Comm_Arduino.h

////////////////////////////////////////////////////////////
// Serial port handler for the AGV
////////////////////////////////////////////////////////////
#ifndef Comm_Arduino_h
#define Comm_Arduino_h

////////////////////////////////////////////////////////////
// Arduino comm interface (serial port)
////////////////////////////////////////////////////////////
#define CComm_Arduino_SERIAL_PORT_CLOSED	(-1)

class CComm_Arduino : public ICommunicationInterface
{
private:
	int m_serialID;
	CSlidingBuffer m_transmitBuf;
	CSlidingBuffer m_receiveBuf;

public:
	CComm_Arduino()
	{
		m_serialID = CComm_Arduino_SERIAL_PORT_CLOSED;
		m_transmitBuf.setCanGrow(false);
		m_receiveBuf.setCanGrow(false);
	}

	~CComm_Arduino()
	{
		if(m_serialID >= 0)
			close();
	}

	unsigned int read(unsigned char *_buf, unsigned int _bufSize, bool _consume = true)
	{
		unsigned int uiAmountRead = m_receiveBuf.read(_buf, _bufSize, _consume);
		return uiAmountRead;
	}

	unsigned int write(const unsigned char *_buf, unsigned int _bufSize)
	{
		return m_transmitBuf.write(_buf, _bufSize);
	}

	int getError()
	{
		return 0;
	}

	int bytesInReceiveBuffer()
	{
		return m_receiveBuf.bytesAvailable();
	}

	int bytesInTransmitBuffer()
	{
		return m_transmitBuf.bytesAvailable();
	}

	int gets(char *_buf, int _bufSize)
	{
		return m_receiveBuf.gets(_buf, _bufSize);
	}

	bool puts(const char * _buf)
	{

		return m_transmitBuf.puts(_buf);
	}

	bool open(int _iSerialID, unsigned long _buad)
	{
		if(m_serialID >= 0)
			close();

		switch(_iSerialID)
		{
		case 0:
			m_serialID = 0;
			Serial.begin(_buad);
			break;

		case 1:
			m_serialID = 1;
			Serial1.begin(_buad);
			break;

		case 2:
			m_serialID = 2;
			Serial2.begin(_buad);
			break;

		case 3:
			m_serialID = 3;
			Serial3.begin(_buad);
			break;

		default:
			m_serialID = CComm_Arduino_SERIAL_PORT_CLOSED;
			break;
		}

		if(m_serialID >= 0)
			return true;

		return false;
	}

	void close()
	{
		switch(m_serialID)
		{
		case 0:
			m_serialID = 0;
			Serial.end();
			break;

		case 1:
			m_serialID = 1;
			Serial1.end();
			break;

		case 2:
			m_serialID = 2;
			Serial2.end();
			break;

		case 3:
			m_serialID = 3;
			Serial3.end();
			break;

		default:
			m_serialID = CComm_Arduino_SERIAL_PORT_CLOSED;
			break;
		}

		m_serialID = CComm_Arduino_SERIAL_PORT_CLOSED;
	}

	void tick()
	{
		unsigned byteCount;
		unsigned char data[512];

		switch(m_serialID)
		{
		case 0:
			byteCount = Serial.available();
			if(byteCount)
			{
				Serial.readBytes(data, byteCount);
				m_receiveBuf.write(data, byteCount);
			}

			byteCount = m_transmitBuf.bytesAvailable();
			if(byteCount > sizeof(data))
				byteCount = sizeof(data);
			m_transmitBuf.read(data, byteCount);
			Serial.write(data, byteCount);
			break;

		case 1:
			byteCount = Serial1.available();
			if(byteCount)
			{
				Serial1.readBytes(data, byteCount);
				m_receiveBuf.write(data, byteCount);
			}

			byteCount = m_transmitBuf.bytesAvailable();
			if(byteCount > sizeof(data))
				byteCount = sizeof(data);
			m_transmitBuf.read(data, byteCount);
			Serial1.write(data, byteCount);
			break;

		case 2:
			byteCount = Serial2.available();
			if(byteCount)
			{
				Serial2.readBytes(data, byteCount);
				m_receiveBuf.write(data, byteCount);
			}

			byteCount = m_transmitBuf.bytesAvailable();
			if(byteCount > sizeof(data))
				byteCount = sizeof(data);
			m_transmitBuf.read(data, byteCount);
			Serial2.write(data, byteCount);
			break;

		case 3:
			byteCount = Serial3.available();
			if(byteCount)
			{
				Serial3.readBytes(data, byteCount);
				m_receiveBuf.write(data, byteCount);
			}

			byteCount = m_transmitBuf.bytesAvailable();
			if(byteCount > sizeof(data))
				byteCount = sizeof(data);
			m_transmitBuf.read(data, byteCount);
			Serial3.write(data, byteCount);
			break;

		default:
			break;
		}
	}

	bool wantsTick()
	{
		if(m_transmitBuf.bytesAvailable())
			return true;

		switch(m_serialID)
		{
		case 0:
			if(Serial.available())
				return true;
			break;
		case 1:
			if(Serial1.available())
				return true;
			break;
		case 2:
			if(Serial2.available())
				return true;
			break;
		case 3:
			if(Serial3.available())
				return true;
			break;

		default:
			return false;
		}
		return false;
	}
};

#endif