serialinterface.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 SERIALINTERFACE_H
#define SERIALINTERFACE_H
 
#include "streaminterface.h"
#include <xstypes/xsplatform.h>
#include <xstypes/xsmessage.h>
#include <xstypes/xsbaud.h>
#include <xstypes/xscontrolline.h>
 
struct XsPortInfo;
 
 
class SerialInterface : public StreamInterface
{
private:
        void applyHwControlLinesOptions(PortOptions options, int portLinesOptions, int& p);
 
        // these are only used when LOG_RX_TX is defined in rx_tx_log.h
        XsFile rx_log;
        XsFile tx_log;
protected:
        XsBaudRate m_baudrate;
        uint32_t m_endTime;
        mutable XsResultValue m_lastResult;
        uint16_t m_port;
        char m_portname[32];
        uint32_t m_timeout;
 
#ifdef _WIN32
        XsIoHandle      m_handle;                       
#else
        termios m_commState;            
        int32_t m_handle;                       
#endif
public:
        SerialInterface();
        virtual ~SerialInterface();
 
        // Function overrides
        XsResultValue close(void) override;
        XsResultValue closeLive(void);
        XsResultValue flushData(void) override;
        bool isOpen(void) const;
        XsResultValue getLastResult(void) const;
        XsResultValue writeData(const XsByteArray& data, XsFilePos* written = 0) override;
        XsResultValue readData(XsFilePos maxLength, XsByteArray& data) override;
 
        void cancelIo(void) const;
 
        // Other functions
        XsResultValue escape(XsControlLine mask, XsControlLine state);
        XsBaudRate getBaudrate(void) const;
        XsIoHandle getHandle(void) const;
        uint16_t getPortNumber(void) const;
        void getPortName(XsString& portname) const;
        uint32_t getTimeout(void) const;
 
        XsResultValue open(const XsPortInfo& portInfo, XsFilePos readBufSize = XS_DEFAULT_READ_BUFFER_SIZE, XsFilePos writeBufSize = XS_DEFAULT_WRITE_BUFFER_SIZE, PortOptions options = PO_XsensDefaults) override;
        XsResultValue setTimeout(uint32_t ms);
        XsResultValue waitForData(XsFilePos maxLength, XsByteArray& data) override;
 
        XSENS_DISABLE_COPY(SerialInterface);
};
 
SerialInterface::PortOptions operator|(SerialInterface::PortOptions lhs, SerialInterface::PortOptions rhs);
SerialInterface::PortOptions operator&(SerialInterface::PortOptions lhs, SerialInterface::PortOptions rhs);
SerialInterface::PortOptions operator~(SerialInterface::PortOptions lhs);
 
#endif