iointerface.h

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  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.
//  
//  3.  Neither the names of the copyright holders nor the names of their 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 IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
 
//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.  Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//  
//  2.  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.
//  
//  3.  Neither the names of the copyright holders nor the names of their 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 IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  
 
#ifndef IOINTERFACE_H
#define IOINTERFACE_H
 
#include "xscontrollerconfig.h"
#include <xstypes/xsplatform.h>
#include <xstypes/xsmessage.h>
#include <xstypes/xstime.h>
#include <xstypes/xsfilepos.h>
#include <xstypes/xsbytearray.h>
#include <xstypes/xsresultvalue.h>
#include <xstypes/xsfile.h>
 
#include <stdlib.h>
 
#define XS_DEFAULT_READ_BUFFER_SIZE             (XS_MAXMSGLEN*8)
#define XS_DEFAULT_WRITE_BUFFER_SIZE            XS_MAXMSGLEN
 
struct XsPortInfo;
 
struct IoInterface
{
public:
        virtual ~IoInterface() {}
 
        virtual XsResultValue close(void) = 0;
 
        virtual XsResultValue flushData(void) = 0;
 
        virtual bool isOpen(void) const = 0;
 
        virtual XsResultValue getLastResult(void) const = 0;
 
        virtual XsResultValue writeData(const XsByteArray& data, XsFilePos* written = nullptr) = 0;
 
        virtual XsResultValue readData(XsFilePos maxLength, XsByteArray& data) = 0;
 
        enum PortOptions
        {
                PO_NoFlowControl        = 0,
                PO_RtsCtsFlowControl    = (1 << 0),
                PO_DtrDsrFlowControl    = (1 << 1),
                PO_XonXoffFlowControl   = (1 << 2),
                PO_OneStopBit           = 0,
                PO_TwoStopBits          = (1 << 3),
                PO_XsensDefaults        = (PO_NoFlowControl | PO_TwoStopBits)
        };
        // SerialInterface overridable functions
        virtual XsResultValue open(const XsPortInfo& portInfo, XsFilePos readBufSize = XS_DEFAULT_READ_BUFFER_SIZE, XsFilePos writeBufSize = XS_DEFAULT_WRITE_BUFFER_SIZE, PortOptions options = PO_XsensDefaults);
        virtual XsResultValue setTimeout(uint32_t ms);
        virtual XsResultValue waitForData(XsFilePos maxLength, XsByteArray& data);
        virtual void cancelIo(void) const;
 
        // IOInterfaceFile overridable functions
        virtual XsResultValue appendData(const XsByteArray& bdata);
        virtual XsResultValue closeAndDelete(void);
        virtual XsResultValue create(const XsString& filename);
        virtual XsResultValue deleteData(XsFilePos start, XsFilePos length);
        virtual XsResultValue find(const XsByteArray& needleV, XsFilePos& pos);
        virtual XsFilePos getFileSize(void) const;
        virtual XsResultValue getName(XsString& filename) const;
        virtual XsFilePos getReadPosition(void) const;
        virtual XsFilePos getWritePosition(void) const;
        virtual XsResultValue insertData(XsFilePos start, const XsByteArray& data);
        virtual bool isReadOnly(void) const;
        virtual XsResultValue open(const XsString& filename, bool createNew, bool readOnly);
        virtual XsResultValue setReadPosition(XsFilePos pos);
        virtual XsResultValue setWritePosition(XsFilePos pos = -1);
 
protected:
        IoInterface()
        {}
 
        XSENS_DISABLE_COPY(IoInterface);
};
#endif