1) override;
void write(const std::vector<uint8_t>& data) override;
void set_port(const std::string& port) override;
[[nodiscard]] std::string get_port() const override;
void set_timeout(std::chrono::milliseconds timeout_ms) override;
[[nodiscard]] std::chrono::milliseconds get_timeout() const override;
void set_baudrate(uint32_t baudrate) override;
[[nodiscard]] uint32_t get_baudrate() const override;
private:
std::unique_ptr<serial::Serial> serial_ = nullptr;
};
} // namespace robotiq_driver