UartSensor.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
/// @file UartSensor.hpp
/// @brief Abstract Uart Sensor Class
/// @author T. Topp (topp@ins.uni-stuttgart.de)
/// @date 2020-03-11
 
#pragma once
 
#include <string>
 
#include <fmt/ostream.h>
#include <nlohmann/json.hpp>
using json = nlohmann::json; ///< json namespace
 
namespace NAV
{
/// Abstract Uart Sensor Class
class UartSensor
{
  public:
    /// Available Baudrates
    enum Baudrate : uint32_t
    {
        BAUDRATE_FASTEST = 0,     ///< Fastest possible Baudrate will be automatically chosen
        BAUDRATE_9600 = 9600,     ///< Baudrate with   9600 symbols per second [Baud]
        BAUDRATE_19200 = 19200,   ///< Baudrate with  19200 symbols per second [Baud]
        BAUDRATE_38400 = 38400,   ///< Baudrate with  38400 symbols per second [Baud]
        BAUDRATE_57600 = 57600,   ///< Baudrate with  57600 symbols per second [Baud]
        BAUDRATE_115200 = 115200, ///< Baudrate with 115200 symbols per second [Baud]
        BAUDRATE_128000 = 128000, ///< Baudrate with 128000 symbols per second [Baud]
        BAUDRATE_230400 = 230400, ///< Baudrate with 230400 symbols per second [Baud]
        BAUDRATE_460800 = 460800, ///< Baudrate with 460800 symbols per second [Baud]
        BAUDRATE_921600 = 921600  ///< Baudrate with 921600 symbols per second [Baud]
    };
 
    /// @brief Destructor
    ~UartSensor() = default;
    /// @brief Copy constructor
    UartSensor(const UartSensor&) = delete;
    /// @brief Move constructor
    UartSensor(UartSensor&&) = delete;
    /// @brief Copy assignment operator
    UartSensor& operator=(const UartSensor&) = delete;
    /// @brief Move assignment operator
    UartSensor& operator=(UartSensor&&) = delete;
 
  protected:
    /// @brief Default constructor
    UartSensor() = default;
 
    /// @brief Saves the node into a json object
    [[nodiscard]] json save() const;
 
    /// @brief Restores the node from a json object
    /// @param[in] j Json object with the node state
    void restore(const json& j);
 
    /// @brief Returns the Baudrate for the element Selected by the GUI
    [[nodiscard]] Baudrate sensorBaudrate() const;
 
    /// @brief Returns the guiSelection for the given baudrate
    /// @param[in] baud Baudrate to convert
    static int baudrate2Selection(Baudrate baud);
 
    /// COM port where the sensor is attached to
    ///
    /// - "COM1" (Windows format for physical and virtual (USB) serial port)
    /// - "/dev/ttyS1" (Linux format for physical serial port)
    /// - "/dev/ttyUSB0" (Linux format for virtual (USB) serial port)
    /// - "/dev/tty.usbserial-FTXXXXXX" (Mac OS X format for virtual (USB) serial port)
    /// - "/dev/ttyS0" (CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1)
    std::string _sensorPort;
 
    /// Baudrate for the sensor
    int _selectedBaudrate = 0;
};
 
} // namespace NAV
 
#ifndef DOXYGEN_IGNORE
 
template<>
struct fmt::formatter<NAV::UartSensor::Baudrate> : ostream_formatter
{};
 
#endif