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ros melodic library with custom message

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ros_lib/BufferedSerial/BufferedSerial.h@3:b964e3f71102, 2019-12-03 (annotated)

Committer:
florine_van
Date:
Tue Dec 03 09:39:29 2019 +0000
Revision:
3:b964e3f71102
Parent:
0:020db18a476d 
Clean code and remove unused lines

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scarter1 0:020db18a476d 1
scarter1 0:020db18a476d 2 /**
scarter1 0:020db18a476d 3 * @file BufferedSerial.h
scarter1 0:020db18a476d 4 * @brief Software Buffer - Extends mbed Serial functionallity adding irq driven TX and RX
scarter1 0:020db18a476d 5 * @author sam grove
scarter1 0:020db18a476d 6 * @version 1.0
scarter1 0:020db18a476d 7 * @see
scarter1 0:020db18a476d 8 *
scarter1 0:020db18a476d 9 * Copyright (c) 2013
scarter1 0:020db18a476d 10 *
scarter1 0:020db18a476d 11 * Licensed under the Apache License, Version 2.0 (the "License");
scarter1 0:020db18a476d 12 * you may not use this file except in compliance with the License.
scarter1 0:020db18a476d 13 * You may obtain a copy of the License at
scarter1 0:020db18a476d 14 *
scarter1 0:020db18a476d 15 * http://www.apache.org/licenses/LICENSE-2.0
scarter1 0:020db18a476d 16 *
scarter1 0:020db18a476d 17 * Unless required by applicable law or agreed to in writing, software
scarter1 0:020db18a476d 18 * distributed under the License is distributed on an "AS IS" BASIS,
scarter1 0:020db18a476d 19 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
scarter1 0:020db18a476d 20 * See the License for the specific language governing permissions and
scarter1 0:020db18a476d 21 * limitations under the License.
scarter1 0:020db18a476d 22 */
scarter1 0:020db18a476d 23
scarter1 0:020db18a476d 24 #ifndef BUFFEREDSERIAL_H
scarter1 0:020db18a476d 25 #define BUFFEREDSERIAL_H
scarter1 0:020db18a476d 26
scarter1 0:020db18a476d 27 #include "mbed.h"
scarter1 0:020db18a476d 28 #include "Buffer.h"
scarter1 0:020db18a476d 29
scarter1 0:020db18a476d 30 /** A serial port (UART) for communication with other serial devices
scarter1 0:020db18a476d 31 *
scarter1 0:020db18a476d 32 * Can be used for Full Duplex communication, or Simplex by specifying
scarter1 0:020db18a476d 33 * one pin as NC (Not Connected)
scarter1 0:020db18a476d 34 *
scarter1 0:020db18a476d 35 * Example:
scarter1 0:020db18a476d 36 * @code
scarter1 0:020db18a476d 37 * #include "mbed.h"
scarter1 0:020db18a476d 38 * #include "BufferedSerial.h"
scarter1 0:020db18a476d 39 *
scarter1 0:020db18a476d 40 * BufferedSerial pc(USBTX, USBRX);
scarter1 0:020db18a476d 41 *
scarter1 0:020db18a476d 42 * int main()
scarter1 0:020db18a476d 43 * {
scarter1 0:020db18a476d 44 * while(1)
scarter1 0:020db18a476d 45 * {
scarter1 0:020db18a476d 46 * Timer s;
scarter1 0:020db18a476d 47 *
scarter1 0:020db18a476d 48 * s.start();
scarter1 0:020db18a476d 49 * pc.printf("Hello World - buffered\n");
scarter1 0:020db18a476d 50 * int buffered_time = s.read_us();
scarter1 0:020db18a476d 51 * wait(0.1f); // give time for the buffer to empty
scarter1 0:020db18a476d 52 *
scarter1 0:020db18a476d 53 * s.reset();
scarter1 0:020db18a476d 54 * printf("Hello World - blocking\n");
scarter1 0:020db18a476d 55 * int polled_time = s.read_us();
scarter1 0:020db18a476d 56 * s.stop();
scarter1 0:020db18a476d 57 * wait(0.1f); // give time for the buffer to empty
scarter1 0:020db18a476d 58 *
scarter1 0:020db18a476d 59 * pc.printf("printf buffered took %d us\n", buffered_time);
scarter1 0:020db18a476d 60 * pc.printf("printf blocking took %d us\n", polled_time);
scarter1 0:020db18a476d 61 * wait(0.5f);
scarter1 0:020db18a476d 62 * }
scarter1 0:020db18a476d 63 * }
scarter1 0:020db18a476d 64 * @endcode
scarter1 0:020db18a476d 65 */
scarter1 0:020db18a476d 66
scarter1 0:020db18a476d 67 /**
scarter1 0:020db18a476d 68 * @class BufferedSerial
scarter1 0:020db18a476d 69 * @brief Software buffers and interrupt driven tx and rx for Serial
scarter1 0:020db18a476d 70 */
scarter1 0:020db18a476d 71 class BufferedSerial : public RawSerial
