00001 /** 00002 \file Robots/LoBot/io/LoSerial.H 00003 \brief Interface for talking to the robot's motor driver. 00004 00005 lobot's computer sends motor commands to a Sabertooth motor driver via 00006 a Propeller board that is connected to the computer over a USB serial 00007 port. This file defines a class that encapsulates the serial 00008 communications interface using either libserial (if available) or 00009 INVT's serial communications support (if libserial is not available). 00010 */ 00011 00012 // //////////////////////////////////////////////////////////////////// // 00013 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00014 // University of Southern California (USC) and the iLab at USC. // 00015 // See http://iLab.usc.edu for information about this project. // 00016 // //////////////////////////////////////////////////////////////////// // 00017 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00018 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00019 // in Visual Environments, and Applications'' by Christof Koch and // 00020 // Laurent Itti, California Institute of Technology, 2001 (patent // 00021 // pending; application number 09/912,225 filed July 23, 2001; see // 00022 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00023 // //////////////////////////////////////////////////////////////////// // 00024 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00025 // // 00026 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00027 // redistribute it and/or modify it under the terms of the GNU General // 00028 // Public License as published by the Free Software Foundation; either // 00029 // version 2 of the License, or (at your option) any later version. // 00030 // // 00031 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00032 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00033 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00034 // PURPOSE. See the GNU General Public License for more details. // 00035 // // 00036 // You should have received a copy of the GNU General Public License // 00037 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00038 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00039 // Boston, MA 02111-1307 USA. // 00040 // //////////////////////////////////////////////////////////////////// // 00041 // 00042 // Primary maintainer for this file: Manu Viswanathan <mviswana@usc.edu> 00043 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/io/LoSerial.H $ 00044 // $Id: LoSerial.H 12645 2010-01-25 03:28:29Z mviswana $ 00045 // 00046 00047 #ifndef LOBOT_SERIAL_DOT_H 00048 #define LOBOT_SERIAL_DOT_H 00049 00050 //------------------------------ HEADERS -------------------------------- 00051 00052 // Headers for serial port communications 00053 #ifdef HAVE_LIBSERIAL 00054 00055 #include <SerialPort.h> 00056 00057 #else // fallback to using INVT serial port support 00058 00059 #include "Devices/Serial.H" 00060 #include "nub/ref.h" 00061 00062 #endif 00063 00064 // INVT model manager stuff 00065 #include "Component/ModelManager.H" 00066 00067 //----------------------------- NAMESPACE ------------------------------- 00068 00069 namespace lobot { 00070 00071 //------------------------- CLASS DEFINITION ---------------------------- 00072 00073 /** 00074 \class lobot::Serial 00075 \brief Serial communications API. 00076 00077 The robot's motors are controlled by a motor driver that is in turn 00078 controlled by a Propeller-based I/O board. This board connects to the 00079 Robolocust computer (the mini-ITX Debian box) over a USB port. The 00080 lobot::Serial class provides an API for interfacing with the Propeller 00081 using a serial port. It uses libserial for the serial communications 00082 if that library is available. Otherwise, it falls back to using INVT's 00083 support for serial communications. 00084 */ 00085 class Serial { 00086 /// The low-level serial device interface. 00087 #ifdef HAVE_LIBSERIAL 00088 SerialPort m_serial ; 00089 #else 00090 nub::ref< ::Serial> m_serial ; 00091 bool m_peek_flag ; 00092 char m_peek_char ; 00093 #endif 00094 00095 public: 00096 /// Initialization. 00097 Serial(const ModelManager&, const std::string& device, int baud_rate) ; 00098 00099 /// Check if the serial port has data available for reading. 00100 bool ready() ; 00101 00102 /// Receive data from the serial port. Returns the number of bytes 00103 /// successfully read. Client should check that this is equal to the 00104 /// expected number. 00105 int read(char buf[], int n) ; 00106 00107 /// Send data to the serial port. 00108 void write(char buf[], int n) ; 00109 00110 /// Read the specified number of bytes and don't return until they're 00111 /// all read in. 00112 void read_full(char buf[], int n) ; 00113 00114 /// Read and discard the specified number of bytes. 00115 void eat(int n) ; 00116 00117 /// Clean-up. 00118 ~Serial() ; 00119 } ; 00120 00121 //----------------------------------------------------------------------- 00122 00123 } // end of namespace encapsulating this file's definitions 00124 00125 #endif 00126 00127 /* So things look consistent in everyone's emacs... */ 00128 /* Local Variables: */ 00129 /* indent-tabs-mode: nil */ 00130 /* End: */