bullet3/examples/ThirdPartyLibs/serial/src/serial.cc

/* Copyright 2012 William Woodall and John Harrison */
#include <algorithm>

#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
#include <alloca.h>
#endif

#if defined(__MINGW32__)
#define alloca __builtin_alloca
#endif

#include "serial/serial.h"

#ifdef _WIN32
#include "serial/impl/win.h"
#else
#include "serial/impl/unix.h"
#endif

using std::invalid_argument;
using std::min;
using std::numeric_limits;
using std::size_t;
using std::string;
using std::vector;

using serial::bytesize_t;
using serial::flowcontrol_t;
using serial::IOException;
using serial::parity_t;
using serial::Serial;
using serial::SerialException;
using serial::stopbits_t;

class Serial::ScopedReadLock
{
public:
	ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl)
	{
		this->pimpl_->readLock();
	}
	~ScopedReadLock()
	{
		this->pimpl_->readUnlock();
	}

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

	SerialImpl *pimpl_;
};

class Serial::ScopedWriteLock
{
public:
	ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl)
	{
		this->pimpl_->writeLock();
	}
	~ScopedWriteLock()
	{
		this->pimpl_->writeUnlock();
	}

private:
	// Disable copy constructors
	ScopedWriteLock(const ScopedWriteLock &);
	const ScopedWriteLock &operator=(ScopedWriteLock);
	SerialImpl *pimpl_;
};

Serial::Serial(const string &port, uint32_t baudrate, serial::Timeout timeout,
			   bytesize_t bytesize, parity_t parity, stopbits_t stopbits,
			   flowcontrol_t flowcontrol)
	: pimpl_(new SerialImpl(port, baudrate, bytesize, parity,
							stopbits, flowcontrol))
{
	pimpl_->setTimeout(timeout);
}

Serial::~Serial()
{
	delete pimpl_;
}

void Serial::open()
{
	pimpl_->open();
}

void Serial::close()
{
	pimpl_->close();
}

bool Serial::isOpen() const
{
	return pimpl_->isOpen();
}

size_t
Serial::available()
{
	return pimpl_->available();
}

bool Serial::waitReadable()
{
	serial::Timeout timeout(pimpl_->getTimeout());
	return pimpl_->waitReadable(timeout.read_timeout_constant);
}

void Serial::waitByteTimes(size_t count)
{
	pimpl_->waitByteTimes(count);
}

size_t
Serial::read_(uint8_t *buffer, size_t size)
{
	return this->pimpl_->read(buffer, size);
}

size_t
Serial::read(uint8_t *buffer, size_t size)
{
	ScopedReadLock lock(this->pimpl_);
	return this->pimpl_->read(buffer, size);
}

size_t
Serial::read(std::vector<uint8_t> &buffer, size_t size)
{
	ScopedReadLock lock(this->pimpl_);
	uint8_t *buffer_ = new uint8_t[size];
	size_t bytes_read = this->pimpl_->read(buffer_, size);
	buffer.insert(buffer.end(), buffer_, buffer_ + bytes_read);
	delete[] buffer_;
	return bytes_read;
}

size_t
Serial::read(std::string &buffer, size_t size)
{
	ScopedReadLock lock(this->pimpl_);
	uint8_t *buffer_ = new uint8_t[size];
	size_t bytes_read = this->pimpl_->read(buffer_, size);
	buffer.append(reinterpret_cast<const char *>(buffer_), bytes_read);
	delete[] buffer_;
	return bytes_read;
}

string
Serial::read(size_t size)
{
	std::string buffer;
	this->read(buffer, size);
	return buffer;
}

size_t
Serial::readline(string &buffer, size_t size, string eol)
{
	ScopedReadLock lock(this->pimpl_);
	size_t eol_len = eol.length();
	uint8_t *buffer_ = static_cast<uint8_t *>(alloca(size * sizeof(uint8_t)));
	size_t read_so_far = 0;
	while (true)
	{
		size_t bytes_read = this->read_(buffer_ + read_so_far, 1);
		read_so_far += bytes_read;
		if (bytes_read == 0)
		{
			break;  // Timeout occured on reading 1 byte
		}
		if (string(reinterpret_cast<const char *>(buffer_ + read_so_far - eol_len), eol_len) == eol)
		{
			break;  // EOL found
		}
		if (read_so_far == size)
		{
			break;  // Reached the maximum read length
		}
	}
	buffer.append(reinterpret_cast<const char *>(buffer_), read_so_far);
	return read_so_far;
}

string
Serial::readline(size_t size, string eol)
{
	std::string buffer;
	this->readline(buffer, size, eol);
	return buffer;
}