scarter1 0:020db18a476d 72 {
scarter1 0:020db18a476d 73 private:
scarter1 0:020db18a476d 74 Buffer <char> _rxbuf;
scarter1 0:020db18a476d 75 Buffer <char> _txbuf;
scarter1 0:020db18a476d 76 uint32_t _buf_size;
scarter1 0:020db18a476d 77 uint32_t _tx_multiple;
scarter1 0:020db18a476d 78
scarter1 0:020db18a476d 79 void rxIrq(void);
scarter1 0:020db18a476d 80 void txIrq(void);
scarter1 0:020db18a476d 81 void prime(void);
scarter1 0:020db18a476d 82
scarter1 0:020db18a476d 83 public:
scarter1 0:020db18a476d 84 /** Create a BufferedSerial port, connected to the specified transmit and receive pins
scarter1 0:020db18a476d 85 * @param tx Transmit pin
scarter1 0:020db18a476d 86 * @param rx Receive pin
scarter1 0:020db18a476d 87 * @param buf_size printf() buffer size
scarter1 0:020db18a476d 88 * @param tx_multiple amount of max printf() present in the internal ring buffer at one time
scarter1 0:020db18a476d 89 * @param name optional name
scarter1 0:020db18a476d 90 * @note Either tx or rx may be specified as NC if unused
scarter1 0:020db18a476d 91 */
scarter1 0:020db18a476d 92 BufferedSerial(PinName tx, PinName rx, uint32_t buf_size = 256, uint32_t tx_multiple = 4,const char* name=NULL);
scarter1 0:020db18a476d 93
scarter1 0:020db18a476d 94 /** Destroy a BufferedSerial port
scarter1 0:020db18a476d 95 */
scarter1 0:020db18a476d 96 virtual ~BufferedSerial(void);
scarter1 0:020db18a476d 97
scarter1 0:020db18a476d 98 /** Check on how many bytes are in the rx buffer
scarter1 0:020db18a476d 99 * @return 1 if something exists, 0 otherwise
scarter1 0:020db18a476d 100 */
scarter1 0:020db18a476d 101 virtual int readable(void);
scarter1 0:020db18a476d 102
scarter1 0:020db18a476d 103 /** Check to see if the tx buffer has room
scarter1 0:020db18a476d 104 * @return 1 always has room and can overwrite previous content if too small / slow
scarter1 0:020db18a476d 105 */
scarter1 0:020db18a476d 106 virtual int writeable(void);
scarter1 0:020db18a476d 107
scarter1 0:020db18a476d 108 /** Get a single byte from the BufferedSerial Port.
scarter1 0:020db18a476d 109 * Should check readable() before calling this.
scarter1 0:020db18a476d 110 * @return A byte that came in on the Serial Port
scarter1 0:020db18a476d 111 */
scarter1 0:020db18a476d 112 virtual int getc(void);
scarter1 0:020db18a476d 113
scarter1 0:020db18a476d 114 /** Write a single byte to the BufferedSerial Port.
scarter1 0:020db18a476d 115 * @param c The byte to write to the Serial Port
scarter1 0:020db18a476d 116 * @return The byte that was written to the Serial Port Buffer
scarter1 0:020db18a476d 117 */
scarter1 0:020db18a476d 118 virtual int putc(int c);
scarter1 0:020db18a476d 119
scarter1 0:020db18a476d 120 /** Write a string to the BufferedSerial Port. Must be NULL terminated
scarter1 0:020db18a476d 121 * @param s The string to write to the Serial Port
scarter1 0:020db18a476d 122 * @return The number of bytes written to the Serial Port Buffer
scarter1 0:020db18a476d 123 */
scarter1 0:020db18a476d 124 virtual int puts(const char *s);
scarter1 0:020db18a476d 125
scarter1 0:020db18a476d 126 /** Write a formatted string to the BufferedSerial Port.
scarter1 0:020db18a476d 127 * @param format The string + format specifiers to write to the Serial Port
scarter1 0:020db18a476d 128 * @return The number of bytes written to the Serial Port Buffer
scarter1 0:020db18a476d 129 */
scarter1 0:020db18a476d 130 virtual int printf(const char* format, ...);
scarter1 0:020db18a476d 131
scarter1 0:020db18a476d 132 /** Write data to the Buffered Serial Port
scarter1 0:020db18a476d 133 * @param s A pointer to data to send
scarter1 0:020db18a476d 134 * @param length The amount of data being pointed to
scarter1 0:020db18a476d 135 * @return The number of bytes written to the Serial Port Buffer
scarter1 0:020db18a476d 136 */
scarter1 0:020db18a476d 137 virtual ssize_t write(const void *s, std::size_t length);
scarter1 0:020db18a476d 138 };
scarter1 0:020db18a476d 139
scarter1 0:020db18a476d 140 #endif