SerialPort_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_SERIALPORT_NWS_YARP_H
#define YARP_DEV_SERIALPORT_NWS_YARP_H
 
#include <cstdio>
#include <cstdlib>
 
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/Thread.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/RpcServer.h>
#include <yarp/dev/WrapperSingle.h>
#include <memory>
#include "ISerialMsgs.h"
 
#include "SerialPort_nws_yarp_ParamsParser.h"
 
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::dev;
 
class SerialPort_nws_yarp;
 
// Callback implementation after buffered input.
class SerialPort_CallbackHelper :
        public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
protected:
    yarp::dev::ISerialDevice* m_iser{nullptr};
 
public:
    SerialPort_CallbackHelper();
    SerialPort_CallbackHelper(yarp::dev::ISerialDevice* x);
    virtual ~SerialPort_CallbackHelper() override {};
 
    using yarp::os::TypedReaderCallback<Bottle>::onRead;
    void onRead(Bottle& b) override;
};
 
class ISerialMsgsd : public ISerialMsgs
{
private:
    std::mutex   m_mutex;
    yarp::dev::ISerialDevice* m_iser = nullptr;
 
public:
    bool setDTR(bool enable) override;
    int flush() override;
 
public:
    void setInterfaces(yarp::dev::ISerialDevice* iser) {m_iser = iser;}
    std::mutex* getMutex() { return &m_mutex; }
};
 
class SerialPort_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::os::Thread,
        public yarp::dev::WrapperSingle,
        public yarp::os::PortReader,
        public SerialPort_nws_yarp_ParamsParser
{
private:
    yarp::dev::ISerialDevice* m_iserial{ nullptr };
    yarp::os::Port            toDevice;
    yarp::os::Port            fromDevice;
    yarp::os::Port            m_rpcPort;
    ISerialMsgsd              m_rpc;
 
    yarp::os::PortWriterBuffer <yarp::os::Bottle> reply_buffer;
    yarp::os::PortReaderBuffer <yarp::os::Bottle> command_buffer;
    std::unique_ptr<SerialPort_CallbackHelper> callback_impl;
 
    // yarp::dev::IWrapper
    bool  attach(yarp::dev::PolyDriver* deviceToAttach) override;
    bool  detach() override;
 
private:
    bool receive(Bottle& msg);
    int  receiveChar(char& c);
    bool closeMain();
 
public:
    SerialPort_nws_yarp() = default;
    SerialPort_nws_yarp(const SerialPort_nws_yarp&) = delete;
    SerialPort_nws_yarp(SerialPort_nws_yarp&&) = delete;
    SerialPort_nws_yarp& operator=(const SerialPort_nws_yarp&) = delete;
    SerialPort_nws_yarp& operator=(SerialPort_nws_yarp&&) = delete;
    virtual ~SerialPort_nws_yarp() override;
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool read(yarp::os::ConnectionReader& connection) override;
    void run() override;
};
 
#endif // YARP_DEV_SERIALPORT_NWS_YARP_H