vpSerial.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Serial communication.
 */
 
#ifndef VP_SERIAL_H
#define VP_SERIAL_H
 
#if !defined(_WIN32)
 
#include <stdint.h>
#include <string>
 
#include <visp3/core/vpConfig.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpSerial
{
public:
  typedef enum
  {
    fivebits = 5,  
    sixbits = 6,   
    sevenbits = 7, 
    eightbits = 8  
  } bytesize_t;

  typedef enum
  {
    parity_none = 0, 
    parity_odd = 1,  
    parity_even = 2  
  } parity_t;

  typedef enum
  {
    stopbits_one = 1, 
    stopbits_two = 2, 
  } stopbits_t;

  typedef enum
  {
    flowcontrol_none = 0, 
    flowcontrol_software, 
    flowcontrol_hardware  
  } flowcontrol_t;
 
  vpSerial(const std::string &port = "", unsigned long baudrate = 9600, bytesize_t bytesize = eightbits,
           parity_t parity = parity_none, stopbits_t stopbits = stopbits_one,
           flowcontrol_t flowcontrol = flowcontrol_none);
  virtual ~vpSerial();
 
  int available();
  void close();

  unsigned long getBaudrate() { return m_baudrate; }

  bytesize_t getBytesize() { return m_bytesize; }

  flowcontrol_t getFlowcontrol() { return m_flowcontrol; }

  parity_t getParity() { return m_parity; }

  std::string getPort() { return m_port; }

  stopbits_t getStopbits() { return m_stopbits; }
 
  void open();
  bool read(char *c, long timeout_s);
  std::string readline(const std::string &eol);
  void setBaudrate(const unsigned long baudrate);
  void setBytesize(const bytesize_t &bytesize);
  void setFlowcontrol(const flowcontrol_t &flowcontrol);
  void setParity(const parity_t &parity);
  void setPort(const std::string &port);
  void setStopbits(const stopbits_t &stopbits);
  void write(const std::string &s);
 
private:
  void configure();
 
  std::string m_port;
  int m_fd;
 
  bool m_is_open;
  bool m_xonxoff;
  bool m_rtscts;
 
  unsigned long m_baudrate;
 
  parity_t m_parity;
  bytesize_t m_bytesize;
  stopbits_t m_stopbits;
  flowcontrol_t m_flowcontrol;
};
END_VISP_NAMESPACE
#endif
#endif