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/****************************************************************************

*

*   Copyright (c) 2009 Dave Hylands     <dhylands@gmail.com>

*

*   This program is free software; you can redistribute it and/or modify

*   it under the terms of the GNU General Public License version 2 as

*   published by the Free Software Foundation.

*

*   Alternatively, this software may be distributed under the terms of BSD

*   license.

*

*   See README and COPYING for more details.

*

****************************************************************************/

/**

*

*   @file   SerialBus.h

*

*   @brief  Implements a bioloid bus using posix serial. This typically

*           assumes that an FTDI USB-to-serial adapter is being used

*   to do the RS-485 management.

*

****************************************************************************/

#if !defined( SERIALBUS_H )

#define SERIALBUS_H       /**< Include Guard                             */

// ---- Include Files -------------------------------------------------------

#include "BioloidBus.h"

#include "SerialPort.h"

/**

 * @addtogroup bioloid

 * @{

 */

class SerialBus : public BioloidBus

{

public:

    //------------------------------------------------------------------------

    // Default constructor

    SerialBus();

    //------------------------------------------------------------------------

    // Destructor

    virtual ~SerialBus();

    //------------------------------------------------------------------------

    // Sets the serial port which will be used for communications

    void SetSerialPort( SerialPort *serPort );

    //------------------------------------------------------------------------

    // Reads a byte.

    virtual bool ReadByte( uint8_t *ch );

    //------------------------------------------------------------------------

    // Reads a packet. Returns true if a packet was read successfully,

    // false if a timeout or error occurred.

    virtual bool ReadStatusPacket( BioloidPacket *pkt );

    //------------------------------------------------------------------------

    // Sends a byte. This will automatically accumulate the byte into 

    // the checksum

    virtual void SendByte( uint8_t data );

    //------------------------------------------------------------------------

    //  Send the checksum. Since the checksum byte is the last byte of the

    //  packet, this function is made virtual to allow bus drivers to

    //  buffer the packet bytes until the entire packet is ready to send.

    virtual void SendCheckSum();

    //------------------------------------------------------------------------

    // Sends the command header, which is common to all of the commands.

    // 2 is added to paramLen (to cover the length and cmd bytes). This

    // way the caller is only responsible for figuring out how many extra

    // parameter bytes are being sent.

    virtual void SendCmdHeader( Bioloid::ID_t id, uint8_t paramLen, Bioloid::Command cmd );

    //------------------------------------------------------------------------

    // Sets the debug mode

    void SetDebug( bool debug ) { m_debug = debug; }

private:

    //------------------------------------------------------------------------

    // Adds a byte to the buffer of data to send.

    void BufferByte( uint8_t data );

    //------------------------------------------------------------------------

    // Writes all of the buffered bytes to the serial port.

    void WriteBuffer();

    //------------------------------------------------------------------------

    SerialPort *m_serialPort;

    bool        m_debug;

    int         m_fd;

    int         m_dataBytes;

    uint8_t     m_data[ 128 ];

};

/** @} */

#endif /* SERIALBUS_H */