serial_client.h

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// Copyright 2009-2021:
//   GobySoft, LLC (2013-)
//   Massachusetts Institute of Technology (2007-2014)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
// Old interface - replaced for most uses by middleware/io/line_based/serial.h
 
#ifndef GOBY_UTIL_LINEBASEDCOMMS_SERIAL_CLIENT_H
#define GOBY_UTIL_LINEBASEDCOMMS_SERIAL_CLIENT_H
 
#include <atomic>
#include <memory>
#include <string> // for string, operator!=
#include <thread>
 
#include "goby/middleware/io/line_based/serial.h"
#include "goby/middleware/protobuf/io.pb.h"
 
#include "interface.h"
 
namespace goby
{
namespace util
{
class SerialClient : public LineBasedInterface
{
  public:
    SerialClient(std::string name = "", unsigned baud = 9600,
                 const std::string& delimiter = "\r\n");
 
    ~SerialClient() override;

    void set_name(const std::string& name) { name_ = name; }
    void set_baud(unsigned baud) { baud_ = baud; }

    std::string name() const { return name_; }

    unsigned baud() const { return baud_; }

    std::string local_endpoint() override { return name_; }
    std::string remote_endpoint() override { return ""; }
 
    void send_command(const middleware::protobuf::SerialCommand& command);
    const middleware::protobuf::SerialStatus& read_status() { return status_; }
 
  private:
    void do_start() override;
    void do_close() override;
    void do_subscribe() override;
 
  private:
    std::string name_;
    unsigned baud_;
 
    using Thread = goby::middleware::io::SerialThreadLineBased<
        groups::linebasedcomms_in, groups::linebasedcomms_out,
        goby::middleware::io::PubSubLayer::INTERTHREAD,
        goby::middleware::io::PubSubLayer::INTERTHREAD, goby::util::LineBasedCommsThreadStub, true>;
 
    std::atomic<bool> serial_alive_{false};
    std::unique_ptr<std::thread> serial_thread_;
 
    middleware::protobuf::SerialStatus status_;
};
} // namespace util
} // namespace goby
#endif