Serial.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of FZIs ic_workspace.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef ICL_COMM_SERIAL_SERIAL_H_INCLUDED
#define ICL_COMM_SERIAL_SERIAL_H_INCLUDED

#include <icl_core/BaseTypes.h>

#include "icl_comm_serial/ImportExport.h"
#include "icl_comm_serial/Logging.h"
#include "icl_comm_serial/SerialFlags.h"

#ifdef _SYSTEM_WIN32_
typedef unsigned int   speed_t;
typedef int ssize_t;
#endif

#ifdef _SYSTEM_POSIX_
# include <unistd.h>
# ifdef _SYSTEM_DARWIN_
#  include <termios.h>
# else
#  include <termio.h>
# endif
#endif

namespace icl_comm {
namespace serial {


class ICL_COMM_SERIAL_IMPORT_EXPORT Serial
{
public:
  Serial(const char* dev_name, const SerialFlags& flags);

  Serial(const char* dev_name, SerialFlags::BaudRate baud_rate, const SerialFlags& flags);

  ~Serial();
  int ChangeBaudrate(SerialFlags::BaudRate speed);

  int ClearReceiveBuffer();

  int ClearSendBuffer();

  bool Open(const SerialFlags& flags)
  {
    m_serial_flags=flags;
    return Open();
  }

  bool Open();

  bool IsOpen() const;

  void Close();


  ssize_t Write(const void *data, ssize_t size);
  ssize_t Read(void *data, ssize_t size, unsigned long time = 100, bool return_on_less_data = true);
  int Status() const
  {
    return m_status;
  }

  std::string StatusText() const;

  const char* DeviceName()const { return m_dev_name;}

  int FileDescriptor()
  {
#ifdef _SYSTEM_POSIX_
    return file_descr;
#else
    return 0;
#endif
  }

private:
  // Forbid copying.
  Serial(const Serial&);
  Serial& operator = (const Serial&);

  void DumpData(void *data, size_t length);

#ifdef _SYSTEM_WIN32_
  HANDLE m_com;
  unsigned char m_read_buffer[0x4000];
  ssize_t m_read_buffer_fill;
#endif

#ifdef _SYSTEM_POSIX_
  int file_descr;
  termios io_set_old;

  bool is_lxrt_serial;
# ifdef _SYSTEM_LXRT_
  bool IsLXRTDeviceName(const char* device_name);
  int tty;
# endif
#endif

  char *m_dev_name;
  SerialFlags m_serial_flags;
  int m_status;

};

}
}

#endif