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<h1>serial.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) 2004-2008 Alex Brooks, Mathew Ridley</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010 <span class="preprocessor">#ifndef GBXSERIALACFR_SERIAL_H</span>
<a name="l00011"></a>00011 <span class="preprocessor"></span><span class="preprocessor">#define GBXSERIALACFR_SERIAL_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span>
<a name="l00013"></a>00013 <span class="preprocessor">#include <string></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <gbxserialacfr/uncopyable.h></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <gbxserialacfr/lockfile/lockfile.h></span>
<a name="l00016"></a>00016
<a name="l00017"></a>00017 <span class="keyword">namespace </span>gbxserialacfr {
<a name="l00018"></a>00018
<a name="l00022"></a><a class="code" href="classgbxserialacfr_1_1SerialException.html">00022</a> <span class="keyword">class </span><a class="code" href="classgbxserialacfr_1_1SerialException.html" title="Exception thrown by Serial.">SerialException</a> : <span class="keyword">public</span> std::exception
<a name="l00023"></a>00023 {
<a name="l00024"></a>00024 std::string message_;
<a name="l00025"></a>00025 <span class="keyword">public</span>:
<a name="l00026"></a>00026 <a class="code" href="classgbxserialacfr_1_1SerialException.html" title="Exception thrown by Serial.">SerialException</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *message)
<a name="l00027"></a>00027 : message_(message) {}
<a name="l00028"></a>00028 <a class="code" href="classgbxserialacfr_1_1SerialException.html" title="Exception thrown by Serial.">SerialException</a>(<span class="keyword">const</span> std::string &message)
<a name="l00029"></a>00029 : message_(message) {}
<a name="l00030"></a>00030 ~<a class="code" href="classgbxserialacfr_1_1SerialException.html" title="Exception thrown by Serial.">SerialException</a>()<span class="keywordflow">throw</span>(){}
<a name="l00031"></a>00031 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>() { <span class="keywordflow">return</span> message_.c_str(); }
<a name="l00032"></a>00032 };
<a name="l00033"></a>00033
<a name="l00043"></a><a class="code" href="classgbxserialacfr_1_1Serial.html">00043</a> <span class="keyword">class </span><a class="code" href="classgbxserialacfr_1_1Serial.html" title="Encapsulates a serial port.">Serial</a> : <span class="keyword">public</span> Uncopyable
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">public</span>:
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">struct </span>Timeout {
<a name="l00048"></a>00048 Timeout( <span class="keywordtype">int</span> s, <span class="keywordtype">int</span> us )
<a name="l00049"></a>00049 : sec(s), usec(us)
<a name="l00050"></a>00050 {}
<a name="l00051"></a>00051 <span class="keywordtype">int</span> sec;
<a name="l00052"></a>00052 <span class="keywordtype">int</span> usec;
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054
<a name="l00061"></a>00061 <a class="code" href="classgbxserialacfr_1_1Serial.html#a768a31692dbbb411f6d67137228cf716">Serial</a>( <span class="keyword">const</span> std::string &dev,
<a name="l00062"></a>00062 <span class="keywordtype">int</span> baudRate,
<a name="l00063"></a>00063 <span class="keyword">const</span> Timeout &<a class="code" href="classgbxserialacfr_1_1Serial.html#a4fa15d028de9391c4b8d357864a8bbfb">timeout</a>,
<a name="l00064"></a>00064 <span class="keywordtype">int</span> debuglevel = 0,
<a name="l00065"></a>00065 <span class="keywordtype">bool</span> useLockFile = <span class="keyword">true</span> );
<a name="l00066"></a>00066
<a name="l00068"></a>00068 <a class="code" href="classgbxserialacfr_1_1Serial.html#aa046f044851699e2631fa5d8f9c24172" title="Destructor closes serial port.">~Serial</a>();
<a name="l00069"></a>00069
<a name="l00071"></a><a class="code" href="classgbxserialacfr_1_1Serial.html#ae89ed90ef411e36284f0d16a1fe7b21c">00071</a> <span class="keywordtype">void</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ae89ed90ef411e36284f0d16a1fe7b21c" title="Debug messages are printed to stdout. debugLevel should be in the range [0,3].">setDebugLevel</a>( <span class="keywordtype">int</span> debugLevel ) { debugLevel_ = debugLevel; }
<a name="l00072"></a>00072
<a name="l00074"></a>00074 <span class="keywordtype">void</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a77b91acc400428930e3622f96e59a55a" title="Sets the baud rate. Flushes any data.">setBaudRate</a>(<span class="keywordtype">int</span> baud);
<a name="l00075"></a>00075
<a name="l00078"></a>00078 <span class="keywordtype">void</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a72633b3f3bdc3eb14876ff6b93015c11">setTimeout</a>( <span class="keyword">const</span> Timeout &timeout );
<a name="l00079"></a>00079
<a name="l00082"></a><a class="code" href="classgbxserialacfr_1_1Serial.html#a4fa15d028de9391c4b8d357864a8bbfb">00082</a> <span class="keyword">const</span> Timeout &<a class="code" href="classgbxserialacfr_1_1Serial.html#a4fa15d028de9391c4b8d357864a8bbfb">timeout</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> timeout_; }
<a name="l00083"></a>00083
<a name="l00087"></a>00087 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a30696b67eb115a5ccd8dfe0c074fc97b">read</a>(<span class="keywordtype">void</span> *buf, <span class="keywordtype">int</span> count);
