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