mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
74 lines
2.3 KiB
C++
74 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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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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