ros melodic library with custom message
Dependents: Robot_team1_QEI_Douglas Robot_team1
ros_lib/BufferedSerial/BufferedSerial.h
- Committer:
- florine_van
- Date:
- 2019-12-03
- Revision:
- 3:b964e3f71102
- Parent:
- 0:020db18a476d
File content as of revision 3:b964e3f71102:
/** * @file BufferedSerial.h * @brief Software Buffer - Extends mbed Serial functionallity adding irq driven TX and RX * @author sam grove * @version 1.0 * @see * * Copyright (c) 2013 * * 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. */ #ifndef BUFFEREDSERIAL_H #define BUFFEREDSERIAL_H #include "mbed.h" #include "Buffer.h" /** A serial port (UART) for communication with other serial devices * * Can be used for Full Duplex communication, or Simplex by specifying * one pin as NC (Not Connected) * * Example: * @code * #include "mbed.h" * #include "BufferedSerial.h" * * BufferedSerial pc(USBTX, USBRX); * * int main() * { * while(1) * { * Timer s; * * s.start(); * pc.printf("Hello World - buffered\n"); * int buffered_time = s.read_us(); * wait(0.1f); // give time for the buffer to empty * * s.reset(); * printf("Hello World - blocking\n"); * int polled_time = s.read_us(); * s.stop(); * wait(0.1f); // give time for the buffer to empty * * pc.printf("printf buffered took %d us\n", buffered_time); * pc.printf("printf blocking took %d us\n", polled_time); * wait(0.5f); * } * } * @endcode */ /** * @class BufferedSerial * @brief Software buffers and interrupt driven tx and rx for Serial */ class BufferedSerial : public RawSerial { private: Buffer <char> _rxbuf; Buffer <char> _txbuf; uint32_t _buf_size; uint32_t _tx_multiple; void rxIrq(void); void txIrq(void); void prime(void); public: /** Create a BufferedSerial port, connected to the specified transmit and receive pins * @param tx Transmit pin * @param rx Receive pin * @param buf_size printf() buffer size * @param tx_multiple amount of max printf() present in the internal ring buffer at one time * @param name optional name * @note Either tx or rx may be specified as NC if unused */ BufferedSerial(PinName tx, PinName rx, uint32_t buf_size = 256, uint32_t tx_multiple = 4,const char* name=NULL); /** Destroy a BufferedSerial port */ virtual ~BufferedSerial(void); /** Check on how many bytes are in the rx buffer * @return 1 if something exists, 0 otherwise */ virtual int readable(void); /** Check to see if the tx buffer has room * @return 1 always has room and can overwrite previous content if too small / slow */ virtual int writeable(void); /** Get a single byte from the BufferedSerial Port. * Should check readable() before calling this. * @return A byte that came in on the Serial Port */ virtual int getc(void); /** Write a single byte to the BufferedSerial Port. * @param c The byte to write to the Serial Port * @return The byte that was written to the Serial Port Buffer */ virtual int putc(int c); /** Write a string to the BufferedSerial Port. Must be NULL terminated * @param s The string to write to the Serial Port * @return The number of bytes written to the Serial Port Buffer */ virtual int puts(const char *s); /** Write a formatted string to the BufferedSerial Port. * @param format The string + format specifiers to write to the Serial Port * @return The number of bytes written to the Serial Port Buffer */ virtual int printf(const char* format, ...); /** Write data to the Buffered Serial Port * @param s A pointer to data to send * @param length The amount of data being pointed to * @return The number of bytes written to the Serial Port Buffer */ virtual ssize_t write(const void *s, std::size_t length); }; #endif