00001 #ifndef URG_SERIAL_H
00002 #define URG_SERIAL_H
00003 
00016 #ifdef __cplusplus
00017 extern "C" {
00018 #endif
00019 
00020 #include "urg_detect_os.h"
00021 
00022 #if defined(URG_WINDOWS_OS)
00023 #include <windows.h>
00024 #else
00025 #include <termios.h>
00026 #endif
00027 #include "urg_ring_buffer.h"
00028 
00029 
00030 enum {
00031     RING_BUFFER_SIZE_SHIFT = 7,
00032     RING_BUFFER_SIZE = 1 << RING_BUFFER_SIZE_SHIFT,
00033 
00034     ERROR_MESSAGE_SIZE = 256,
00035 };
00036 
00037 
00039 typedef struct
00040 {
00041 #if defined(URG_WINDOWS_OS)
00042     HANDLE hCom;                
00043     int current_timeout;        
00044 #else
00045     int fd;                     
00046     struct termios sio;         
00047 #endif
00048 
00049     ring_buffer_t ring;         
00050     char buffer[RING_BUFFER_SIZE]; 
00051     char has_last_ch;          
00052     char last_ch;              
00053 } urg_serial_t;
00054 
00055 
00057 extern int serial_open(urg_serial_t *serial, const char *device, long baudrate);
00058 
00059 
00061 extern void serial_close(urg_serial_t *serial);
00062 
00063 
00065 extern int serial_set_baudrate(urg_serial_t *serial, long baudrate);
00066 
00067 
00069 extern int serial_write(urg_serial_t *serial, const char *data, int size);
00070 
00071 
00073 extern int serial_read(urg_serial_t *serial,
00074                        char *data, int max_size, int timeout);
00075 
00076 
00078 extern int serial_readline(urg_serial_t *serial,
00079                            char *data, int max_size, int timeout);
00080 
00081 
00083 extern int serial_error(urg_serial_t *serial,
00084                         char *error_message, int max_size);
00085 
00086 #ifdef __cplusplus
00087 }
00088 #endif
00089 
00090 #endif /* !URG_SERIAL_H */