open_source / serialport

#pragma once 

// System headers
#include <string>
#include <fstream> // For file I/O (reading/writing to COM port)
#include <sstream>
// #include <termios.h> // POSIX terminal control definitions (struct termios)
// #include <asm/termios.h> // Terminal control definitions (struct termios)
#include <vector>
#include <asm/ioctls.h>
#include <asm/termbits.h>

// User headers
#include "Exception.hpp"

/// \brief      Represents the baud rate "types" that can be used with the serial port. STANDARD represents all
///             the standard baud rates as provided by UNIX, CUSTOM represents a baud rate defined by an arbitray integer.
enum class BaudRateType 
{
    STANDARD,
    CUSTOM,
};

/// \brief	Strongly-typed enumeration of baud rates for use with the SerialPort class
/// \details    Specifies all the same baud rates as UNIX, as well as B_CUSTOM to specify your
///             own. See https://linux.die.net/man/3/cfsetispeed for list of supported UNIX baud rates.
enum class BaudRate 
{
    B_0,
    B_50,
    B_75,
    B_110,
    B_134,
    B_150,
    B_200,
    B_300,
    B_600,
    B_1200,
    B_1800,
    B_2400,
    B_4800,
    B_9600,
    B_19200,
    B_38400,
    B_57600,
    B_115200,
    B_230400,
    B_460800,
    B_CUSTOM, // Placeholder
};

/// \brief      Enumeration of all the valid num. of data bits. Must align with the options 
///                 provided in termbits.h, i.e. CS5, CS6, CS7 and CS8.
enum class NumDataBits 
{
    FIVE,
    SIX,
    SEVEN,
    EIGHT,
};

enum class Parity 
{
    NONE,
    EVEN,
    ODD,
};

enum class NumStopBits 
{
    ONE,
    TWO,
};

/// \brief      Represents the state of the serial port.
enum class State 
{
    CLOSED,
    OPEN,
};

/// \brief		SerialPort object is used to perform rx/tx serial communication.
class SerialPort 
{
public:
    /// \brief		Default constructor. You must specify at least the device before calling Open().
    SerialPort();

    /// \brief		Constructor that sets up serial port with the basic (required) parameters.
    SerialPort(const std::string &device, BaudRate baudRate);

    /// \brief		Constructor that sets up serial port and allows the user to specify all the common parameters.
    SerialPort(const std::string &device, BaudRate baudRate, NumDataBits numDataBits, Parity parity, NumStopBits numStopBits);

    /// \brief		Constructor that sets up serial port with the basic parameters, and a custom baud rate.
    SerialPort(const std::string &device, speed_t baudRate);

    /// \brief		Destructor. Closes serial port if still open.
    virtual ~SerialPort();

    /// \brief		Sets the device to use for serial port communications.
    /// \details    Method can be called when serial port is in any state.
    void SetDevice(const std::string &device);

    /// \brief      Call this to set a standard baud rate.
    void SetBaudRate(BaudRate baudRate);

    /// \brief      Call this to set a custom baud rate.
    void SetBaudRate(speed_t baudRate);

    /// \brief      Call this to set the num. of data bits.
    void SetNumDataBits(NumDataBits numDataBits);

    /// \brief      Call this to set the parity.
    void SetParity(Parity parity);

    void SetNumStopBits(NumStopBits numStopBits);

    /// \brief      Sets the read timeout (in milliseconds)/blocking mode.
    /// \details    Only call when state != OPEN. This method manupulates VMIN and VTIME.
    /// \param      timeout_ms  Set to -1 to infinite timeout, 0 to return immediately with any data (non
    ///             blocking, or >0 to wait for data for a specified number of milliseconds). Timeout will
    ///             be rounded to the nearest 100ms (a Linux API restriction). Maximum value limited to
    ///             25500ms (another Linux API restriction).
    void SetTimeout(int32_t timeout_ms);

    /// \brief		Enables/disables echo.
    /// \param		value		Pass in true to enable echo, false to disable echo.
    void SetEcho(bool value);

    /// \brief		Opens the COM port for use.
    /// \throws		CppLinuxSerial::Exception if device cannot be opened.
    /// \note		Must call this before you can configure the COM port.
    void Open();

    /// \brief		Closes the COM port.
    void Close();

    /// \brief		Sends a text message over the com port.
    /// \param		data		The data that will be written to the COM port.
    /// \throws		CppLinuxSerial::Exception if state != OPEN.
    void Write(const std::string& data);

    /// \brief		Sends a binary message over the com port.
    /// \param		data		The data that will be written to the COM port.
    /// \throws		CppLinuxSerial::Exception if state != OPEN.
    void WriteBinary(const std::vector<uint8_t>& data);

    /// \brief		Use to read text from the COM port.
    /// \param		data		The object the read characters from the COM port will be saved to.
    /// \param      wait_ms     The amount of time to wait for data. Set to 0 for non-blocking mode. Set to -1
    ///                 to wait indefinitely for new data.
    /// \throws		CppLinuxSerial::Exception if state != OPEN.
    void Read(std::string& data);

    /// \brief		Use to read binary data from the COM port.
    /// \param		data		The object the read uint8_t bytes from the COM port will be saved to.
    /// \param      wait_ms     The amount of time to wait for data. Set to 0 for non-blocking mode. Set to -1
    ///                 to wait indefinitely for new data.
    /// \throws		CppLinuxSerial::Exception if state != OPEN.
    void ReadBinary(std::vector<uint8_t>& data);

                /// \brief		Use to get number of bytes available in receive buffer.
    /// \returns    The number of bytes available in the receive buffer (ready to be read).
    /// \throws		CppLinuxSerial::Exception if state != OPEN.
    int32_t Available();

    /// \brief          Use to get the state of the serial port
    /// \returns        The state of the serial port
    State GetState();

private:

    /// \brief		Configures the tty device as a serial port.
    /// \warning    Device must be open (valid file descriptor) when this is called.
    void ConfigureTermios();

    // void SetTermios(termios myTermios);

    /// \brief		Returns a populated termios2 structure for the serial port pointed to by the file descriptor.
    termios2 GetTermios2();

    /// \brief      Assigns the provided tty settings to the serial port pointed to by the file descriptor.
    void SetTermios2(termios2 tty);

    /// \brief      Keeps track of the serial port's state.
    State state_;

    /// \brief      The file path to the serial port device (e.g. "/dev/ttyUSB0").
    std::string device_;

    /// \brief      The type of baud rate that the user has specified.
    BaudRateType baudRateType_;

    /// \brief      The current baud rate if baudRateType_ == STANDARD.
    BaudRate baudRateStandard_;

    /// \brief      The current baud rate if baudRateType_ == CUSTOM.
    speed_t baudRateCustom_;

    /// \brief      The num. of data bits. Defaults to 8 (most common).
    NumDataBits numDataBits_ = NumDataBits::EIGHT;

    /// \brief      The parity. Defaults to none (most common).
    Parity parity_ = Parity::NONE;

    /// \brief      The num. of stop bits. Defaults to 1 (most common).
    NumStopBits numStopBits_ = NumStopBits::ONE;

    /// \brief		The file descriptor for the open file. This gets written to when Open() is called.
    int fileDesc_;

    bool echo_;

    int32_t timeout_ms_;

    std::vector<char> readBuffer_;
    unsigned char readBufferSize_B_;

    static constexpr BaudRate defaultBaudRate_ = BaudRate::B_57600;
    static constexpr int32_t defaultTimeout_ms_ = -1;
    static constexpr unsigned char defaultReadBufferSize_B_ = 255;
};