ServerSerial.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006 Alexandre Bernardino
 * Copyright (C) 2006 Carlos Beltran-Gonzalez
 * 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 YARP_DEV_SERVERSERIAL_H
#define YARP_DEV_SERVERSERIAL_H
 
#include <cstdio>
#include <cstdlib>
 
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/Thread.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Bottle.h>
 
 
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::dev;
 
 
class ServerSerial;
 
class ImplementCallbackHelper2 :
        public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
protected:
    yarp::dev::ISerialDevice* ser{nullptr};
 
public:
    ImplementCallbackHelper2();
    ImplementCallbackHelper2(ServerSerial *x);
 
    using yarp::os::TypedReaderCallback<Bottle>::onRead;
    void onRead(Bottle& b) override;
};
 
 
class ServerSerial :
        public yarp::dev::DeviceDriver,
        public yarp::dev::ISerialDevice,
        private yarp::os::Thread
{
private:
    bool verb{false};
    yarp::dev::PolyDriver poly;
    yarp::os::Port toDevice;
    yarp::os::Port fromDevice;
 
    yarp::os::PortWriterBuffer <yarp::os::Bottle> reply_buffer;
    yarp::os::PortReaderBuffer <yarp::os::Bottle> command_buffer;
 
    yarp::dev::ISerialDevice *serial{nullptr};
    ImplementCallbackHelper2 callback_impl{this};
 
 
    bool closeMain()
    {
        if (Thread::isRunning()) {
            Thread::stop();
        }
        //close the port connection here
        toDevice.close();
        fromDevice.close();
        poly.close();
        return true;
    }
 
public:
    ServerSerial() = default;
    ServerSerial(const ServerSerial&) = delete;
    ServerSerial(ServerSerial&&) = delete;
    ServerSerial& operator=(const ServerSerial&) = delete;
    ServerSerial& operator=(ServerSerial&&) = delete;
    ~ServerSerial() override;
 
    bool send(const Bottle& msg) override;
    bool send(char *msg, size_t size) override;
    bool receive(Bottle& msg) override;
    int receiveChar(char& c) override;
    int flush () override;
    int receiveLine(char* line, const int MaxLineLength) override;
    int receiveBytes(unsigned char* bytes, const int size) override;
    bool setDTR(bool enable) override;
 
    virtual bool open();
 
    bool close() override;
 
    bool open(Searchable& prop) override;
 
    void run() override;
};
 
#endif // YARP_DEV_SERVERSERIAL_H