macOS/net_serial.h
Go to the documentation of this file.
1 /*
2  * RPLIDAR SDK
3  *
4  * Copyright (c) 2009 - 2014 RoboPeak Team
5  * http://www.robopeak.com
6  * Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
7  * http://www.slamtec.com
8  *
9  */
10 /*
11  * Redistribution and use in source and binary forms, with or without
12  * modification, are permitted provided that the following conditions are met:
13  *
14  * 1. Redistributions of source code must retain the above copyright notice,
15  * this list of conditions and the following disclaimer.
16  *
17  * 2. Redistributions in binary form must reproduce the above copyright notice,
18  * this list of conditions and the following disclaimer in the documentation
19  * and/or other materials provided with the distribution.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
22  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
23  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
24  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
25  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
26  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
27  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
28  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
29  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
30  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
31  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
32  *
33  */
34 
35 #pragma once
36 
37 #include "hal/abs_rxtx.h"
38 
39 namespace rp{ namespace arch{ namespace net{
40 
41 class raw_serial : public rp::hal::serial_rxtx
42 {
43 public:
44  enum{
47  };
48 
49  raw_serial();
50  virtual ~raw_serial();
51  virtual bool bind(const char * portname, uint32_t baudrate, uint32_t flags = 0);
52  virtual bool open();
53  virtual void close();
54  virtual void flush( _u32 flags);
55 
56  virtual int waitfordata(_word_size_t data_count,_u32 timeout = -1, _word_size_t * returned_size = NULL);
57 
58  virtual int senddata(const unsigned char * data, _word_size_t size);
59  virtual int recvdata(unsigned char * data, _word_size_t size);
60 
61  virtual int waitforsent(_u32 timeout = -1, _word_size_t * returned_size = NULL);
62  virtual int waitforrecv(_u32 timeout = -1, _word_size_t * returned_size = NULL);
63 
64  virtual size_t rxqueue_count();
65 
66  virtual void setDTR();
67  virtual void clearDTR();
68 
70 protected:
71  bool open(const char * portname, uint32_t baudrate, uint32_t flags = 0);
72  void _init();
73 
74  char _portName[200];
75  uint32_t _baudrate;
76  uint32_t _flags;
77 
78  int serial_fd;
79 
80  size_t required_tx_cnt;
81  size_t required_rx_cnt;
82 };
83 
84 }}}
virtual void flush(_u32 flags)
virtual int waitfordata(size_t data_count, _u32 timeout=-1, size_t *returned_size=NULL)
virtual int waitforsent(_u32 timeout=-1, size_t *returned_size=NULL)
_u8 size
virtual bool bind(const char *portname, uint32_t baudrate, uint32_t flags=0)
virtual int senddata(const unsigned char *data, size_t size)
virtual int recvdata(unsigned char *data, size_t size)
typedef _word_size_t(THREAD_PROC *thread_proc_t)(void *)
uint32_t _u32
Definition: rptypes.h:69
virtual int waitforrecv(_u32 timeout=-1, size_t *returned_size=NULL)
_u8 data[0]


rplidar_ros
Author(s):
autogenerated on Wed Mar 20 2019 07:54:15