Program Listing for File cmd_interface_linux.hpp

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// Copyright 2021 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: LD Robot, Will Son

#ifndef CMD_INTERFACE_LINUX_HPP_
#define CMD_INTERFACE_LINUX_HPP_

#include <inttypes.h>
#include <atomic>
#include <condition_variable>
#include <functional>
#include <mutex>
#include <string>
#include <thread>
#include <utility>
#include <vector>

class CmdInterfaceLinux
{
public:
  explicit CmdInterfaceLinux(int32_t ver);
  ~CmdInterfaceLinux();

  bool Open(std::string & port_name);
  bool Close();
  bool ReadFromIO(uint8_t * rx_buf, uint32_t rx_buf_len, uint32_t * rx_len);
  bool WriteToIo(const uint8_t * tx_buf, uint32_t tx_buf_len, uint32_t * tx_len);
  bool GetCmdDevices(std::vector<std::pair<std::string, std::string>> & device_list);
  void SetReadCallback(std::function<void(const char *, size_t length)> callback)
  {
    mReadCallback = callback;
  }
  bool IsOpened()
  {
    return mIsCmdOpened.load();
  }

private:
  std::thread * mRxThread;
  int64_t mRxCount;
  std::function<void(const char *, size_t length)> mReadCallback;
  int32_t version;
  static void mRxThreadProc(void * param);
  int32_t mComHandle;
  std::atomic<bool> mIsCmdOpened, mRxThreadExitFlag;
};

#endif  // CMD_INTERFACE_LINUX_HPP_