<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>GearBox Project</title> <link rel="icon" href="gbx_icon_cardbox_sky.png" type="image/png"> <link rel="shortcut icon" href="gbx_icon_cardbox_sky.png" type="image/png"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> <!-- Google Analytics --> <script type="text/javascript"> var gaJsHost = (("https:" == document.location.protocol) ? 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class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_26b426ffd7c02d2636b681f5b9fd4318.html">flexiport</a> </div> </div> <div class="contents"> <h1>serialport.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> <a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span> <a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span> <a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2008 Geoffrey Biggs</span> <a name="l00005"></a>00005 <span class="comment"> *</span> <a name="l00006"></a>00006 <span class="comment"> * flexiport flexible hardware data communications library.</span> <a name="l00007"></a>00007 <span class="comment"> *</span> <a name="l00008"></a>00008 <span class="comment"> * This distribution is licensed to you under the terms described in the LICENSE file included in</span> <a name="l00009"></a>00009 <span class="comment"> * this distribution.</span> <a name="l00010"></a>00010 <span class="comment"> *</span> <a name="l00011"></a>00011 <span class="comment"> * This work is a product of the National Institute of Advanced Industrial Science and Technology,</span> <a name="l00012"></a>00012 <span class="comment"> * Japan. Registration number: H20PRO-881</span> <a name="l00013"></a>00013 <span class="comment"> *</span> <a name="l00014"></a>00014 <span class="comment"> * This file is part of flexiport.</span> <a name="l00015"></a>00015 <span class="comment"> *</span> <a name="l00016"></a>00016 <span class="comment"> * flexiport is free software: you can redistribute it and/or modify it under the terms of the GNU</span> <a name="l00017"></a>00017 <span class="comment"> * Lesser General Public License as published by the Free Software Foundation, either version 3 of</span> <a name="l00018"></a>00018 <span class="comment"> * the License, or (at your option) any later version.</span> <a name="l00019"></a>00019 <span class="comment"> *</span> <a name="l00020"></a>00020 <span class="comment"> * flexiport is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without</span> <a name="l00021"></a>00021 <span class="comment"> * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span> <a name="l00022"></a>00022 <span class="comment"> * Lesser General Public License for more details.</span> <a name="l00023"></a>00023 <span class="comment"> *</span> <a name="l00024"></a>00024 <span class="comment"> * You should have received a copy of the GNU Lesser General Public License along with flexiport.</span> <a name="l00025"></a>00025 <span class="comment"> * If not, see <http://www.gnu.org/licenses/>.</span> <a name="l00026"></a>00026 <span class="comment"> */</span> <a name="l00027"></a>00027 <a name="l00028"></a>00028 <span class="preprocessor">#ifndef __SERIALPORT_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define __SERIALPORT_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span> <a name="l00031"></a>00031 <span class="preprocessor">#include "port.h"</span> <a name="l00032"></a>00032 <a name="l00033"></a>00033 <span class="preprocessor">#include <map></span> <a name="l00034"></a>00034 <span class="preprocessor">#include <string></span> <a name="l00035"></a>00035 <span class="preprocessor">#if defined (WIN32)</span> <a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor"> #include <Windows.h></span> <a name="l00037"></a>00037 <span class="preprocessor">#endif</span> <a name="l00038"></a>00038 <span class="preprocessor"></span> <a name="l00043"></a>00043 <span class="keyword">namespace </span>flexiport <a name="l00044"></a>00044 { <a name="l00045"></a>00045 <a name="l00072"></a><a class="code" href="classflexiport_1_1SerialPort.html">00072</a> <span class="keyword">class </span>FLEXIPORT_EXPORT <a class="code" href="classflexiport_1_1SerialPort.html" title="Serial implementation of the Port class.">SerialPort</a> : <span class="keyword">public</span> <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a> <a name="l00073"></a>00073 { <a name="l00074"></a>00074 <span class="keyword">public</span>: <a name="l00075"></a>00075 <a class="code" href="classflexiport_1_1SerialPort.html" title="Serial implementation of the Port class.">SerialPort</a> (std::map<std::string, std::string> options); <a name="l00076"></a>00076 ~<a class="code" href="classflexiport_1_1SerialPort.html" title="Serial implementation of the Port class.">SerialPort</a> (); <a name="l00077"></a>00077 <a name="l00079"></a>00079 <span class="keywordtype">void</span> Open (); <a name="l00081"></a>00081 <span class="keywordtype">void</span> Close (); <a name="l00083"></a>00083 