ArSerialConnection.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSERIALCONNECTION_H
#define ARSERIALCONNECTION_H

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

#ifndef WIN32
#define TIOGETTIMESTAMP         0x5480
#define TIOSTARTTIMESTAMP       0x5481
#endif

class ArSerialConnection: public ArDeviceConnection
{
 public:
  AREXPORT ArSerialConnection();
  AREXPORT virtual ~ArSerialConnection();

  AREXPORT int open(const char * port = NULL);

  AREXPORT void setPort(const char *port = NULL);

  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);

  AREXPORT bool setBaud(int baud);
  AREXPORT int getBaud(void);

  AREXPORT bool setHardwareControl(bool hardwareControl);
  AREXPORT bool getHardwareControl(void);

  AREXPORT bool getCTS(void);

  AREXPORT bool getDSR(void);

  AREXPORT bool getDCD(void);

  AREXPORT bool getRing(void);

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

  enum Open { 
      OPEN_COULD_NOT_OPEN_PORT = 1, 
      OPEN_COULD_NOT_SET_UP_PORT, 
      OPEN_INVALID_BAUD_RATE, 
      OPEN_COULD_NOT_SET_BAUD, 
      OPEN_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

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


};

#endif

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