SerialIO.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_relayboard
 * Description: Class for communication with relayboard. The relayboard is mainly used for reading the Emergencystop and Laserscannerstop states.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Philipp Koehler
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: March 2010
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * 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 Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL 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 Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef _SerialIO_H
#define _SerialIO_H

#include <termios.h>
#include <unistd.h>
#include <sys/select.h>

#include <string>

class SerialIO  
{
public:
        // ---------------------- Constants
        enum HandshakeFlags
        {
                HS_NONE,
                HS_HARDWARE,
                HS_XONXOFF
        };

        enum ParityFlags 
        { 
                PA_NONE, 
                PA_EVEN,
                PA_ODD,
// UNIX serial drivers only support even, odd, and no parity bit generation.
                PA_MARK,
                PA_SPACE
        };

        enum StopBits
        { 
                SB_ONE, 
                SB_ONE_5, // ????? returns an error ?????
                SB_TWO 
        };

        SerialIO();

        virtual ~SerialIO();

        void setDeviceName(const char *Name) { m_DeviceName = Name; }

        void setBaudRate(int BaudRate) { m_BaudRate = BaudRate; }

        void changeBaudRate(int BaudRate);

        void setMultiplier(double Multiplier = 1) { m_Multiplier = Multiplier; };

        void SetFormat(int ByteSize, ParityFlags Parity, int StopBits)
                { m_ByteSize = ByteSize; m_Parity = Parity; m_StopBits = StopBits; }

        void setHandshake(HandshakeFlags Handshake) { m_Handshake = Handshake; }

        void setBufferSize(int ReadBufSize, int WriteBufSize)
                { m_ReadBufSize = ReadBufSize; m_WriteBufSize = WriteBufSize; }

        void setTimeout(double Timeout);

        void setBytePeriod(double Period);

        int openIO();

        void closeIO();

        int readBlocking(char *Buffer, int Length);


        int readNonBlocking(char *Buffer, int Length);

        int writeIO(const char *Buffer, int Length);

        int getSizeRXQueue();


        void purge()
        {
                ::tcflush(m_Device, TCIOFLUSH);
        }

        void purgeRx() {
                tcflush(m_Device, TCIFLUSH);
}

        void purgeTx() {
                tcflush(m_Device, TCOFLUSH);
        }

        void flushTx() {
                tcdrain(m_Device);
        }

protected:
        ::termios m_tio;
        std::string m_DeviceName;
        int m_Device;
        int m_BaudRate;
        double m_Multiplier;
        int m_ByteSize, m_StopBits;
        ParityFlags m_Parity;
        HandshakeFlags m_Handshake;
        int m_ReadBufSize, m_WriteBufSize;
        double m_Timeout;
        ::timeval m_BytePeriod;
        bool m_ShortBytePeriod;
};


#endif //