2.4-Crystalpoint/lib/serial/include/serial.h

/*!
 * \file serial/serial.h
 * \author  William Woodall <wjwwood@gmail.com>
 * \author  John Harrison   <ash.gti@gmail.com>
 * \version 0.1
 *
 * \section LICENSE
 *
 * The MIT License
 *
 * Copyright (c) 2012 William Woodall
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 *
 * \section DESCRIPTION
 *
 * This provides a cross platform interface for interacting with Serial Ports.
 */

#ifndef SERIAL_H
#define SERIAL_H

#include <limits>
#include <vector>
#include <string>
#include <cstring>
#include <sstream>
#include <exception>
#include <stdexcept>

#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
__LINE__, (message) )

namespace serial {

/*!
 * Enumeration defines the possible bytesizes for the serial port.
 */
    typedef enum {
        fivebits = 5,
        sixbits = 6,
        sevenbits = 7,
        eightbits = 8
    } bytesize_t;

/*!
 * Enumeration defines the possible parity types for the serial port.
 */
    typedef enum {
        parity_none = 0,
        parity_odd = 1,
        parity_even = 2,
        parity_mark = 3,
        parity_space = 4
    } parity_t;

/*!
 * Enumeration defines the possible stopbit types for the serial port.
 */
    typedef enum {
        stopbits_one = 1,
        stopbits_two = 2,
        stopbits_one_point_five
    } stopbits_t;

/*!
 * Enumeration defines the possible flowcontrol types for the serial port.
 */
    typedef enum {
        flowcontrol_none = 0,
        flowcontrol_software,
        flowcontrol_hardware
    } flowcontrol_t;

/*!
 * Structure for setting the timeout of the serial port, times are
 * in milliseconds.
 *
 * In order to disable the interbyte timeout, set it to Timeout::max().
 */
    struct Timeout {
#ifdef max
# undef max
#endif
        static uint32_t max() {return std::numeric_limits<uint32_t>::max();}
        /*!
         * Convenience function to generate Timeout structs using a
         * single absolute timeout.
         *
         * \param timeout A long that defines the time in milliseconds until a
         * timeout occurs after a call to read or write is made.
         *
         * \return Timeout struct that represents this simple timeout provided.
         */
        static Timeout simpleTimeout(uint32_t timeout) {
          return Timeout(max(), timeout, 0, timeout, 0);
        }

        /*! Number of milliseconds between bytes received to timeout on. */
        uint32_t inter_byte_timeout;
        /*! A constant number of milliseconds to wait after calling read. */
        uint32_t read_timeout_constant;
        /*! A multiplier against the number of requested bytes to wait after
         *  calling read.
         */
        uint32_t read_timeout_multiplier;
        /*! A constant number of milliseconds to wait after calling write. */
        uint32_t write_timeout_constant;
        /*! A multiplier against the number of requested bytes to wait after
         *  calling write.
         */
        uint32_t write_timeout_multiplier;

        explicit Timeout (uint32_t inter_byte_timeout_=0,
                          uint32_t read_timeout_constant_=0,
                          uint32_t read_timeout_multiplier_=0,
                          uint32_t write_timeout_constant_=0,
                          uint32_t write_timeout_multiplier_=0)
                : inter_byte_timeout(inter_byte_timeout_),
                  read_timeout_constant(read_timeout_constant_),
                  read_timeout_multiplier(read_timeout_multiplier_),
                  write_timeout_constant(write_timeout_constant_),
                  write_timeout_multiplier(write_timeout_multiplier_)
        {}
    };

