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FRC2016-old/Robot2016/wpilib/cpp/current/include/SerialPort.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

75 lines
2.4 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "ErrorBase.h"
#include "HAL/HAL.hpp"
/**
* Driver for the RS-232 serial port on the RoboRIO.
*
* The current implementation uses the VISA formatted I/O mode. This means that
* all traffic goes through the fomatted buffers. This allows the
* intermingled
* use of Printf(), Scanf(), and the raw buffer accessors Read() and Write().
*
* More information can be found in the NI-VISA User Manual here:
* http://www.ni.com/pdf/manuals/370423a.pdf
* and the NI-VISA Programmer's Reference Manual here:
* http://www.ni.com/pdf/manuals/370132c.pdf
*/
class SerialPort : public ErrorBase {
public:
enum Parity {
kParity_None = 0,
kParity_Odd = 1,
kParity_Even = 2,
kParity_Mark = 3,
kParity_Space = 4
};
enum StopBits {
kStopBits_One = 10,
kStopBits_OnePointFive = 15,
kStopBits_Two = 20
};
enum FlowControl {
kFlowControl_None = 0,
kFlowControl_XonXoff = 1,
kFlowControl_RtsCts = 2,
kFlowControl_DtrDsr = 4
};
enum WriteBufferMode { kFlushOnAccess = 1, kFlushWhenFull = 2 };
enum Port { kOnboard = 0, kMXP = 1, kUSB = 2 };
SerialPort(uint32_t baudRate, Port port = kOnboard, uint8_t dataBits = 8,
Parity parity = kParity_None, StopBits stopBits = kStopBits_One);
~SerialPort();
SerialPort(const SerialPort&) = delete;
SerialPort& operator=(const SerialPort&) = delete;
void SetFlowControl(FlowControl flowControl);
void EnableTermination(char terminator = '\n');
void DisableTermination();
int32_t GetBytesReceived();
uint32_t Read(char *buffer, int32_t count);
uint32_t Write(const std::string &buffer, int32_t count);
void SetTimeout(float timeout);
void SetReadBufferSize(uint32_t size);
void SetWriteBufferSize(uint32_t size);
void SetWriteBufferMode(WriteBufferMode mode);
void Flush();
void Reset();
private:
uint32_t m_resourceManagerHandle = 0;
uint32_t m_portHandle = 0;
bool m_consoleModeEnabled = false;
uint8_t m_port;
};