| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file UartSensor.hpp | ||
| 10 | /// @brief Abstract Uart Sensor Class | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2020-03-11 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <string> | ||
| 17 | |||
| 18 | #include <fmt/ostream.h> | ||
| 19 | #include <nlohmann/json.hpp> | ||
| 20 | using json = nlohmann::json; ///< json namespace | ||
| 21 | |||
| 22 | namespace NAV | ||
| 23 | { | ||
| 24 | /// Abstract Uart Sensor Class | ||
| 25 | class UartSensor | ||
| 26 | { | ||
| 27 | public: | ||
| 28 | /// Available Baudrates | ||
| 29 | enum Baudrate : uint32_t | ||
| 30 | { | ||
| 31 | BAUDRATE_FASTEST = 0, ///< Fastest possible Baudrate will be automatically chosen | ||
| 32 | BAUDRATE_9600 = 9600, ///< Baudrate with 9600 symbols per second [Baud] | ||
| 33 | BAUDRATE_19200 = 19200, ///< Baudrate with 19200 symbols per second [Baud] | ||
| 34 | BAUDRATE_38400 = 38400, ///< Baudrate with 38400 symbols per second [Baud] | ||
| 35 | BAUDRATE_57600 = 57600, ///< Baudrate with 57600 symbols per second [Baud] | ||
| 36 | BAUDRATE_115200 = 115200, ///< Baudrate with 115200 symbols per second [Baud] | ||
| 37 | BAUDRATE_128000 = 128000, ///< Baudrate with 128000 symbols per second [Baud] | ||
| 38 | BAUDRATE_230400 = 230400, ///< Baudrate with 230400 symbols per second [Baud] | ||
| 39 | BAUDRATE_460800 = 460800, ///< Baudrate with 460800 symbols per second [Baud] | ||
| 40 | BAUDRATE_921600 = 921600 ///< Baudrate with 921600 symbols per second [Baud] | ||
| 41 | }; | ||
| 42 | |||
| 43 | /// @brief Destructor | ||
| 44 | 560 | ~UartSensor() = default; | |
| 45 | /// @brief Copy constructor | ||
| 46 | UartSensor(const UartSensor&) = delete; | ||
| 47 | /// @brief Move constructor | ||
| 48 | UartSensor(UartSensor&&) = delete; | ||
| 49 | /// @brief Copy assignment operator | ||
| 50 | UartSensor& operator=(const UartSensor&) = delete; | ||
| 51 | /// @brief Move assignment operator | ||
| 52 | UartSensor& operator=(UartSensor&&) = delete; | ||
| 53 | |||
| 54 | protected: | ||
| 55 | /// @brief Default constructor | ||
| 56 | 560 | UartSensor() = default; | |
| 57 | |||
| 58 | /// @brief Saves the node into a json object | ||
| 59 | [[nodiscard]] json save() const; | ||
| 60 | |||
| 61 | /// @brief Restores the node from a json object | ||
| 62 | /// @param[in] j Json object with the node state | ||
| 63 | void restore(const json& j); | ||
| 64 | |||
| 65 | /// @brief Returns the Baudrate for the element Selected by the GUI | ||
| 66 | [[nodiscard]] Baudrate sensorBaudrate() const; | ||
| 67 | |||
| 68 | /// @brief Returns the guiSelection for the given baudrate | ||
| 69 | /// @param[in] baud Baudrate to convert | ||
| 70 | static int baudrate2Selection(Baudrate baud); | ||
| 71 | |||
| 72 | /// COM port where the sensor is attached to | ||
| 73 | /// | ||
| 74 | /// - "COM1" (Windows format for physical and virtual (USB) serial port) | ||
| 75 | /// - "/dev/ttyS1" (Linux format for physical serial port) | ||
| 76 | /// - "/dev/ttyUSB0" (Linux format for virtual (USB) serial port) | ||
| 77 | /// - "/dev/tty.usbserial-FTXXXXXX" (Mac OS X format for virtual (USB) serial port) | ||
| 78 | /// - "/dev/ttyS0" (CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1) | ||
| 79 | std::string _sensorPort; | ||
| 80 | |||
| 81 | /// Baudrate for the sensor | ||
| 82 | int _selectedBaudrate = 0; | ||
| 83 | }; | ||
| 84 | |||
| 85 | } // namespace NAV | ||
| 86 | |||
| 87 | #ifndef DOXYGEN_IGNORE | ||
| 88 | |||
| 89 | template<> | ||
| 90 | struct fmt::formatter<NAV::UartSensor::Baudrate> : ostream_formatter | ||
| 91 | {}; | ||
| 92 | |||
| 93 | #endif | ||
| 94 |