/*
 * Copyright (c) 2021, Agilex Robotics
 * All rights reserved.
 *
 * 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.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE 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 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef SERIAL_PORT_H
#define SERIAL_PORT_H

#include <termios.h>
#include <unistd.h>
#include <stdint.h>
#include <iostream>

namespace AgileX {

class SerialPort {
public:
    SerialPort(std::string pathname, uint32_t rate = B38400): path_(pathname), baudrate_(rate) {}

    ~SerialPort() {
        if (isOpen() != -1) {
            closePort();
        }
    }

    int openPort();
    int closePort();

    std::string getDevPath() { return path_; }
    int isOpen() { return fd_ >= 0 ? 0 : -1; }

    inline int readByte(uint8_t *data) { return read(fd_, data, 1); }
    inline int writeData(const uint8_t *buf, uint16_t length) { return write(fd_, buf, length); }

private:
    std::string path_;
    uint32_t baudrate_;
    int fd_;
};

}

#endif // SERIAL_PORT_H
