SerialPort.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_SERIALPORT_H_
#define _MIRA_SERIALPORT_H_

#ifndef Q_MOC_RUN
#include <boost/asio/serial_port.hpp>
#endif

#include <platform/Types.h>

#ifdef MIRA_WINDOWS
# define MIRA_ASIO_OPTION_STORAGE DCB
#else
# define MIRA_ASIO_OPTION_STORAGE termios
#endif

namespace mira {


class MIRA_BASE_EXPORT SerialPort
{
public:
    typedef boost::asio::serial_port::parity Parity;
    typedef boost::asio::serial_port::stop_bits StopBits;
    typedef boost::asio::serial_port::flow_control FlowControl;
    typedef boost::asio::serial_port::character_size CharacterSize;

public:
#if BOOST_VERSION < 106600
    SerialPort(boost::asio::io_service& service, const std::string& device,
#else
    SerialPort(boost::asio::io_context& service, const std::string& device,
#endif
               uint32 baudrate) :
        mSerialPort(service, device)
    {
        setBaudrate(baudrate);
    }

    virtual ~SerialPort()
    {
        mSerialPort.close();
    }

    operator boost::asio::serial_port&()
    {
        return mSerialPort;
    }

    operator const boost::asio::serial_port&() const
    {
        return mSerialPort;
    }

    boost::asio::serial_port& port()
    {
        return mSerialPort;
    }

    const boost::asio::serial_port& port() const
    {
        return mSerialPort;
    }

    SerialPort& setBaudrate(uint32 rate)
    {
#if BOOST_VERSION < 104700
        Baudrate baudrate(mSerialPort.native(), rate);
#else
        Baudrate baudrate(mSerialPort.native_handle(), rate);
#endif
        mSerialPort.set_option(baudrate);
        return *this;
    }

    SerialPort& setParity(Parity::type parity)
    {
        mSerialPort.set_option(Parity(parity));
        return *this;
    }

    SerialPort& setStopBits(StopBits::type stopbits)
    {
        mSerialPort.set_option(StopBits(stopbits));
        return *this;
    }

    SerialPort& setDataBits(uint32 databits)
    {
        mSerialPort.set_option(CharacterSize(databits));
        return *this;
    }

    SerialPort& setFlowControl(FlowControl::type flowcontrol)
    {
        mSerialPort.set_option(FlowControl(flowcontrol));
        return *this;
    }

protected:
    boost::asio::serial_port mSerialPort;

protected:
    class Baudrate
    {
    public:
#if BOOST_VERSION < 104700
        explicit Baudrate(boost::asio::serial_port::native_type handle,
#else
        explicit Baudrate(boost::asio::serial_port::native_handle_type handle,
#endif
                          uint32 rate = 0) :
            mHandle(handle), mRate(rate)
        {}
        uint32 rate() const
        {
            return mRate;
        }

        boost::system::error_code store(MIRA_ASIO_OPTION_STORAGE& storage,
            boost::system::error_code& ec) const;
        boost::system::error_code load(const MIRA_ASIO_OPTION_STORAGE& storage,
            boost::system::error_code& ec)
        {
            ec = boost::system::error_code();
            return ec;
        }
    private:
#if BOOST_VERSION < 104700
        boost::asio::serial_port::native_type mHandle;
#else
        boost::asio::serial_port::native_handle_type mHandle;
#endif
        uint32 mRate;
    };
};


}

#endif