[2] | 1 | // %flair:license{
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[13] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file RTDM_SerialPort.h
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| 7 | * \brief Class for real time serial port using RTDM
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2011/08/19
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef RTDM_SERIALPORT_H
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| 14 | #define RTDM_SERIALPORT_H
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| 15 |
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| 16 | #include <SerialPort.h>
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| 17 |
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[13] | 18 | namespace flair {
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| 19 | namespace core {
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| 20 | /*! \class RTDM_SerialPort
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| 21 | *
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| 22 | * \brief Class for real time serial port using RTDM
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| 23 | *
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| 24 | * This class can only be used with the real time version of Framework library.
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| 25 | *
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| 26 | */
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| 27 | class RTDM_SerialPort : public SerialPort {
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[2] | 28 |
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[13] | 29 | public:
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| 30 | /*!
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| 31 | * \brief Constructor
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| 32 | *
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| 33 | * Construct an RTDM serial port, with the following default values: \n
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| 34 | * - 115200bps baudrate
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| 35 | *
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| 36 | * \param parent parent
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| 37 | * \param name name
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| 38 | * \param device serial device (ex rtser1)
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| 39 | */
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| 40 | RTDM_SerialPort(const Object *parent, std::string port_name,
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| 41 | std::string device);
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[2] | 42 |
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[13] | 43 | /*!
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| 44 | * \brief Destructor
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| 45 | *
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| 46 | */
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| 47 | ~RTDM_SerialPort();
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[2] | 48 |
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[13] | 49 | /*!
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| 50 | * \brief Set baudrate
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| 51 | *
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| 52 | * \param baudrate baudrate
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| 53 | *
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| 54 | */
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| 55 | void SetBaudrate(int baudrate);
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[2] | 56 |
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[13] | 57 | /*!
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| 58 | * \brief Set RX timeout
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| 59 | *
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| 60 | * Timeout for waiting datas.
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| 61 | *
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| 62 | * \param timeout_ns timeout in nano second
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| 63 | */
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| 64 | void SetRxTimeout(Time timeout_ns);
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[2] | 65 |
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[13] | 66 | /*!
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| 67 | * \brief Write datas
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| 68 | *
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| 69 | * \param buf pointer to datas
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| 70 | * \param nbyte length of datas
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| 71 | *
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| 72 | * \return amount of written datas
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| 73 | */
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| 74 | ssize_t Write(const void *buf, size_t nbyte);
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[2] | 75 |
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[13] | 76 | /*!
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| 77 | * \brief Read datas
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| 78 | *
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| 79 | * \param buf pointer to datas
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| 80 | * \param nbyte length of datas
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| 81 | *
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| 82 | * \return amount of read datas
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| 83 | */
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| 84 | ssize_t Read(void *buf, size_t nbyte);
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[2] | 85 |
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[13] | 86 | /*!
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| 87 | * \brief Flush input datas
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| 88 | *
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| 89 | */
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| 90 | void FlushInput(void);
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[2] | 91 |
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[13] | 92 | private:
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| 93 | int fd;
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| 94 | };
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[2] | 95 | } // end namespace core
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| 96 | } // end namespace flair
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| 97 |
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| 98 | #endif // RTDM_SERIALPORT_H
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