91 lines
2.9 KiB
C
91 lines
2.9 KiB
C
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/*
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* RPLIDAR SDK
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*
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* Copyright (c) 2009 - 2014 RoboPeak Team
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* http://www.robopeak.com
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* Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include "hal/abs_rxtx.h"
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namespace rp{ namespace arch{ namespace net{
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class raw_serial : public rp::hal::serial_rxtx
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{
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public:
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enum{
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SERIAL_RX_BUFFER_SIZE = 512,
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SERIAL_TX_BUFFER_SIZE = 128,
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};
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raw_serial();
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virtual ~raw_serial();
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virtual bool bind(const char * portname, uint32_t baudrate, uint32_t flags = 0);
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virtual bool open();
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virtual void close();
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virtual void flush( _u32 flags);
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virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL);
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virtual int senddata(const unsigned char * data, size_t size);
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virtual int recvdata(unsigned char * data, size_t size);
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virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL);
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virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL);
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virtual size_t rxqueue_count();
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virtual void setDTR();
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virtual void clearDTR();
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_u32 getTermBaudBitmap(_u32 baud);
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virtual void cancelOperation();
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protected:
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bool open(const char * portname, uint32_t baudrate, uint32_t flags = 0);
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void _init();
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char _portName[200];
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uint32_t _baudrate;
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uint32_t _flags;
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int serial_fd;
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size_t required_tx_cnt;
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size_t required_rx_cnt;
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int _selfpipe[2];
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bool _operation_aborted;
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};
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}}}
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