serial_port.h

/****************************************************************************
 *
 *   Copyright (c) 2014 MAVlink Development Team. All rights reserved.
 *   Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
 *           Jaycee Lock,    <jaycee.lock@gmail.com>
 *           Lorenz Meier,   <lm@inf.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 ****************************************************************************/

/**
 * @file serial_port.h
 *
 * @brief Serial interface definition
 *
 * Functions for opening, closing, reading and writing via serial ports
 *
 * @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
 * @author Jaycee Lock,    <jaycee.lock@gmail.com>
 * @author Lorenz Meier,   <lm@inf.ethz.ch>
 *
 */

#ifndef SERIAL_PORT_H_
#define SERIAL_PORT_H_

// ------------------------------------------------------------------------------
//   Includes
// ------------------------------------------------------------------------------

#include <cstdlib>
#include <stdio.h>   // Standard input/output definitions
#include <unistd.h>  // UNIX standard function definitions
#include <fcntl.h>   // File control definitions
#include <termios.h> // POSIX terminal control definitions
#include <pthread.h> // This uses POSIX Threads
#include <signal.h>

#include "generic_port.h"

// ------------------------------------------------------------------------------
//   Defines
// ------------------------------------------------------------------------------

// The following two non-standard baudrates should have been defined by the system
// If not, just fallback to number
#ifndef B460800
#define B460800 460800
#endif

#ifndef B921600
#define B921600 921600
#endif

// ------------------------------------------------------------------------------
//   Prototypes
// ------------------------------------------------------------------------------

//class Serial_Port;



// ----------------------------------------------------------------------------------
//   Serial Port Manager Class
// ----------------------------------------------------------------------------------
/*
 * Serial Port Class
 *
 * This object handles the opening and closing of the offboard computer's
 * serial port over which we'll communicate.  It also has methods to write
 * a byte stream buffer.  MAVlink is not used in this object yet, it's just
 * a serialization interface.  To help with read and write pthreading, it
 * gaurds any port operation with a pthread mutex.
 */
class Serial_Port: public Generic_Port
{

public:

	Serial_Port();
	Serial_Port(const char *uart_name_, int baudrate_);
	virtual ~Serial_Port();

	int read_message(mavlink_message_t &message);
	int write_message(const mavlink_message_t &message);

	bool is_running(){
		return is_open;
	}
	void start();
	void stop();

private:

	int  fd;
	mavlink_status_t lastStatus;
	pthread_mutex_t  lock;

	void initialize_defaults();

	bool debug;
	const char *uart_name;
	int  baudrate;
	bool is_open;

	int  _open_port(const char* port);
	bool _setup_port(int baud, int data_bits, int stop_bits, bool parity, bool hardware_control);
	int  _read_port(uint8_t &cp);
	int _write_port(char *buf, unsigned len);

};



#endif // SERIAL_PORT_H_