Visual Servoing Platform version 3.6.0
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vpSerial.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Serial communication.
32 */
33
34#ifndef _vpSerial_h_
35#define _vpSerial_h_
36
37#if !defined(_WIN32)
38
39#include <stdint.h>
40#include <string>
41
42#include <visp3/core/vpConfig.h>
43
65class VISP_EXPORT vpSerial
66{
67public:
71 typedef enum {
72 fivebits = 5,
73 sixbits = 6,
74 sevenbits = 7,
75 eightbits = 8
76 } bytesize_t;
77
81 typedef enum {
82 parity_none = 0,
83 parity_odd = 1,
84 parity_even = 2
85 } parity_t;
86
90 typedef enum {
91 stopbits_one = 1,
92 stopbits_two = 2,
93 } stopbits_t;
94
98 typedef enum {
99 flowcontrol_none = 0,
101 flowcontrol_hardware
102 } flowcontrol_t;
103
104 vpSerial(const std::string &port = "", unsigned long baudrate = 9600, bytesize_t bytesize = eightbits,
105 parity_t parity = parity_none, stopbits_t stopbits = stopbits_one,
106 flowcontrol_t flowcontrol = flowcontrol_none);
107 virtual ~vpSerial();
108
109 int available();
110 void close();
111
116 unsigned long getBaudrate() { return m_baudrate; }
117
122 bytesize_t getBytesize() { return m_bytesize; }
123
128 flowcontrol_t getFlowcontrol() { return m_flowcontrol; }
129
134 parity_t getParity() { return m_parity; }
135
140 std::string getPort() { return m_port; }
141
146 stopbits_t getStopbits() { return m_stopbits; }
147
148 void open();
149 bool read(char *c, long timeout_s);
150 std::string readline(const std::string &eol);
151 void setBaudrate(const unsigned long baudrate);
152 void setBytesize(const bytesize_t &bytesize);
153 void setFlowcontrol(const flowcontrol_t &flowcontrol);
154 void setParity(const parity_t &parity);
155 void setPort(const std::string &port);
156 void setStopbits(const stopbits_t &stopbits);
157 void write(const std::string &s);
158
159private:
160 void configure();
161
162 std::string m_port;
163 int m_fd;
164
165 bool m_is_open;
166 bool m_xonxoff;
167 bool m_rtscts;
168
169 unsigned long m_baudrate;
170
171 parity_t m_parity;
172 bytesize_t m_bytesize;
173 stopbits_t m_stopbits;
174 flowcontrol_t m_flowcontrol;
175};
176
177#endif
178#endif
stopbits_t getStopbits()
Definition vpSerial.h:146
flowcontrol_t
Definition vpSerial.h:98
@ flowcontrol_software
Software flow control.
Definition vpSerial.h:100
bytesize_t getBytesize()
Definition vpSerial.h:122
unsigned long getBaudrate()
Definition vpSerial.h:116
std::string getPort()
Definition vpSerial.h:140
flowcontrol_t getFlowcontrol()
Definition vpSerial.h:128
parity_t getParity()
Definition vpSerial.h:134