vector<string>
Serial::readlines(size_t size, string eol)
{
	ScopedReadLock lock(this->pimpl_);
	std::vector<std::string> lines;
	size_t eol_len = eol.length();
	uint8_t *buffer_ = static_cast<uint8_t *>(alloca(size * sizeof(uint8_t)));
	size_t read_so_far = 0;
	size_t start_of_line = 0;
	while (read_so_far < size)
	{
		size_t bytes_read = this->read_(buffer_ + read_so_far, 1);
		read_so_far += bytes_read;
		if (bytes_read == 0)
		{
			if (start_of_line != read_so_far)
			{
				lines.push_back(
					string(reinterpret_cast<const char *>(buffer_ + start_of_line),
						   read_so_far - start_of_line));
			}
			break;  // Timeout occured on reading 1 byte
		}
		if (string(reinterpret_cast<const char *>(buffer_ + read_so_far - eol_len), eol_len) == eol)
		{
			// EOL found
			lines.push_back(
				string(reinterpret_cast<const char *>(buffer_ + start_of_line),
					   read_so_far - start_of_line));
			start_of_line = read_so_far;
		}
		if (read_so_far == size)
		{
			if (start_of_line != read_so_far)
			{
				lines.push_back(
					string(reinterpret_cast<const char *>(buffer_ + start_of_line),
						   read_so_far - start_of_line));
			}
			break;  // Reached the maximum read length
		}
	}
	return lines;
}

size_t
Serial::write(const string &data)
{
	ScopedWriteLock lock(this->pimpl_);
	return this->write_(reinterpret_cast<const uint8_t *>(data.c_str()),
						data.length());
}

size_t
Serial::write(const std::vector<uint8_t> &data)
{
	ScopedWriteLock lock(this->pimpl_);
	return this->write_(&data[0], data.size());
}

size_t
Serial::write(const uint8_t *data, size_t size)
{
	ScopedWriteLock lock(this->pimpl_);
	return this->write_(data, size);
}

size_t
Serial::write_(const uint8_t *data, size_t length)
{
	return pimpl_->write(data, length);
}

void Serial::setPort(const string &port)
{
	ScopedReadLock rlock(this->pimpl_);
	ScopedWriteLock wlock(this->pimpl_);
	bool was_open = pimpl_->isOpen();
	if (was_open) close();
	pimpl_->setPort(port);
	if (was_open) open();
}

string
Serial::getPort() const
{
	return pimpl_->getPort();
}

void Serial::setTimeout(serial::Timeout &timeout)
{
	pimpl_->setTimeout(timeout);
}

serial::Timeout
Serial::getTimeout() const
{
	return pimpl_->getTimeout();
}

void Serial::setBaudrate(uint32_t baudrate)
{
	pimpl_->setBaudrate(baudrate);
}

uint32_t
Serial::getBaudrate() const
{
	return uint32_t(pimpl_->getBaudrate());
}

void Serial::setBytesize(bytesize_t bytesize)
{
	pimpl_->setBytesize(bytesize);
}

bytesize_t
Serial::getBytesize() const
{
	return pimpl_->getBytesize();
}

void Serial::setParity(parity_t parity)
{
	pimpl_->setParity(parity);
}

parity_t
Serial::getParity() const
{
	return pimpl_->getParity();
}

void Serial::setStopbits(stopbits_t stopbits)
{
	pimpl_->setStopbits(stopbits);
}

stopbits_t
Serial::getStopbits() const
{
	return pimpl_->getStopbits();
}

void Serial::setFlowcontrol(flowcontrol_t flowcontrol)
{
	pimpl_->setFlowcontrol(flowcontrol);
}

flowcontrol_t
Serial::getFlowcontrol() const
{
	return pimpl_->getFlowcontrol();
}

void Serial::flush()
{
	ScopedReadLock rlock(this->pimpl_);
	ScopedWriteLock wlock(this->pimpl_);
	pimpl_->flush();
}

void Serial::flushInput()
{
	ScopedReadLock lock(this->pimpl_);
	pimpl_->flushInput();
}

void Serial::flushOutput()
{
	ScopedWriteLock lock(this->pimpl_);
	pimpl_->flushOutput();
}

void Serial::sendBreak(int duration)
{
	pimpl_->sendBreak(duration);
}

void Serial::setBreak(bool level)
{
	pimpl_->setBreak(level);
}

void Serial::setRTS(bool level)
{
	pimpl_->setRTS(level);
}

void Serial::setDTR(bool level)
{
	pimpl_->setDTR(level);
}

bool Serial::waitForChange()
{
	return pimpl_->waitForChange();
}

bool Serial::getCTS()
{
	return pimpl_->getCTS();
}

bool Serial::getDSR()
{
	return pimpl_->getDSR();
}

bool Serial::getRI()
{
	return pimpl_->getRI();
}

bool Serial::getCD()
{
	return pimpl_->getCD();
}