serial_port.h

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* Author: Gonçalo Cabrita on 01/10/2010
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#ifndef KVH_SERIAL_PORT_H
#define KVH_SERIAL_PORT_H

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

#include <functional>
#include <thread>  // NOLINT(build/c++11)

class SerialException : public std::runtime_error
{
public:
  explicit SerialException(const char* msg) : std::runtime_error(msg)
  {
  }
};

class SerialBufferFilledException : public SerialException
{
public:
    explicit SerialBufferFilledException(const char* msg) : SerialException(msg)
    {
    }
};

class SerialTimeoutException : public SerialException
{
public:
  explicit SerialTimeoutException(const char* msg) : SerialException(msg)
  {
  }
};

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


  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 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);


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

  int flush();

  //*** Stream functions ***


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


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


  bool startReadBetweenStream(std::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);

  std::thread* stream_thread_;

  std::function<void(char*, int)> readCallback;
  std::function<void(std::string*)> readLineCallback;
  std::function<void(std::string*)> readBetweenCallback;

  bool stream_paused_;
  bool stream_stopped_;
};

#endif  // KVH_SERIAL_PORT_H