port.h

/*
 * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
 *               http://gearbox.sf.net/
 * Copyright (c) 2008 Geoffrey Biggs
 *
 * flexiport flexible hardware data communications library.
 *
 * This distribution is licensed to you under the terms described in the LICENSE file included in
 * this distribution.
 *
 * This work is a product of the National Institute of Advanced Industrial Science and Technology,
 * Japan. Registration number: H20PRO-881
 *
 * This file is part of flexiport.
 *
 * flexiport is free software: you can redistribute it and/or modify it under the terms of the GNU
 * Lesser General Public License as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 *
 * flexiport is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
 * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License along with flexiport.
 * If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef __PORT_H
#define __PORT_H

#include <string>
#include <map>

#if defined (WIN32)
        #if defined (FLEXIPORT_STATIC)
                #define FLEXIPORT_EXPORT
        #elif defined (FLEXIPORT_EXPORTS)
                #define FLEXIPORT_EXPORT    __declspec (dllexport)
        #else
                #define FLEXIPORT_EXPORT    __declspec (dllimport)
        #endif
#else
        #define FLEXIPORT_EXPORT
#endif

#include "flexiport_types.h"
#include "timeout.h"

namespace flexiport
{

class FLEXIPORT_EXPORT Port
{
        public:
                virtual ~Port ();

                // API common to all ports
                virtual void Open () = 0;

                virtual void Close () = 0;

                virtual ssize_t Read (void * const buffer, size_t count) = 0;

                virtual ssize_t ReadFull (void * const buffer, size_t count) = 0;

                virtual ssize_t ReadString (std::string &buffer);

                virtual ssize_t ReadUntil (void * const buffer, size_t count, uint8_t terminator);

                virtual ssize_t ReadStringUntil (std::string &buffer, char terminator);

                virtual ssize_t ReadLine (char * const buffer, size_t count);

                virtual ssize_t ReadLine (std::string &buffer) { return ReadStringUntil (buffer, '\n'); }

                virtual ssize_t Skip (size_t count);

                virtual ssize_t SkipUntil (uint8_t terminator, unsigned int count);

                virtual ssize_t BytesAvailable () = 0;

                virtual ssize_t BytesAvailableWait () = 0;

                virtual ssize_t Write (const void * const buffer, size_t count) = 0;

                virtual ssize_t WriteFull (const void * const buffer, size_t count);

                virtual ssize_t WriteString (const char * const buffer);
                virtual ssize_t WriteString (const std::string &buffer)
                        { return WriteString (buffer.c_str ()); }

                virtual void Flush () = 0;

                virtual void Drain () = 0;

                virtual std::string GetStatus () const;

                // Accessor methods.
                std::string GetPortType () const        { return _type; }
                void SetDebug (int debug)               { _debug = debug; }
                int GetDebug () const                   { return _debug; }
                virtual void SetTimeout (Timeout timeout) = 0;
                virtual Timeout GetTimeout () const     { return _timeout; }
                virtual bool IsBlocking () const        { return (_timeout._sec != 0 ||
                                                          _timeout._usec != 0); }
                virtual void SetCanRead (bool canRead) = 0;
                virtual bool CanRead () const           { return _canRead; }
                virtual void SetCanWrite (bool canWrite) = 0;
                virtual bool CanWrite () const          { return _canWrite; }
                virtual bool IsOpen () const = 0;

        protected:
                std::string _type;  // Port type string (e.g. "tcp" or "serial" or "usb")
                unsigned int _debug;
                Timeout _timeout;   // Timeout in milliseconds. Set to zero for non-blocking operation.
                bool _canRead;      // If true, this port can be read from.
                bool _canWrite;     // If true, this port can be written to.
                bool _alwaysOpen;   // If the port should be kept open for the life of the object (including
                                    // reopening it if necessary).

                // Protected constructor to prevent direct creation of this class.
                Port ();
                // Constructor for more-direct creation.
                Port (unsigned int debug, Timeout timeout, bool canRead, bool canWrite, bool alwaysOpen);

                void ProcessOptions (const std::map<std::string, std::string> &options);
                virtual bool ProcessOption (const std::string &option, const std::string &value);
                virtual void CheckPort (bool read) = 0;

        private:
                // Private copy constructor to prevent unintended copying.
                Port (const Port&);
                void operator= (const Port&);
};

} // namespace flexiport

#endif // __PORT_H