serial.h

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#ifndef SERIAL_H_
#define SERIAL_H_

#include <stdint.h>
#include <stdio.h>

#include <stdio.h>   /* Standard input/output definitions */
#include <string.h>  /* String function definitions */
#include <unistd.h>  /* UNIX standard function definitions */
#include <fcntl.h>   /* File control definitions */
#include <errno.h>   /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <stdlib.h>  /* Malloc */
#include <assert.h>

namespace sawyer{
  class base_data{
  public:
    
    static const size_t MAX_MSG_LENGTH = 256;
     struct RawData{
      unsigned char data[MAX_MSG_LENGTH];
      int length;
      RawData():
      data(),length(0)
      { memset(data, 0xba, base_data::MAX_MSG_LENGTH);}
  }rawData;
  void clear(){memset(rawData.data, 0xba, MAX_MSG_LENGTH);rawData.length=0;}
  };
  class roch_driver: public base_data{
    
  public:
    
  roch_driver &instance()
  {
    static roch_driver instance;
    return instance;
  }
  int OpenSerial(void **handle, const char *port_name);

  int SetupSerial(void *handle);

  int WriteData(void *handle, const char *buffer, int length);

  int ReadData(void *handle, char *buffer, int length);

  int CloseSerial(void *handle);
  base_data::RawData getGpInputData() const { 
     return rawData_.rawData; }
  base_data rawData_;
  
  };
};
#endif /* SERIAL_H_ */