ser.h

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/* Copyright 2017 UFACTORY Inc. All Rights Reserved.
 *
 * Software License Agreement (BSD License)
 *
 * Author: Jimy Zhang <jimy92@163.com>
 ============================================================================*/
#ifndef CORE_PORT_SERIAL_H_
#define CORE_PORT_SERIAL_H_

#include <iostream>
#include <thread>

#include "serial/serial.h"
#include "xarm/core/common/data_type.h"
#include "xarm/core/common/queue_memcpy.h"

class SerialPort {
public:
        SerialPort(const char *port, int baud, int que_num, int que_maxlen);
        ~SerialPort(void);
        serial::Serial ser;
        int is_ok(void);
        void flush(void);
        void recv_proc(void);
        int write_frame(unsigned char *data, int len);
        int read_frame(unsigned char *data);
        void close_port(void);
        int que_maxlen_;
        int que_num_;

private:
        int fp_;
        int state_;
        std::thread thread_id_;

        QueueMemcpy *rx_que_;
        int init_serial(const char *port, int baud);
        int read_char(unsigned char *ch);
        int write_char(unsigned char ch);
        void parse_put(unsigned char *data, int len);

        typedef enum _UXBUS_RECV_STATE {
        UXBUS_START_FROMID = 0,
        UXBUS_START_TOOID = 1,
        UXBUS_STATE_LENGTH = 2,
        UXBUS_STATE_DATA = 3,
        UXBUS_STATE_CRC1 = 4,
        UXBUS_STATE_CRC2 = 5,
        } UXBUS_RECV_STATE;

        unsigned char UXBUS_PROT_FROMID_;
        unsigned char UXBUS_PROT_TOID_;

        int rx_data_idx_;
        int rx_state_;
        unsigned char rx_buf_[128];
        int rx_length_;
};

#endif