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Dario Sassi 28d1eeb31e ArctosRobotCnc 2.7e1 : 
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2025-05-25 11:04:09 +02:00

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/* SPDX-License-Identifier: BSD-2-Clause OR GPL-3.0-or-later */
/*
* Software for Industrial Communication, Motion Control and Automation
*
* Copyright (c) 2002-2024 Uwe Vogt, UV Software, Berlin (info@uv-software.com)
* All rights reserved.
*
* Module 'serial'
*
* This module is dual-licensed under the BSD 2-Clause "Simplified" License
* and under the GNU General Public License v3.0 (or any later version).
* You can choose between one of them if you use this module.
*
* BSD 2-Clause "Simplified" License:
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS MODULE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS MODULE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* GNU General Public License v3.0 or later:
* This module is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This module is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this module. If not, see <https://www.gnu.org/licenses/>.
*/
/** @file serial.h
*
* @brief Serial data transmission.
*
* @author $Author: quaoar $
*
* @version $Rev: 811 $
*
* @defgroup serial Serial Data Transmission
* @{
*/
#ifndef SERIAL_H_INCLUDED
#define SERIAL_H_INCLUDED
#include "serial_attr.h"
#include <stdio.h>
#include <stdint.h>
/* ----------- options ------------------------------------------------
*/
/** @name Compiler Switches
* @brief Options for conditional compilation.
* @{ */
/** @note Set define OPTION_SERIAL_DEBUG_LEVEL to a non-zero value to compile
* with logging of serial commumication (e.g. in the build environment).
*/
/** @} */
/* ----------- defines ------------------------------------------------
*/
/* ----------- types --------------------------------------------------
*/
typedef void *sio_port_t; /**< serial port (opaque data type) */
/** @brief reception callback function
*
* @param[in] receiver - pointer to an instance to handle the received data
* @param[in] buffer - data buffer with the received data
* @param[in] nbytes - number of received data bytes
*/
typedef void (*sio_recv_t)(const void *receiver, const uint8_t *buffer, size_t nbytes);
/* ----------- variables ----------------------------------------------
*/
/* ----------- prototypes ---------------------------------------------
*/
#ifdef __cplusplus
extern "C" {
#endif
/** @brief creates a port instance for communication with a serial
* device (constructor).
*
* @param[in] callback - pointer to a reception callback function
* @param[in] receiver - pointer to an instance to handle received data
*
* @returns a pointer to a port instance if successful, or NULL on error.
*
* @note System variable 'errno' will be set in case of an error.
*
* @retval ENOMEM - out of memory (insufficient storage space)
*/
extern sio_port_t sio_create(sio_recv_t callback, void *receiver);
/** @brief destroys the port instance (destructor).
*
* @remarks An established connection will be terminated by this.
*
* @param[in] port - pointer to a port instance
*
* @returns 0 if successful, or a negative value on error.
*
* @note System variable 'errno' will be set in case of an error.
*
* @retval ENODEV - no such device (invalid port instance)
*/
extern int sio_destroy(sio_port_t port);
/** @brief establishes a connection with the serial communication device.
*
* @param[in] port - pointer to a port instance
* @param[in] device - name of the serial device
* @param[in] attr - serial port attributes (optional)
*
* @returns a file descriptor if successful, or a negative value on error.
*
* @remarks On Windows, the communication port number (zero based) is returned.
*
* @note System variable 'errno' will be set in case of an error.
*
* @retval ENODEV - no such device (invalid port instance)
* @retval EINVAL - invalid argument (device name is NULL)
* @retval EALREADY - already connected with the serial device
* @retval 'errno' - error code from called system functions:
* 'open', 'tcsetattr', 'pthread_create'
*/
extern int sio_connect(sio_port_t port, const char *device, const sio_attr_t *attr);
/** @brief terminates the connection with the serial communication device.
*
* @param[in] port - pointer to a port instance
*
* @returns 0 if successful, or a negative value on error.
*
* @note System variable 'errno' will be set in case of an error.
*
* @retval ENODEV - no such device (invalid port instance)
* @retval EBADF - bad file descriptor (device not connected)
* @retval 'errno' - error code from called system functions:
* 'pthread_cancle', 'tcflush', 'close'
*/
extern int sio_disconnect(sio_port_t port);
/** @brief returns the serial port attributes (baudrate, etc.).
*
* @param[in] port - pointer to a port instance
* @param[out] attr - serial port attributes
*
* @returns 0 if successful, or a negative value on error.
*
* @note System variable 'errno' will be set in case of an error.
*
* @retval ENODEV - no such device (invalid port instance)
* @retval EINVAL - invalid argument (attr is NULL)
*/
extern int sio_get_attr(sio_port_t port, sio_attr_t* attr);
/** @brief transmits n data bytes via a serial communication device.
*
* @remarks A connection with the serial communication device must be
* established.
*
* @param[in] port - pointer to a port instance
* @param[in] buffer - data buffer with the data to be sent
* @param[in] nbytes - number of data bytes to be sent
*
* @returns 0 if successful, or a negative value on error.
*
* @note System variable 'errno' will be set in case of an error.
*
* @retval ENODEV - no such device (invalid port instance)
* @retval EINVAL - invalid argument (buffer is NULL)
* @retval EBADF - bad file descriptor (device not connected)
* @retval 'errno' - error code from called system functions:
* 'write'
*/
extern int sio_transmit(sio_port_t port, const uint8_t *buffer, size_t nbytes);
/** @brief signals waiting objects, if any.
*
* @param[in] port - pointer to a port instance
*
* @returns 0 if successful, or a negative value on error.
*/
extern int sio_signal(sio_port_t port);
#ifdef __cplusplus
}
#endif
#endif /* SERIAL_H_INCLUDED */
/* ----------------------------------------------------------------------
* Uwe Vogt, UV Software, Chausseestrasse 33 A, 10115 Berlin, Germany
* Tel.: +49-30-46799872, Fax: +49-30-46799873, Mobile: +49-170-3801903
* E-Mail: uwe.vogt@uv-software.de, Homepage: http://www.uv-software.de/
*/
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