serialcommunicator.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 SERIALCOMMUNICATOR_H
#define SERIALCOMMUNICATOR_H
 
#include "devicecommunicator.h"
#include <xstypes/xsportinfo.h>
#include <xstypes/xsbytearray.h>
#include <xstypes/xsversion.h>
#include "dataparser.h"
#include "mtthread.h"
 
class SerialCommunicator : public DeviceCommunicator, public DataParser
{
public:
        SerialCommunicator();
 
        XsResultValue gotoConfig(bool detectRs485 = false) override;
        XsResultValue gotoMeasurement() override;
 
        void handleMessage(const XsMessage& msg) override;
 
        void flushPort() override;
        void closePort() override;
        bool isPortOpen() const override;
        XsPortInfo portInfo() const override;
        bool openPort(const XsPortInfo& portInfo, OpenPortStage stage = OPS_Full, bool detectRs485 = false) override;
        bool reopenPort(OpenPortStage stage = OPS_Full, bool skipDeviceIdCheck = false) override;
        bool isDockedAt(Communicator* other) const override;
 
        XsResultValue writeRawData(const XsByteArray& data) override;
 
        XsVersion firmwareRevision();
        XsVersion hardwareRevision();
protected:
        virtual ~SerialCommunicator();
        virtual void prepareForDestruction() override;
 
        virtual std::shared_ptr<StreamInterface> createStreamInterface(const XsPortInfo& pi) = 0;
 
        XsResultValue readDataToBuffer(XsByteArray& raw) override;
        XsResultValue processBufferedData(const XsByteArray& rawIn, std::deque<XsMessage>& messages) override;
 
        bool isActive() const;
 
        void setDoGotoConfig(bool doit);
        void stopPollThread();  // made protected for TestCommunicator testing
        virtual XsResultValue getFirmwareRevision();
        virtual XsResultValue getHardwareRevision();
 
        virtual uint32_t defaultInterfaceTimeout() const
        {
                return 0;
        }
 
        XsPortInfo m_activePortInfo;    
 
private:
        MtThread m_thread;
        std::shared_ptr<StreamInterface> m_streamInterface;
        XsVersion m_firmwareRevision;
        XsVersion m_hardwareRevision;
 
        void startPollThread();
};
 
#endif