/*!
 * Class that provides a portable serial port interface.
 */
    class Serial {
    public:
        /*!
         * Creates a Serial object and opens the port if a port is specified,
         * otherwise it remains closed until serial::Serial::open is called.
         *
         * \param port A std::string containing the address of the serial port,
         *        which would be something like 'COM1' on Windows and '/dev/ttyS0'
         *        on Linux.
         *
         * \param baudrate An unsigned 32-bit integer that represents the baudrate
         *
         * \param timeout A serial::Timeout struct that defines the timeout
         * conditions for the serial port. \see serial::Timeout
         *
         * \param bytesize Size of each byte in the serial transmission of data,
         * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
         * eightbits
         *
         * \param parity Method of parity, default is parity_none, possible values
         * are: parity_none, parity_odd, parity_even
         *
         * \param stopbits Number of stop bits used, default is stopbits_one,
         * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
         *
         * \param flowcontrol Type of flowcontrol used, default is
         * flowcontrol_none, possible values are: flowcontrol_none,
         * flowcontrol_software, flowcontrol_hardware
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::IOException
         * \throw std::invalid_argument
         */
        Serial (const std::string &port = "",
                uint32_t baudrate = 9600,
                Timeout timeout = Timeout(),
                bytesize_t bytesize = eightbits,
                parity_t parity = parity_none,
                stopbits_t stopbits = stopbits_one,
                flowcontrol_t flowcontrol = flowcontrol_none);

        /*! Destructor */
        virtual ~Serial ();

        /*!
         * Opens the serial port as long as the port is set and the port isn't
         * already open.
         *
         * If the port is provided to the constructor then an explicit call to open
         * is not needed.
         *
         * \see Serial::Serial
         *
         * \throw std::invalid_argument
         * \throw serial::SerialException
         * \throw serial::IOException
         */
        void
        open ();

        /*! Gets the open status of the serial port.
         *
         * \return Returns true if the port is open, false otherwise.
         */
        bool
        isOpen () const;

        /*! Closes the serial port. */
        void
        close ();

        /*! Return the number of characters in the buffer. */
        size_t
        available ();

        /*! Block until there is serial data to read or read_timeout_constant
         * number of milliseconds have elapsed. The return value is true when
         * the function exits with the port in a readable state, false otherwise
         * (due to timeout or select interruption). */
        bool
        waitReadable ();

        /*! Block for a period of time corresponding to the transmission time of
         * count characters at present serial settings. This may be used in con-
         * junction with waitReadable to read larger blocks of data from the
         * port. */
        void
        waitByteTimes (size_t count);

        /*! Read a given amount of bytes from the serial port into a given buffer.
         *
         * The read function will return in one of three cases:
         *  * The number of requested bytes was read.
         *    * In this case the number of bytes requested will match the size_t
         *      returned by read.
         *  * A timeout occurred, in this case the number of bytes read will not
         *    match the amount requested, but no exception will be thrown.  One of
         *    two possible timeouts occurred:
         *    * The inter byte timeout expired, this means that number of
         *      milliseconds elapsed between receiving bytes from the serial port
         *      exceeded the inter byte timeout.
         *    * The total timeout expired, which is calculated by multiplying the
         *      read timeout multiplier by the number of requested bytes and then
         *      added to the read timeout constant.  If that total number of
         *      milliseconds elapses after the initial call to read a timeout will
         *      occur.
         *  * An exception occurred, in this case an actual exception will be thrown.
         *
         * \param buffer An uint8_t array of at least the requested size.
         * \param size A size_t defining how many bytes to be read.
         *
         * \return A size_t representing the number of bytes read as a result of the
         *         call to read.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        size_t
        read (uint8_t *buffer, size_t size);

        /*! Read a given amount of bytes from the serial port into a give buffer.
         *
         * \param buffer A reference to a std::vector of uint8_t.
         * \param size A size_t defining how many bytes to be read.
         *
         * \return A size_t representing the number of bytes read as a result of the
         *         call to read.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        size_t
        read (std::vector<uint8_t> &buffer, size_t size = 1);

        /*! Read a given amount of bytes from the serial port into a give buffer.
         *
         * \param buffer A reference to a std::string.
         * \param size A size_t defining how many bytes to be read.
         *
         * \return A size_t representing the number of bytes read as a result of the
         *         call to read.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        size_t
        read (std::string &buffer, size_t size = 1);

        /*! Read a given amount of bytes from the serial port and return a string
         *  containing the data.
         *
         * \param size A size_t defining how many bytes to be read.
         *
         * \return A std::string containing the data read from the port.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        std::string
        read (size_t size = 1);