ssize_t Read (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count); <a name="l00085"></a>00085 ssize_t ReadFull (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count); <a name="l00087"></a>00087 ssize_t BytesAvailable (); <a name="l00093"></a>00093 ssize_t BytesAvailableWait (); <a name="l00095"></a>00095 ssize_t Write (<span class="keyword">const</span> <span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count); <a name="l00097"></a>00097 <span class="keywordtype">void</span> Flush (); <a name="l00099"></a>00099 <span class="keywordtype">void</span> Drain (); <a name="l00101"></a>00101 std::string GetStatus () <span class="keyword">const</span>; <a name="l00103"></a>00103 <span class="keywordtype">void</span> SetTimeout (<a class="code" href="classflexiport_1_1Timeout.html" title="An object used to represent timeouts.">Timeout</a> timeout); <a name="l00105"></a>00105 <span class="keywordtype">void</span> SetCanRead (<span class="keywordtype">bool</span> canRead); <a name="l00107"></a>00107 <span class="keywordtype">void</span> SetCanWrite (<span class="keywordtype">bool</span> canWrite); <a name="l00109"></a><a class="code" href="classflexiport_1_1SerialPort.html#adb13327025bf85ac0a5e3f4a2fe2b1d6">00109</a> <span class="keywordtype">bool</span> <a class="code" href="classflexiport_1_1SerialPort.html#adb13327025bf85ac0a5e3f4a2fe2b1d6" title="Check if the port is open.">IsOpen</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _open; } <a name="l00110"></a>00110 <a name="l00112"></a>00112 <span class="keywordtype">void</span> SetBaudRate (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> baud); <a name="l00114"></a><a class="code" href="classflexiport_1_1SerialPort.html#a8ecc58360eee564e23ec279fdf006457">00114</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classflexiport_1_1SerialPort.html#a8ecc58360eee564e23ec279fdf006457" title="Get the current baud rate.">GetBaudRate</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _baud; } <a name="l00115"></a>00115 <a name="l00116"></a>00116 <span class="keyword">private</span>: <a name="l00117"></a>00117 <span class="preprocessor">#if defined (WIN32)</span> <a name="l00118"></a>00118 <span class="preprocessor"></span> HANDLE _fd; <span class="comment">// Serial device handle</span> <a name="l00119"></a>00119 <span class="preprocessor">#else</span> <a name="l00120"></a>00120 <span class="preprocessor"></span> <span class="keywordtype">int</span> _fd; <span class="comment">// Serial device file descriptor</span> <a name="l00121"></a>00121 <span class="preprocessor">#endif</span> <a name="l00122"></a>00122 <span class="preprocessor"></span> <a name="l00123"></a>00123 std::string _device; <a name="l00124"></a>00124 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _baud; <a name="l00125"></a>00125 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBits; <a name="l00126"></a>00126 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _stopBits; <a name="l00127"></a>00127 <span class="keyword">typedef</span> <span class="keyword">enum</span> {PAR_NONE, PAR_EVEN, PAR_ODD} Parity; <a name="l00128"></a>00128 Parity _parity; <a name="l00129"></a>00129 <span class="keywordtype">bool</span> _hwFlowCtrl; <a name="l00130"></a>00130 <span class="keywordtype">bool</span> _open; <a name="l00131"></a>00131 <a name="l00132"></a>00132 <span class="keywordtype">void</span> CheckPort (<span class="keywordtype">bool</span> read); <a name="l00133"></a>00133 <span class="keywordtype">bool</span> ProcessOption (<span class="keyword">const</span> std::string &option, <span class="keyword">const</span> std::string &value); <a name="l00134"></a>00134 <a name="l00135"></a>00135 <span class="keywordtype">bool</span> IsDataAvailable (); <a name="l00136"></a>00136 <span class="preprocessor">#if !defined (WIN32)</span> <a name="l00137"></a>00137 <span class="preprocessor"></span> <span class="keyword">typedef</span> <span class="keyword">enum</span> {TIMED_OUT, DATA_AVAILABLE, CAN_WRITE} WaitStatus; <a name="l00138"></a>00138 WaitStatus WaitForDataOrTimeout (); <a name="l00139"></a>00139 WaitStatus WaitForWritableOrTimeout (); <a name="l00140"></a>00140 <span class="preprocessor">#endif</span> <a name="l00141"></a>00141 <span class="preprocessor"></span> <span class="keywordtype">void</span> SetPortSettings (); <a name="l00142"></a>00142 <span class="keywordtype">void</span> SetPortTimeout (); <a name="l00143"></a>00143 }; <a name="l00144"></a>00144 <a name="l00145"></a>00145 } <span class="comment">// namespace flexiport</span> <a name="l00146"></a>00146 <a name="l00149"></a>00149 <span class="preprocessor">#endif // __SERIALPORT_H</span> </pre></div></div> </td> <td colspan="1"> </td> </tr> </table> <!-- end of table --> <hr size="1"><address style="align: right;"><small>Generated for GearBox by <a href="http://www.doxygen.org/index.html"> <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.5 </small></address> </body> </html>