SerialDevice.h

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/*
*  Copyright (c) 2012, Robotnik Automation, SLL
* 
*   This file is part of sick-s3000-ros-pkg.
*
*   sick-s3000-ros-pkg is free software: you can redistribute it and/or modify
*   it under the terms of the GNU General Public License as published by
*   the Free Software Foundation, either version 3 of the License, or
*   (at your option) any later version.
*
*   This program is distributed in the hope that it will be useful,
*   but WITHOUT ANY WARRANTY; without even the implied warranty of
*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*   GNU General Public License for more details.
*
*   You should have received a copy of the GNU General Public License
*   along with this program.  If not, see <http://www.gnu.org/licenses/>.
*
*/

#ifndef __SERIALDEV_H
#define __SERIALDEV_H
        
#include <stdio.h>

#define SERIAL_OK                               0
#define SERIAL_ERROR                            -2

#define BUFFER                                  254
#define DEFAULT_PORT                            "/dev/ttyS1"
#define DEFAULT_TRANSFERRATE                    19200
#define DEFAULT_PARITY                          "odd" //"even" "odd" "none"
#define DEFAULT_SIZE_ARRAY                      128
#define DEFAULT_DATA_SIZE                       7

class SerialDevice{

private:        
        int fd;
        //
        bool bReady;    
        //
        unsigned char SendBuf[BUFFER];          
        //
        unsigned char RecBuf[BUFFER];
        //Device's name
        char cDevice[DEFAULT_SIZE_ARRAY];       
        //Parity for input and output: EVEN, ODD, NONE
        char cParity[DEFAULT_SIZE_ARRAY];       
        //BaudRate: 9600, 19200, 38400, 115200
        int iBaudRate;
        //Character size mask. Values are CS5, CS6, CS7, or CS8.
        int iBitDataSize;
        //Entrada canónica-> La entrada canónica es orientada a línea. Los caracteres se meten en un buffer hasta recibir un CR o LF.
        bool bCanon;
        
public:
        // Public Constructor
        SerialDevice(void);
        // Public Constructor
        SerialDevice(const char *device, int baudrate,const char *parity, int datasize);        
        // Public Destructor
        ~SerialDevice(void);    
        int OpenPort1(void);
        int OpenPort2(void);
        // Closes serial port
        int ClosePort();
        // Receive commands from SerialDevice
        // @return number of read bytes
        int ReceiveMessage(char *msg);
        // Send commands to the SerialDevice
        // @return number of sent bytes 
        int SendMessage(char *msg, int length);
        //int SendMessage(char *msg);   
        int WritePort(char *chars, int length);
        int WritePort(char *chars, int *written_bytes, int length);     // Importat del SerialDevice amb Component      
        int ReadPort(char *result);     
        int ReadPort(char *result, int num_bytes);
        int ReadPort(char *result, int *read_bytes, int num_bytes);     // Importat del SerialDevice amb Component
        int Flush();    
        char *GetDevice();
        void SetCanonicalInput(bool value);
        
private:
        
        int InitPort(void);
        int GetBaud(void);
        int SetTermSpeed(int speed);

};

#endif