        /*! Reads in a line or until a given delimiter has been processed.
         *
         * Reads from the serial port until a single line has been read.
         *
         * \param buffer A std::string reference used to store the data.
         * \param size A maximum length of a line, defaults to 65536 (2^16)
         * \param eol A string to match against for the EOL.
         *
         * \return A size_t representing the number of bytes read.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        size_t
        readline (std::string &buffer, size_t size = 65536, std::string eol = "\n");

        /*! Reads in a line or until a given delimiter has been processed.
         *
         * Reads from the serial port until a single line has been read.
         *
         * \param size A maximum length of a line, defaults to 65536 (2^16)
         * \param eol A string to match against for the EOL.
         *
         * \return A std::string containing the line.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        std::string
        readline (size_t size = 65536, std::string eol = "\n");

        /*! Reads in multiple lines until the serial port times out.
         *
         * This requires a timeout > 0 before it can be run. It will read until a
         * timeout occurs and return a list of strings.
         *
         * \param size A maximum length of combined lines, defaults to 65536 (2^16)
         *
         * \param eol A string to match against for the EOL.
         *
         * \return A vector<string> containing the lines.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         */
        std::vector<std::string>
        readlines (size_t size = 65536, std::string eol = "\n");

        /*! Write a string to the serial port.
         *
         * \param data A const reference containing the data to be written
         * to the serial port.
         *
         * \param size A size_t that indicates how many bytes should be written from
         * the given data buffer.
         *
         * \return A size_t representing the number of bytes actually written to
         * the serial port.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         * \throw serial::IOException
         */
        size_t
        write (const uint8_t *data, size_t size);

        /*! Write a string to the serial port.
         *
         * \param data A const reference containing the data to be written
         * to the serial port.
         *
         * \return A size_t representing the number of bytes actually written to
         * the serial port.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         * \throw serial::IOException
         */
        size_t
        write (const std::vector<uint8_t> &data);

        /*! Write a string to the serial port.
         *
         * \param data A const reference containing the data to be written
         * to the serial port.
         *
         * \return A size_t representing the number of bytes actually written to
         * the serial port.
         *
         * \throw serial::PortNotOpenedException
         * \throw serial::SerialException
         * \throw serial::IOException
         */
        size_t
        write (const std::string &data);

        /*! Sets the serial port identifier.
         *
         * \param port A const std::string reference containing the address of the
         * serial port, which would be something like 'COM1' on Windows and
         * '/dev/ttyS0' on Linux.
         *
         * \throw std::invalid_argument
         */
        void
        setPort (const std::string &port);

        /*! Gets the serial port identifier.
         *
         * \see Serial::setPort
         *
         * \throw std::invalid_argument
         */
        std::string
        getPort () const;

        /*! Sets the timeout for reads and writes using the Timeout struct.
         *
         * There are two timeout conditions described here:
         *  * The inter byte timeout:
         *    * The inter_byte_timeout component of serial::Timeout defines the
         *      maximum amount of time, in milliseconds, between receiving bytes on
         *      the serial port that can pass before a timeout occurs.  Setting this
         *      to zero will prevent inter byte timeouts from occurring.
         *  * Total time timeout:
         *    * The constant and multiplier component of this timeout condition,
         *      for both read and write, are defined in serial::Timeout.  This
         *      timeout occurs if the total time since the read or write call was
         *      made exceeds the specified time in milliseconds.
         *    * The limit is defined by multiplying the multiplier component by the
         *      number of requested bytes and adding that product to the constant
         *      component.  In this way if you want a read call, for example, to
         *      timeout after exactly one second regardless of the number of bytes
         *      you asked for then set the read_timeout_constant component of
         *      serial::Timeout to 1000 and the read_timeout_multiplier to zero.
         *      This timeout condition can be used in conjunction with the inter
         *      byte timeout condition with out any problems, timeout will simply
         *      occur when one of the two timeout conditions is met.  This allows
         *      users to have maximum control over the trade-off between
         *      responsiveness and efficiency.
         *
         * Read and write functions will return in one of three cases.  When the
         * reading or writing is complete, when a timeout occurs, or when an
         * exception occurs.
         *
         * \param timeout A serial::Timeout struct containing the inter byte
         * timeout, and the read and write timeout constants and multipliers.
         *
         * \see serial::Timeout
         */
        void
        setTimeout (Timeout &timeout);

