SerialCom.h

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* Gonçalo Cabrita on 01/10/2010
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// for more information on valid defines and keywords have a look at:
//      usr/include/bits/termios.h
//      man termios
//      http://manpages.ubuntu.com/manpages/intrepid/man7/termios.h.7posix.html

#include <stdexcept>
#include <termios.h>
#include <string>
#include <vector>
#include <stdint.h>

#include <boost/function.hpp>
#include <boost/thread/thread.hpp>

#define MAX_LENGTH 128

namespace serialcom
{
        #define DEF_EXCEPTION(name, parent) \
        class name : public parent { \
                public: \
        name(const char* msg) : parent(msg) {} \
        }
  
        DEF_EXCEPTION(Exception, std::runtime_error);

        DEF_EXCEPTION(TimeoutException, Exception);

        #undef DEF_EXCEPTION

        class SerialCom
        {
                private:
                int fd_;
                int baud_;

                int  databits; // number of databits
                int  startbits; // number of startbits
                int  stopbits; //number of stopbits
                int  parity; // type of parity
                struct termios ComParams, newParams;

        
                //std::vector<char> leftovers;
                

                void readThread();
                

            void readLineThread();
            

            void readBetweenThread(char start, char end);
                
                boost::thread * stream_thread_;
                
                boost::function<void(char*, int)> readCallback;
                boost::function<void(std::string*)> readLineCallback;
                boost::function<void(std::string*)> readBetweenCallback;
                
                bool stream_paused_;
                bool stream_stopped_;                    
                
                public:
                        
                enum {NONE, EVEN, ODD}; // to be used with the parity
                        
                SerialCom();
                ~SerialCom();

                //select the baud rate using int and having a termios type output
                tcflag_t selectbaud(int baudrate_);
                // configure the serial port
                bool config(int baudrate_, int databits_, int startbits_, int stopbits_, int parity_, int NLchar_); //TODO make it useable
                // change the baudrate without closing the port
                bool changebaudrate(int baudrate_);
                        

                void open(const char * port_name, int baud_rate = 115200);


                void close();

                bool portOpen() { return fd_ != -1; }

                int baudRate() { return baud_; }


                int write(const char * data, int length = -1);

                // simple byte oriented for xbee
                bool writebyte(uint8_t byte);
                int readbyte(uint8_t *read_byte);
                                                

            int read(char * data, int max_length, int timeout = -1);


            int readBytes(char * data, int length, int timeout = -1);


            int readLine(char * data, int length, int timeout = -1);
            

            bool readLine(std::string * data, int timeout = -1);
            bool readLine(std::string& buffer);
            

                //TODO: int readBetween(char * data, int length, char start, char end, int timeout = -1);
            bool readBetween(std::string * data, char start, char end, int timeout = -1);

            int flush();
            
            //*** Stream functions ***
            

            bool startReadStream(boost::function<void(char*, int)> f);
            

            bool startReadLineStream(boost::function<void(std::string*)> f);
            

            bool startReadBetweenStream(boost::function<void(std::string*)> f, char start, char end);
            
                void stopStream();
                void pauseStream();
                void resumeStream();
                

        };

}

// EOF