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/*
* Slamtec LIDAR SDK
*
* 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.
*
*/
#include "sl_lidar_driver.h"
#include "hal/abs_rxtx.h"
#include "hal/socket.h"
namespace sl {
class SerialPortChannel : public ISerialPortChannel
{
public:
SerialPortChannel(const std::string& device, int baudrate) :_rxtxSerial(rp::hal::serial_rxtx::CreateRxTx())
{
_device = device;
_baudrate = baudrate;
}
~SerialPortChannel()
{
if (_rxtxSerial)
delete _rxtxSerial;
}
bool bind(const std::string& device, sl_s32 baudrate)
{
_closePending = false;
return _rxtxSerial->bind(device.c_str(), baudrate);
}
bool open()
{
if(!bind(_device, _baudrate))
return false;
return _rxtxSerial->open();
}
void close()
{
_closePending = true;
_rxtxSerial->cancelOperation();
_rxtxSerial->close();
}
void flush()
{
_rxtxSerial->flush(0);
}
sl_result waitForDataExt(size_t& size_hint, sl_u32 timeoutInMs)
{
_word_size_t result;
size_t size_holder;
size_hint = 0;
if (_closePending) return RESULT_OPERATION_TIMEOUT;
if (!_rxtxSerial->isOpened()) {
return RESULT_OPERATION_FAIL;
}
result = _rxtxSerial->waitfordata(1, timeoutInMs, &size_holder);
size_hint = size_holder;
if (result == (_word_size_t)rp::hal::serial_rxtx::ANS_DEV_ERR)
return RESULT_OPERATION_FAIL;
if (result == (_word_size_t)rp::hal::serial_rxtx::ANS_TIMEOUT)
return RESULT_OPERATION_TIMEOUT;
return RESULT_OK;
}
bool waitForData(size_t size, sl_u32 timeoutInMs, size_t* actualReady)
{
if (_closePending) return false;
return (_rxtxSerial->waitfordata(size, timeoutInMs, actualReady) == rp::hal::serial_rxtx::ANS_OK);
}
int write(const void* data, size_t size)
{
return _rxtxSerial->senddata((const sl_u8 * )data, size);
}
int read(void* buffer, size_t size)
{
size_t lenRec = 0;
lenRec = _rxtxSerial->recvdata((sl_u8 *)buffer, size);
return (int)lenRec;
}
void clearReadCache()
{
}
void setDTR(bool dtr)
{
dtr ? _rxtxSerial->setDTR() : _rxtxSerial->clearDTR();
}
int getChannelType() {
return CHANNEL_TYPE_SERIALPORT;
}
private:
rp::hal::serial_rxtx * _rxtxSerial;
bool _closePending;
std::string _device;
int _baudrate;
};
Result<IChannel*> createSerialPortChannel(const std::string& device, int baudrate)
{
return new SerialPortChannel(device, baudrate);
}
}
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