urg_connection.c

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#include "urg_c/urg_connection.h"


int connection_open(urg_connection_t *connection,
                    urg_connection_type_t connection_type,
                    const char *device, long baudrate_or_port)
{
    connection->type = connection_type;

    switch (connection_type) {
    case URG_SERIAL:
        return serial_open(&connection->serial, device, baudrate_or_port);
        break;

    case URG_ETHERNET:
        return tcpclient_open(&connection->tcpclient,
                              device, baudrate_or_port);
        break;
    }
    return -1;
}


void connection_close(urg_connection_t *connection)
{
    switch (connection->type) {
    case URG_SERIAL:
        serial_close(&connection->serial);
        break;

    case URG_ETHERNET:
        tcpclient_close(&connection->tcpclient);
        break;
    }
}


int connection_set_baudrate(urg_connection_t *connection, long baudrate)
{
    int ret = -1;

    switch (connection->type) {
    case URG_SERIAL:
        ret = serial_set_baudrate(&connection->serial, baudrate);
        break;

    case URG_ETHERNET:
        ret = 0;
        break;
    }

    return ret;
}


int connection_write(urg_connection_t *connection,
                     const char *data, int size)
{
    switch (connection->type) {
    case URG_SERIAL:
        return serial_write(&connection->serial, data, size);
        break;
    case URG_ETHERNET:
        return tcpclient_write(&connection->tcpclient, data, size);
        break;
    }
    return -1;
}


int connection_read(urg_connection_t *connection,
                    char *data, int max_size, int timeout)
{
    switch (connection->type) {
    case URG_SERIAL:
        return serial_read(&connection->serial, data, max_size, timeout);
        break;
    case URG_ETHERNET:
        return tcpclient_read(&connection->tcpclient, data, max_size, timeout);
        break;
    }
    return -1;
}


int connection_readline(urg_connection_t *connection,
                        char *data, int max_size, int timeout)
{
    switch (connection->type) {
    case URG_SERIAL:
        return serial_readline(&connection->serial, data, max_size, timeout);
        break;
    case URG_ETHERNET:
        return tcpclient_readline(&connection->tcpclient,
                                  data, max_size, timeout);
        break;
    }
    return -1;
}