rosaria/Legacy/Aria/include/ArSerialConnection.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program 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.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARSERIALCONNECTION_H
#define ARSERIALCONNECTION_H

#include <string>
#include "ariaTypedefs.h"
#include "ArDeviceConnection.h"

/// Utility for connecting to and communicating with devices through a serial port
/** @ingroup UtilityClasses
  @ingroup DeviceClasses
*/
class ArSerialConnection: public ArDeviceConnection
{
 public:
  /// Constructor
  AREXPORT ArSerialConnection(bool is422 = false);
  /// Destructor also closes the connection
  AREXPORT virtual ~ArSerialConnection();

  /** Opens the serial port
   *  @return 0 on success. Return one of the error codes in the 
   *          ArSerialConnection::Open enumeration on error.
   *  @sa ArUtil::COM1, ArUtil::COM2, ArUtil::COM3, ArUtil::COM4
   */
  AREXPORT int open(const char * port = NULL);

  /** Sets the port this connection will use
   *  @sa ArUtil::COM1, ArUtil::COM2, ArUtil::COM3, ArUtil::COM4
   */
  AREXPORT void setPort(const char *port = NULL);

  /** Gets the port this is using
   *  @sa ArUtil::COM1, ArUtil::COM2, ArUtil::COM3, ArUtil::COM4
   */
  AREXPORT const char * getPort(void);
  
  AREXPORT virtual bool openSimple(void);  
  AREXPORT virtual int getStatus(void);
  AREXPORT virtual bool close(void);
  AREXPORT virtual int read(const char *data, unsigned int size, 
			    unsigned int msWait = 0);
  AREXPORT virtual int write(const char *data, unsigned int size);
  AREXPORT virtual const char * getOpenMessage(int messageNumber);

   /**
      Sets the BAUD rate to use when connection is opened, or change the baud rate if already opened
      @param baud the baud rate to set the connection to
      @return true if rate was sucessfully set, false otherwise (unsupported rate, system error changing rate on port, etc.)
      @sa getBaud()
   */
  AREXPORT bool setBaud(int baud);
  /// Gets what the current baud rate is set to
  AREXPORT int getBaud(void);

  /// Sets whether to enable or disable the hardware control lines
  AREXPORT bool setHardwareControl(bool hardwareControl);
  /// Gets whether the hardware control lines are enabled or disabled
  AREXPORT bool getHardwareControl(void);

  /// Sees how the CTS line is set (true = high)
  AREXPORT bool getCTS(void);

  /// Sees how the DSR line is set (true = high)
  AREXPORT bool getDSR(void);

  /// Sees how the DCD line is set (true = high)
  AREXPORT bool getDCD(void);

  /// Sees how the Ring line is set (true = high)
  AREXPORT bool getRing(void);

  // Internal open, for use by open and openSimple
  AREXPORT int internalOpen(void);

  enum Open { 
      OPEN_COULD_NOT_OPEN_PORT = 1, ///< Could not open the port
      OPEN_COULD_NOT_SET_UP_PORT, ///< Could not set up the port
      OPEN_INVALID_BAUD_RATE, ///< Baud rate is not valid
      OPEN_COULD_NOT_SET_BAUD, ///< Baud rate valid, but could not set it
      OPEN_ALREADY_OPEN ///< Connection was already open
  };
  AREXPORT virtual ArTime getTimeRead(int index);
  AREXPORT virtual bool isTimeStamping(void);

 protected:
  void buildStrMap(void);

#ifndef WIN32
  // these both return -1 for errors
  int rateToBaud(int rate);
  int baudToRate(int baud);
  // this just tries
  void startTimeStamping(void);
  bool myTakingTimeStamps;
#endif
    
  ArStrMap myStrMap;
  std::string myPortName;
  int myBaudRate;
  int myStatus;
  bool myHardwareControl;

#ifndef WIN32
  int myPort;
#endif // ifdef linux

  bool myIs422;

#ifdef WIN32
  HANDLE myPort;
#endif // ifdef WIN32


};

#endif