        /*! Sets the timeout for reads and writes. */
        void
        setTimeout (uint32_t inter_byte_timeout, uint32_t read_timeout_constant,
                    uint32_t read_timeout_multiplier, uint32_t write_timeout_constant,
                    uint32_t write_timeout_multiplier)
        {
          Timeout timeout(inter_byte_timeout, read_timeout_constant,
                          read_timeout_multiplier, write_timeout_constant,
                          write_timeout_multiplier);
          return setTimeout(timeout);
        }

        /*! Gets the timeout for reads in seconds.
         *
         * \return A Timeout struct containing the inter_byte_timeout, and read
         * and write timeout constants and multipliers.
         *
         * \see Serial::setTimeout
         */
        Timeout
        getTimeout () const;

        /*! Sets the baudrate for the serial port.
         *
         * Possible baudrates depends on the system but some safe baudrates include:
         * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000,
         * 57600, 115200
         * Some other baudrates that are supported by some comports:
         * 128000, 153600, 230400, 256000, 460800, 921600
         *
         * \param baudrate An integer that sets the baud rate for the serial port.
         *
         * \throw std::invalid_argument
         */
        void
        setBaudrate (uint32_t baudrate);

        /*! Gets the baudrate for the serial port.
         *
         * \return An integer that sets the baud rate for the serial port.
         *
         * \see Serial::setBaudrate
         *
         * \throw std::invalid_argument
         */
        uint32_t
        getBaudrate () const;

        /*! Sets the bytesize for the serial port.
         *
         * \param bytesize Size of each byte in the serial transmission of data,
         * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
         * eightbits
         *
         * \throw std::invalid_argument
         */
        void
        setBytesize (bytesize_t bytesize);

        /*! Gets the bytesize for the serial port.
         *
         * \see Serial::setBytesize
         *
         * \throw std::invalid_argument
         */
        bytesize_t
        getBytesize () const;

        /*! Sets the parity for the serial port.
         *
         * \param parity Method of parity, default is parity_none, possible values
         * are: parity_none, parity_odd, parity_even
         *
         * \throw std::invalid_argument
         */
        void
        setParity (parity_t parity);

        /*! Gets the parity for the serial port.
         *
         * \see Serial::setParity
         *
         * \throw std::invalid_argument
         */
        parity_t
        getParity () const;

        /*! Sets the stopbits for the serial port.
         *
         * \param stopbits Number of stop bits used, default is stopbits_one,
         * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
         *
         * \throw std::invalid_argument
         */
        void
        setStopbits (stopbits_t stopbits);

        /*! Gets the stopbits for the serial port.
         *
         * \see Serial::setStopbits
         *
         * \throw std::invalid_argument
         */
        stopbits_t
        getStopbits () const;

        /*! Sets the flow control for the serial port.
         *
         * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none,
         * possible values are: flowcontrol_none, flowcontrol_software,
         * flowcontrol_hardware
         *
         * \throw std::invalid_argument
         */
        void
        setFlowcontrol (flowcontrol_t flowcontrol);

        /*! Gets the flow control for the serial port.
         *
         * \see Serial::setFlowcontrol
         *
         * \throw std::invalid_argument
         */
        flowcontrol_t
        getFlowcontrol () const;

        /*! Flush the input and output buffers */
        void
        flush ();

        /*! Flush only the input buffer */
        void
        flushInput ();

        /*! Flush only the output buffer */
        void
        flushOutput ();

        /*! Sends the RS-232 break signal.  See tcsendbreak(3). */
        void
        sendBreak (int duration);

        /*! Set the break condition to a given level.  Defaults to true. */
        void
        setBreak (bool level = true);

        /*! Set the RTS handshaking line to the given level.  Defaults to true. */
        void
        setRTS (bool level = true);

        /*! Set the DTR handshaking line to the given level.  Defaults to true. */
        void
        setDTR (bool level = true);

