SerialDeviceDriver.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2007 Alexandre Bernardino
 * Copyright (C) 2007 Carlos Beltran-Gonzalez
 * Copyright (C) 2007 Francesco Giovannini
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef SerialDeviceDriverh
#define SerialDeviceDriverh
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/os/Bottle.h>
 
#include <stdio.h>
 
#include <ace/DEV_Connector.h>
#include <ace/TTY_IO.h>
// In one the ACE headers there is a definition of "main" for WIN32
# ifdef main
#  undef main
# endif
 
 
using namespace yarp::os;
 
class SerialDeviceDriverSettings
{
public:
    char CommChannel[100]; // Contains the name of the com port "COM1", "COM2" (windows) or "/etc/stty0", "/dev/stty1" (linux), etc...
    ACE_TTY_IO::Serial_Params SerialParams;
};
 
class SerialDeviceDriver :
        public yarp::dev::DeviceDriver,
        public yarp::dev::ISerialDevice
{
private:
    SerialDeviceDriver(const SerialDeviceDriver&);
    void operator=(const SerialDeviceDriver&);
 
    ACE_TTY_IO _serial_dev;
    ACE_DEV_Connector _serialConnector;
    bool verbose;     // If enabled (1), the data sent/received by the serial device is print on screen
    char line_terminator_char1;
    char line_terminator_char2;
 
public:
    SerialDeviceDriver();
 
    virtual ~SerialDeviceDriver();
 
    bool open(yarp::os::Searchable& config) override;
 
    bool open(SerialDeviceDriverSettings& config);
 
    bool close() override;
 
    bool send(const Bottle& msg) override;
    bool send(char *msg, size_t size) override;
    //bool putMessage(Bottle& msg, bool waitreply, double replytimeout, Bottle& reply, char *replydelimiter, int replysize );
    bool receive(Bottle& msg) override;
    int  receiveChar(char& chr) override;
 
    int  receiveBytes(unsigned char* bytes, const int size) override;
 
    int  receiveLine(char* line, const int MaxLineLength) override;
 
    bool setDTR(bool value) override;
 
    int  flush() override;
};
 
#endif