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<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_26b426ffd7c02d2636b681f5b9fd4318.html">flexiport</a>
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<h1>port.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 __PORT_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define __PORT_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <string></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <map></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor"> #if defined (FLEXIPORT_STATIC)</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor"> #define FLEXIPORT_EXPORT</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor"> #elif defined (FLEXIPORT_EXPORTS)</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor"> #define FLEXIPORT_EXPORT __declspec (dllexport)</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor"> #else</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor"> #define FLEXIPORT_EXPORT __declspec (dllimport)</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor"> #endif</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor"> #define FLEXIPORT_EXPORT</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00046"></a>00046 <span class="preprocessor">#include "flexiport_types.h"</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include "timeout.h"</span>
<a name="l00048"></a>00048
<a name="l00053"></a>00053 <span class="keyword">namespace </span>flexiport
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055
<a name="l00078"></a><a class="code" href="classflexiport_1_1Port.html">00078</a> <span class="keyword">class </span>FLEXIPORT_EXPORT <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a>
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <span class="keyword">public</span>:
<a name="l00081"></a>00081 <span class="keyword">virtual</span> ~<a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a> ();
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">// API common to all ports</span>
<a name="l00085"></a>00085 <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> Open () = 0;
<a name="l00086"></a>00086
<a name="l00088"></a>00088 <span class="keyword">virtual</span> <span class="keywordtype">void</span> Close () = 0;
<a name="l00089"></a>00089
<a name="l00100"></a>00100 <span class="keyword">virtual</span> ssize_t Read (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count) = 0;
<a name="l00101"></a>00101
<a name="l00112"></a>00112 <span class="keyword">virtual</span> ssize_t ReadFull (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count) = 0;
<a name="l00113"></a>00113
<a name="l00120"></a>00120 <span class="keyword">virtual</span> ssize_t ReadString (std::string &buffer);
<a name="l00121"></a>00121
<a name="l00137"></a>00137 <span class="keyword">virtual</span> ssize_t ReadUntil (<span class="keywordtype">void</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count, uint8_t terminator);
<a name="l00138"></a>00138
<a name="l00154"></a>00154 <span class="keyword">virtual</span> ssize_t ReadStringUntil (std::string &buffer, <span class="keywordtype">char</span> terminator);
<a name="l00155"></a>00155
<a name="l00178"></a>00178 <span class="keyword">virtual</span> ssize_t ReadLine (<span class="keywordtype">char</span> * <span class="keyword">const</span> buffer, <span class="keywordtype">size_t</span> count);
<a name="l00179"></a>00179
<a name="l00194"></a><a class="code" href="classflexiport_1_1Port.html#a36dedbec727a975c5828d5d4573d934d">00194</a> <span class="keyword">virtual</span> ssize_t <a class="code" href="classflexiport_1_1Port.html#a36dedbec727a975c5828d5d4573d934d" title="Read a new-line terminated string of data.">ReadLine</a> (std::string &buffer) { <span class="keywordflow">return</span> ReadStringUntil (buffer, <span class="charliteral">'\n'</span>); }
<a name="l00195"></a>00195
<a name="l00199"></a>00199 <span class="keyword">virtual</span> ssize_t Skip (<span class="keywordtype">size_t</span> count);
<a name="l00200"></a>00200
<a name="l00205"></a>00205 <span class="keyword">virtual</span> ssize_t SkipUntil (uint8_t terminator, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count);
<a name="l00206"></a>00206
<a name="l00210"></a>00210 <span class="keyword">virtual</span> ssize_t BytesAvailable () = 0;
<a name="l00211"></a>00211
<a name="l00218"></a>00218 <span class="keyword">virtual</span> ssize_t BytesAvailableWait () = 0;
<a name="l00219"></a>00219
<a name="l00229"></a>00229 <span class="keyword">virtual</span> 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) = 0;
<a name="l00230"></a>00230
<a name="l00237"></a>00237 <span class="keyword">virtual</span> ssize_t WriteFull (<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="l00238"></a>00238
<a name="l00248"></a>00248 <span class="keyword">virtual</span> ssize_t WriteString (<span class="keyword">const</span> <span class="keywordtype">char</span> * <span class="keyword">const</span> buffer);
<a name="l00249"></a>00249 <span class="keyword">virtual</span> ssize_t WriteString (<span class="keyword">const</span> std::string &buffer)
<a name="l00250"></a>00250 { <span class="keywordflow">return</span> WriteString (buffer.c_str ()); }
<a name="l00251"></a>00251
<a name="l00253"></a>00253 <span class="keyword">virtual</span> <span class="keywordtype">void</span> Flush () = 0;
<a name="l00254"></a>00254
<a name="l00258"></a>00258 <span class="keyword">virtual</span> <span class="keywordtype">void</span> Drain () = 0;
<a name="l00259"></a>00259
<a name="l00261"></a>00261 <span class="keyword">virtual</span> std::string GetStatus () <span class="keyword">const</span>;
<a name="l00262"></a>00262
<a name="l00263"></a>00263 <span class="comment">// Accessor methods.</span>
<a name="l00265"></a><a class="code" href="classflexiport_1_1Port.html#a10305d725ccd4f53e872ef3316eabbcb">00265</a> <span class="comment"></span> std::string <a class="code" href="classflexiport_1_1Port.html#a10305d725ccd4f53e872ef3316eabbcb" title="Get the port type.">GetPortType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _type; }
