serial.h

/*========================================================================
    Serial.h : Class wrapper for Serial I/O on Linux
  ------------------------------------------------------------------------
    Copyright (C) 1999-2002  James R. Bruce
    School of Computer Science, Carnegie Mellon University
  ------------------------------------------------------------------------
    This software is distributed under the GNU General Public License,
    version 2.  If you do not have a copy of this licence, visit
    www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
    Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
    in the hope that it will be useful, but WITHOUT ANY WARRANTY,
    including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  ========================================================================*/


#ifndef __SERIAL_H__
#define __SERIAL_H__

#include <unistd.h>
#include <string>
#include <termios.h>
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/select.h>
#ifdef WIN32
#include <windows.h>
#endif

namespace HAL
{
  class Serial
  {
#ifdef WIN32
    HANDLE hCom;
#else
    int fd;
#endif
  public:
    Serial()
    {
#ifdef WIN32
      hCom = INVALID_HANDLE_VALUE;
#else
      fd = 0;
#endif
    }

    ~Serial()
    {
#ifdef WIN32

      if (hCom != INVALID_HANDLE_VALUE) Close();

#else

      if (fd) close(fd);

#endif
    }


    bool Open(const std::string& device, int baud);
    void Close(void);

    int Read(void *buf, int size)
#ifdef WIN32
    ;
#else
    {return(::read(fd, buf, size));}
#endif
    int Write(void *buf, int size)
#ifdef WIN32
    ;
#else
    {return(::write(fd, buf, size));}
#endif
    int WriteByte(char b);
    int ReadByte(void);
    int ReadNBytesTimeout(int n, char *data, float ms, bool &ok);
    int ReadByteTimeout(float ms, bool &ok);
    void Clear();
    fd_set set;
    struct timeval timeout;
  }; // class Serial
} // namespace HAL

#endif