<a name="l00088"></a>00088
<a name="l00099"></a>00099 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a864cb0cac472618a92750acdefd1cee1">readFull</a>(<span class="keywordtype">void</span> *buf, <span class="keywordtype">int</span> count);
<a name="l00100"></a>00100
<a name="l00111"></a>00111 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a0a1b6049826fd09fe436229b12412f40">readStringUntil</a>( std::string &str, <span class="keywordtype">char</span> termchar );
<a name="l00112"></a>00112
<a name="l00115"></a><a class="code" href="classgbxserialacfr_1_1Serial.html#a49373840e91f22cc819f1a963fe02d82">00115</a> <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a49373840e91f22cc819f1a963fe02d82">readLine</a>( std::string &str )
<a name="l00116"></a>00116 { <span class="keywordflow">return</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a0a1b6049826fd09fe436229b12412f40">readStringUntil</a>(str,<span class="charliteral">'\n'</span>); }
<a name="l00117"></a>00117
<a name="l00119"></a>00119 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ad0bd7a37e819d726605f6280072d8862" title="Returns the number of bytes available for reading (non-blocking).">bytesAvailable</a>();
<a name="l00120"></a>00120
<a name="l00125"></a>00125 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ad537dad3a99fedd4259dc3fe2a3bf9f8">bytesAvailableWait</a>();
<a name="l00126"></a>00126
<a name="l00128"></a>00128 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a92f7f321e378d53bcb6ab8b51ea1f1f4" title="Writes some data. Returns the number of bytes written.">write</a>(<span class="keyword">const</span> <span class="keywordtype">void</span> *buf, <span class="keywordtype">int</span> count);
<a name="l00129"></a>00129
<a name="l00132"></a>00132 <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ab5f93b9d284bd1dabed1a0318d0b067f">writeString</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *buf);
<a name="l00133"></a>00133 <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ab5f93b9d284bd1dabed1a0318d0b067f">writeString</a>(<span class="keyword">const</span> std::string &s) {
<a name="l00134"></a>00134 <span class="keywordflow">return</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ab5f93b9d284bd1dabed1a0318d0b067f">writeString</a>(s.c_str());
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136
<a name="l00139"></a>00139 <span class="keywordtype">void</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a68ab2663cd9acadc6914944ffdf284a1">flush</a>();
<a name="l00140"></a>00140
<a name="l00142"></a>00142 <span class="keywordtype">void</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#ab1d9329423dd295de01696c12d86e8f4" title="Finishes transmission from output buffers and drains input buffers.">drain</a>();
<a name="l00143"></a>00143
<a name="l00145"></a><a class="code" href="classgbxserialacfr_1_1Serial.html#a1db4c0f21a7208fb882cfec9036cc699">00145</a> <span class="keywordtype">int</span> <a class="code" href="classgbxserialacfr_1_1Serial.html#a1db4c0f21a7208fb882cfec9036cc699" title="This gives direct access to the file descriptor: be careful with this...">fileDescriptor</a>() { <span class="keywordflow">return</span> portFd_; }
<a name="l00146"></a>00146
<a name="l00148"></a>00148 std::string <a class="code" href="classgbxserialacfr_1_1Serial.html#a5bfc3150bf900dcf8fe5b8e2272e7221" title="Print some diagnostic information about the current status of the port to cout.">getStatusString</a>();
<a name="l00149"></a>00149
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keyword">private</span>:
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="comment">// Utility function to wait up to the timeout for data to appear.</span>
<a name="l00154"></a>00154 <span class="comment">// Returns:</span>
<a name="l00155"></a>00155 <span class="keyword">enum</span> WaitStatus {
<a name="l00156"></a>00156 TIMED_OUT,
<a name="l00157"></a>00157 DATA_AVAILABLE,
<a name="l00158"></a>00158 };
<a name="l00159"></a>00159 WaitStatus waitForDataOrTimeout(<span class="keywordtype">void</span>);
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">// Opens a device @c dev.</span>
<a name="l00162"></a>00162 <span class="keywordtype">void</span> open(<span class="keywordtype">int</span> flags=0);
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment">// Won't throw exceptions.</span>
<a name="l00165"></a>00165 <span class="keywordtype">void</span> close() throw();
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="keywordtype">bool</span> timeoutsEnabled()<span class="keyword"> const</span>
<a name="l00168"></a>00168 <span class="keyword"> </span>{ <span class="keywordflow">return</span> !( timeout_.sec == 0 && timeout_.usec == 0 ); }
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="keyword">const</span> std::string dev_;
<a name="l00171"></a>00171 <span class="keywordtype">int</span> portFd_;
<a name="l00172"></a>00172
<a name="l00173"></a>00173 Timeout timeout_;
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="keywordtype">int</span> debugLevel_;
<a name="l00176"></a>00176
<a name="l00177"></a>00177 lockfile::LockFile *lockFile_;
<a name="l00178"></a>00178 };
<a name="l00179"></a>00179
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="preprocessor">#endif</span>
</pre></div></div>
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