<a name="l00267"></a><a class="code" href="classflexiport_1_1Port.html#ad5d41a53a55a2d727237ad8d7e80cf1b">00267</a> <span class="keywordtype">void</span> <a class="code" href="classflexiport_1_1Port.html#ad5d41a53a55a2d727237ad8d7e80cf1b" title="Set the debug level.">SetDebug</a> (<span class="keywordtype">int</span> debug) { _debug = debug; }
<a name="l00269"></a><a class="code" href="classflexiport_1_1Port.html#aa258404292ed68d0aa75398539accecb">00269</a> <span class="keywordtype">int</span> <a class="code" href="classflexiport_1_1Port.html#aa258404292ed68d0aa75398539accecb" title="Get the debug level.">GetDebug</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _debug; }
<a name="l00276"></a>00276 <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetTimeout (<a class="code" href="classflexiport_1_1Timeout.html" title="An object used to represent timeouts.">Timeout</a> timeout) = 0;
<a name="l00278"></a><a class="code" href="classflexiport_1_1Port.html#a65d32c9aaebb37eaebf32c2a95f5ebeb">00278</a> <span class="keyword">virtual</span> <a class="code" href="classflexiport_1_1Timeout.html" title="An object used to represent timeouts.">Timeout</a> <a class="code" href="classflexiport_1_1Port.html#a65d32c9aaebb37eaebf32c2a95f5ebeb" title="Get the timeout.">GetTimeout</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _timeout; }
<a name="l00281"></a><a class="code" href="classflexiport_1_1Port.html#ab3371d50dde81994f079b6ed80f42922">00281</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classflexiport_1_1Port.html#ab3371d50dde81994f079b6ed80f42922" title="Get the blocking property of the port. If the timeout is non-zero, the port will...">IsBlocking</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (_timeout._sec != 0 ||
<a name="l00282"></a>00282 _timeout._usec != 0); }
<a name="l00284"></a>00284 <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetCanRead (<span class="keywordtype">bool</span> canRead) = 0;
<a name="l00286"></a><a class="code" href="classflexiport_1_1Port.html#a4789e79b0f0e5f393c0dd2a08a00ffc0">00286</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classflexiport_1_1Port.html#a4789e79b0f0e5f393c0dd2a08a00ffc0" title="Get the read permissions of the port.">CanRead</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _canRead; }
<a name="l00288"></a>00288 <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetCanWrite (<span class="keywordtype">bool</span> canWrite) = 0;
<a name="l00290"></a><a class="code" href="classflexiport_1_1Port.html#a0b97b8b3e58ad487dabb491c353faf0f">00290</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classflexiport_1_1Port.html#a0b97b8b3e58ad487dabb491c353faf0f" title="Get the write permissions of the port.">CanWrite</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _canWrite; }
<a name="l00292"></a>00292 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> IsOpen () <span class="keyword">const</span> = 0;
<a name="l00293"></a>00293
<a name="l00294"></a>00294 <span class="keyword">protected</span>:
<a name="l00295"></a>00295 std::string _type; <span class="comment">// Port type string (e.g. "tcp" or "serial" or "usb")</span>
<a name="l00296"></a>00296 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _debug;
<a name="l00297"></a>00297 <a class="code" href="classflexiport_1_1Timeout.html" title="An object used to represent timeouts.">Timeout</a> _timeout; <span class="comment">// Timeout in milliseconds. Set to zero for non-blocking operation.</span>
<a name="l00298"></a>00298 <span class="keywordtype">bool</span> _canRead; <span class="comment">// If true, this port can be read from.</span>
<a name="l00299"></a>00299 <span class="keywordtype">bool</span> _canWrite; <span class="comment">// If true, this port can be written to.</span>
<a name="l00300"></a>00300 <span class="keywordtype">bool</span> _alwaysOpen; <span class="comment">// If the port should be kept open for the life of the object (including</span>
<a name="l00301"></a>00301 <span class="comment">// reopening it if necessary).</span>
<a name="l00302"></a>00302
<a name="l00303"></a>00303 <span class="comment">// Protected constructor to prevent direct creation of this class.</span>
<a name="l00304"></a>00304 <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a> ();
<a name="l00305"></a>00305 <span class="comment">// Constructor for more-direct creation.</span>
<a name="l00306"></a>00306 <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> debug, <a class="code" href="classflexiport_1_1Timeout.html" title="An object used to represent timeouts.">Timeout</a> timeout, <span class="keywordtype">bool</span> canRead, <span class="keywordtype">bool</span> canWrite, <span class="keywordtype">bool</span> alwaysOpen);
<a name="l00307"></a>00307
<a name="l00308"></a>00308 <span class="keywordtype">void</span> ProcessOptions (<span class="keyword">const</span> std::map<std::string, std::string> &options);
<a name="l00309"></a>00309 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> ProcessOption (<span class="keyword">const</span> std::string &option, <span class="keyword">const</span> std::string &value);
<a name="l00310"></a>00310 <span class="keyword">virtual</span> <span class="keywordtype">void</span> CheckPort (<span class="keywordtype">bool</span> read) = 0;
<a name="l00311"></a>00311
<a name="l00312"></a>00312 <span class="keyword">private</span>:
<a name="l00313"></a>00313 <span class="comment">// Private copy constructor to prevent unintended copying.</span>
<a name="l00314"></a>00314 <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a> (<span class="keyword">const</span> <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a>&);
<a name="l00315"></a>00315 <span class="keywordtype">void</span> operator= (<span class="keyword">const</span> <a class="code" href="classflexiport_1_1Port.html" title="Base Port class.">Port</a>&);
<a name="l00316"></a>00316 };
<a name="l00317"></a>00317
<a name="l00318"></a>00318 } <span class="comment">// namespace flexiport</span>
<a name="l00319"></a>00319
<a name="l00322"></a>00322 <span class="preprocessor">#endif // __PORT_H</span>
</pre></div></div>
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