CerealPort.h

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, ISR University of Coimbra.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * 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.
*   * Neither the name of the ISR University of Coimbra nor the names of its
*     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 OWNER 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.
*
* Author: Gonçalo Cabrita on 01/10/2010
*********************************************************************/
#include <stdexcept>
#include <termios.h>
#include <string>
#include <vector>
#include <stdint.h>

#include <boost/function.hpp>
#include <boost/thread/thread.hpp>

#define MAX_LENGTH 128

namespace cereal
{
        #define DEF_EXCEPTION(name, parent) \
        class name : public parent { \
                public: \
        name(const char* msg) : parent(msg) {} \
        }
  
        DEF_EXCEPTION(Exception, std::runtime_error);

        DEF_EXCEPTION(TimeoutException, Exception);

        #undef DEF_EXCEPTION

        class CerealPort
        {
                public:
                CerealPort();
                ~CerealPort();


                void open(const char * port_name, int baud_rate = 115200);


                void close();

                bool portOpen() { return fd_ != -1; }

                int baudRate() { return baud_; }


                int write(const char * data, int length = -1);
                

            int read(char * data, int max_length, int timeout = -1);


            int readBytes(char * data, int length, int timeout = -1);


            int readLine(char * data, int length, int timeout = -1);
            

            bool readLine(std::string * data, int timeout = -1);
            

                //TODO: int readBetween(char * data, int length, char start, char end, int timeout = -1);
            bool readBetween(std::string * data, char start, char end, int timeout = -1);

            int flush();
            
            //*** Stream functions ***
            

            bool startReadStream(boost::function<void(char*, int)> f);
            

            bool startReadLineStream(boost::function<void(std::string*)> f);
            

            bool startReadBetweenStream(boost::function<void(std::string*)> f, char start, char end);
            
                void stopStream();
                void pauseStream();
                void resumeStream();
                
                private:
                int fd_;
                int baud_;
                
                //std::vector<char> leftovers;
                

                void readThread();
                

            void readLineThread();
            

            void readBetweenThread(char start, char end);
                
                boost::thread * stream_thread_;
                
                boost::function<void(char*, int)> readCallback;
                boost::function<void(std::string*)> readLineCallback;
                boost::function<void(std::string*)> readBetweenCallback;
                
                bool stream_paused_;
                bool stream_stopped_;
        };

}

// EOF