Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/SerialPort.cpp b/wpilibc/Athena/src/SerialPort.cpp
new file mode 100644
index 0000000..c4e259a
--- /dev/null
+++ b/wpilibc/Athena/src/SerialPort.cpp
@@ -0,0 +1,228 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "SerialPort.h"
+
+#include "HAL/HAL.hpp"
+#include <stdarg.h>
+
+// static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType
+// eventType, ViEvent event, ViAddr userHandle);
+
+/**
+ * Create an instance of a Serial Port class.
+ *
+ * @param baudRate The baud rate to configure the serial port.
+ * @param port The physical port to use
+ * @param dataBits The number of data bits per transfer. Valid values are
+ * between 5 and 8 bits.
+ * @param parity Select the type of parity checking to use.
+ * @param stopBits The number of stop bits to use as defined by the enum
+ * StopBits.
+ */
+SerialPort::SerialPort(uint32_t baudRate, Port port, uint8_t dataBits,
+ SerialPort::Parity parity, SerialPort::StopBits stopBits)
+{
+ int32_t status = 0;
+
+ m_port = port;
+
+ serialInitializePort(port, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ serialSetBaudRate(port, baudRate, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ serialSetDataBits(port, dataBits, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ serialSetParity(port, parity, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ serialSetStopBits(port, stopBits, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+
+ // Set the default timeout to 5 seconds.
+ SetTimeout(5.0f);
+
+ // Don't wait until the buffer is full to transmit.
+ SetWriteBufferMode(kFlushOnAccess);
+
+ EnableTermination();
+
+ // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
+ // this);
+ // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_nullptr);
+
+ HALReport(HALUsageReporting::kResourceType_SerialPort, 0);
+}
+
+/**
+ * Destructor.
+ */
+SerialPort::~SerialPort() {
+ int32_t status = 0;
+ serialClose(m_port, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Set the type of flow control to enable on this port.
+ *
+ * By default, flow control is disabled.
+ */
+void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
+ int32_t status = 0;
+ serialSetFlowControl(m_port, flowControl, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Enable termination and specify the termination character.
+ *
+ * Termination is currently only implemented for receive.
+ * When the the terminator is recieved, the Read() or Scanf() will return
+ * fewer bytes than requested, stopping after the terminator.
+ *
+ * @param terminator The character to use for termination.
+ */
+void SerialPort::EnableTermination(char terminator) {
+ int32_t status = 0;
+ serialEnableTermination(m_port, terminator, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Disable termination behavior.
+ */
+void SerialPort::DisableTermination() {
+ int32_t status = 0;
+ serialDisableTermination(m_port, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Get the number of bytes currently available to read from the serial port.
+ *
+ * @return The number of bytes available to read
+ */
+int32_t SerialPort::GetBytesReceived() {
+ int32_t status = 0;
+ int32_t retVal = serialGetBytesReceived(m_port, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Read raw bytes out of the buffer.
+ *
+ * @param buffer Pointer to the buffer to store the bytes in.
+ * @param count The maximum number of bytes to read.
+ * @return The number of bytes actually read into the buffer.
+ */
+uint32_t SerialPort::Read(char *buffer, int32_t count) {
+ int32_t status = 0;
+ int32_t retVal = serialRead(m_port, buffer, count, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Write raw bytes to the buffer.
+ *
+ * @param buffer Pointer to the buffer to read the bytes from.
+ * @param count The maximum number of bytes to write.
+ * @return The number of bytes actually written into the port.
+ */
+uint32_t SerialPort::Write(const std::string &buffer, int32_t count) {
+ int32_t status = 0;
+ int32_t retVal = serialWrite(m_port, buffer.c_str(), count, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ return retVal;
+}
+
+/**
+ * Configure the timeout of the serial port.
+ *
+ * This defines the timeout for transactions with the hardware.
+ * It will affect reads and very large writes.
+ *
+ * @param timeout The number of seconds to to wait for I/O.
+ */
+void SerialPort::SetTimeout(float timeout) {
+ int32_t status = 0;
+ serialSetTimeout(m_port, timeout, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Specify the size of the input buffer.
+ *
+ * Specify the amount of data that can be stored before data
+ * from the device is returned to Read or Scanf. If you want
+ * data that is recieved to be returned immediately, set this to 1.
+ *
+ * It the buffer is not filled before the read timeout expires, all
+ * data that has been received so far will be returned.
+ *
+ * @param size The read buffer size.
+ */
+void SerialPort::SetReadBufferSize(uint32_t size) {
+ int32_t status = 0;
+ serialSetReadBufferSize(m_port, size, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Specify the size of the output buffer.
+ *
+ * Specify the amount of data that can be stored before being
+ * transmitted to the device.
+ *
+ * @param size The write buffer size.
+ */
+void SerialPort::SetWriteBufferSize(uint32_t size) {
+ int32_t status = 0;
+ serialSetWriteBufferSize(m_port, size, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Specify the flushing behavior of the output buffer.
+ *
+ * When set to kFlushOnAccess, data is synchronously written to the serial port
+ * after each call to either Printf() or Write().
+ *
+ * When set to kFlushWhenFull, data will only be written to the serial port when
+ * the buffer is full or when Flush() is called.
+ *
+ * @param mode The write buffer mode.
+ */
+void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
+ int32_t status = 0;
+ serialSetWriteMode(m_port, mode, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Force the output buffer to be written to the port.
+ *
+ * This is used when SetWriteBufferMode() is set to kFlushWhenFull to force a
+ * flush before the buffer is full.
+ */
+void SerialPort::Flush() {
+ int32_t status = 0;
+ serialFlush(m_port, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}
+
+/**
+ * Reset the serial port driver to a known state.
+ *
+ * Empty the transmit and receive buffers in the device and formatted I/O.
+ */
+void SerialPort::Reset() {
+ int32_t status = 0;
+ serialClear(m_port, &status);
+ wpi_setErrorWithContext(status, getHALErrorMessage(status));
+}