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/*
* RPLIDAR SDK
*
* Copyright (c) 2009 - 2014 RoboPeak Team
* http://www.robopeak.com
* Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* 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.
*
* 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 HOLDER 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 OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
#include "hal/abs_rxtx.h"
namespace rp{ namespace arch{ namespace net{
class raw_serial : public rp::hal::serial_rxtx
{
public:
enum{
SERIAL_RX_BUFFER_SIZE = 512,
SERIAL_TX_BUFFER_SIZE = 128,
SERIAL_RX_TIMEOUT = 2000,
SERIAL_TX_TIMEOUT = 2000,
};
raw_serial();
virtual ~raw_serial();
virtual bool bind(const char * portname, _u32 baudrate, _u32 flags = 0);
virtual bool open();
virtual void close();
virtual void flush( _u32 flags);
virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL);
virtual int senddata(const unsigned char * data, size_t size);
virtual int recvdata(unsigned char * data, size_t size);
virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL);
virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL);
virtual size_t rxqueue_count();
virtual void setDTR();
virtual void clearDTR();
protected:
bool open(const char * portname, _u32 baudrate, _u32 flags);
void _init();
char _portName[20];
uint32_t _baudrate;
uint32_t _flags;
OVERLAPPED _ro, _wo;
OVERLAPPED _wait_o;
volatile HANDLE _serial_handle;
DCB _dcb;
COMMTIMEOUTS _co;
};
}}}
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