serialIO.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#ifndef SERIALIO_H
#define SERIALIO_H
 
// serial connection includes
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <time.h>
#include <sys/time.h>
 
#include <string>
 
#include <concurrentQueue.h>
#include <boost/thread.hpp>
 
typedef struct ioData{
        const char* buf;
        size_t len;
} ioData_t;
 
class SerialIO
{
public:
        // Constructor
        SerialIO();
        // Destructor
        ~SerialIO();
 
        // Open Serial Port
        int openPort(std::string devicestring, int baudrate);
 
        // Send Data to Serial Port
        int sendData(std::string value);
 
        // Send Data to Serial Port
        int sendData(const char* data, size_t len);
 
        // Read Data from Serial Port
        int readData(std::string &value, size_t nBytes);
 
        void enqueueData(std::vector<ioData_t> data);
 
        void enqueueData(const char* data, size_t len);
 
        // Check if Serial Port is opened
        bool isOpen();
 
        // Close Serial Port
        void closePort();
 
        bool recover();
 
        void start();
        void stop();
 
private:
        //ioQueue
        ConcurrentQueue<std::vector<struct ioData> > _oQueue;
 
        boost::shared_ptr<boost::thread> _thread;
        boost::mutex _mutex;
        boost::condition_variable _condition;
 
        // filedescriptor
        int _fd;
        // serial port settings
        struct termios port_settings;
        // device string
        std::string _device_string;
        // baudrate
        int _baudrate;
 
        // resolve int to baudrate
        speed_t getBaudFromInt(int baud);
 
        static const int maxUpdateRate = 50;
 
        void run();
};
 
#endif