        /*!
         * Blocks until CTS, DSR, RI, CD changes or something interrupts it.
         *
         * Can throw an exception if an error occurs while waiting.
         * You can check the status of CTS, DSR, RI, and CD once this returns.
         * Uses TIOCMIWAIT via ioctl if available (mostly only on Linux) with a
         * resolution of less than +-1ms and as good as +-0.2ms.  Otherwise a
         * polling method is used which can give +-2ms.
         *
         * \return Returns true if one of the lines changed, false if something else
         * occurred.
         *
         * \throw SerialException
         */
        bool
        waitForChange ();

        /*! Returns the current status of the CTS line. */
        bool
        getCTS ();

        /*! Returns the current status of the DSR line. */
        bool
        getDSR ();

        /*! Returns the current status of the RI line. */
        bool
        getRI ();

        /*! Returns the current status of the CD line. */
        bool
        getCD ();

    private:
        // Disable copy constructors
        Serial(const Serial&);
        Serial& operator=(const Serial&);

        // Pimpl idiom, d_pointer
        class SerialImpl;
        SerialImpl *pimpl_;

        // Scoped Lock Classes
        class ScopedReadLock;
        class ScopedWriteLock;

        // Read common function
        size_t
        read_ (uint8_t *buffer, size_t size);
        // Write common function
        size_t
        write_ (const uint8_t *data, size_t length);

    };

    class SerialException : public std::exception
    {
        // Disable copy constructors
        SerialException& operator=(const SerialException&);
        std::string e_what_;
    public:
        SerialException (const char *description) {
          std::stringstream ss;
          ss << "SerialException " << description << " failed.";
          e_what_ = ss.str();
        }
        SerialException (const SerialException& other) : e_what_(other.e_what_) {}
        virtual ~SerialException() throw() {}
        virtual const char* what () const throw () {
          return e_what_.c_str();
        }
    };

    class IOException : public std::exception
    {
        // Disable copy constructors
        IOException& operator=(const IOException&);
        std::string file_;
        int line_;
        std::string e_what_;
        int errno_;
    public:
        explicit IOException (std::string file, int line, int errnum)
                : file_(file), line_(line), errno_(errnum) {
          std::stringstream ss;
#if defined(_WIN32) && !defined(__MINGW32__)
          char error_str [1024];
      strerror_s(error_str, 1024, errnum);
#else
          char * error_str = strerror(errnum);
#endif
          ss << "IO Exception (" << errno_ << "): " << error_str;
          ss << ", file " << file_ << ", line " << line_ << ".";
          e_what_ = ss.str();
        }
        explicit IOException (std::string file, int line, const char * description)
                : file_(file), line_(line), errno_(0) {
          std::stringstream ss;
          ss << "IO Exception: " << description;
          ss << ", file " << file_ << ", line " << line_ << ".";
          e_what_ = ss.str();
        }
        virtual ~IOException() throw() {}
        IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {}

        int getErrorNumber () { return errno_; }

        virtual const char* what () const throw () {
          return e_what_.c_str();
        }
    };

    class PortNotOpenedException : public std::exception
    {
        // Disable copy constructors
        const PortNotOpenedException& operator=(PortNotOpenedException);
        std::string e_what_;
    public:
        PortNotOpenedException (const char * description)  {
          std::stringstream ss;
          ss << "PortNotOpenedException " << description << " failed.";
          e_what_ = ss.str();
        }
        PortNotOpenedException (const PortNotOpenedException& other) : e_what_(other.e_what_) {}
        virtual ~PortNotOpenedException() throw() {}
        virtual const char* what () const throw () {
          return e_what_.c_str();
        }
    };

/*!
 * Structure that describes a serial device.
 */
    struct PortInfo {

        /*! Address of the serial port (this can be passed to the constructor of Serial). */
        std::string port;

        /*! Human readable description of serial device if available. */
        std::string description;

        /*! Hardware ID (e.g. VID:PID of USB serial devices) or "n/a" if not available. */
        std::string hardware_id;

    };

/* Lists the serial ports available on the system
 *
 * Returns a vector of available serial ports, each represented
 * by a serial::PortInfo data structure:
 *
 * \return vector of serial::PortInfo.
 */
    std::vector<PortInfo>
    list_ports();

} // namespace serial

#endif