serial.h

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// Copyright 2019-2026:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MIDDLEWARE_IO_LINE_BASED_SERIAL_H
#define GOBY_MIDDLEWARE_IO_LINE_BASED_SERIAL_H
 
#include <istream> // for istream, bas...
#include <string>  // for string
 
#include <boost/asio/read_until.hpp>   // for async_read_u...
#include <boost/asio/streambuf.hpp>    // for streambuf
#include <boost/system/error_code.hpp> // for error_code
 
#include "goby/middleware/io/detail/io_interface.h"     // for PubSubLayer
#include "goby/middleware/io/detail/serial_interface.h" // for SerialThread
#include "goby/middleware/io/line_based/common.h"       // for match_regex
#include "goby/zeromq/application/simple_thread.h"
 
namespace goby
{
namespace middleware
{
class Group;
}
} // namespace goby
namespace goby
{
namespace middleware
{
namespace protobuf
{
class SerialConfig;
}
} // namespace middleware
} // namespace goby
 
namespace goby
{
namespace middleware
{
namespace io
{
template <
    const goby::middleware::Group& line_in_group, const goby::middleware::Group& line_out_group,
    PubSubLayer publish_layer = PubSubLayer::INTERPROCESS,
    PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD,
    template <class> class ThreadType = goby::zeromq::SimpleThread, bool use_indexed_groups = false>
class SerialThreadLineBased
    : public detail::SerialThread<line_in_group, line_out_group, publish_layer, subscribe_layer,
                                  ThreadType, use_indexed_groups>
{
    using Base = detail::SerialThread<line_in_group, line_out_group, publish_layer, subscribe_layer,
                                      ThreadType, use_indexed_groups>;
 
  public:
    SerialThreadLineBased(const goby::middleware::protobuf::SerialConfig& config, int index = -1)
        : Base(config, index), eol_matcher_(this->cfg().end_of_line())
    {
    }
 
    ~SerialThreadLineBased() override {}
 
  private:
    void async_read() override;
 
  private:
    match_regex eol_matcher_;
    boost::asio::streambuf buffer_;
};
} // namespace io
} // namespace middleware
} // namespace goby
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          goby::middleware::io::PubSubLayer publish_layer,
          goby::middleware::io::PubSubLayer subscribe_layer, template <class> class ThreadType,
          bool use_indexed_groups>
void goby::middleware::io::SerialThreadLineBased<line_in_group, line_out_group, publish_layer,
                                                 subscribe_layer, ThreadType,
                                                 use_indexed_groups>::async_read()
{
    boost::asio::async_read_until(
        this->mutable_serial_port(), buffer_, eol_matcher_,
        [this](const boost::system::error_code& ec, std::size_t bytes_transferred)
        {
            if (!ec && bytes_transferred > 0)
            {
                std::string bytes(bytes_transferred, 0);
                std::istream is(&buffer_);
                is.read(&bytes[0], bytes_transferred);
                this->handle_read_success(bytes_transferred, bytes);
                this->async_read();
            }
            else
            {
                this->handle_read_error(ec);
            }
        });
}
 
#endif