Merging boostless into master

.gitignore

@@ -7,11 +7,11 @@
 *.pyc
 *.pyo
 *.zip
-*.cc
 */files/*
 */tmp/*
 *.hwm*
 *.cfg
+*.out
 .svn
 build
 bin

Findserial.cmake

@@ -1,6 +1,8 @@
-find_path(serial_INCLUDE_DIRS serial.h /usr/include/serial "$ENV{NAMER_ROOT}")
+find_path(serial_INCLUDE_DIRS serial/serial.h /usr/include 
+          /usr/local/include "$ENV{NAMER_ROOT}")
 
-find_library(serial_LIBRARIES serial /usr/lib "$ENV{NAMER_ROOT}")
+find_library(serial_LIBRARIES serial /usr/lib /usr/local/lib
+             "$ENV{NAMER_ROOT}")
 
 set(serial_FOUND TRUE)
 

Makefile

@@ -1,5 +1,5 @@
 ifdef ROS_ROOT
 include $(shell rospack find mk)/cmake.mk
 else
-include serial.mk
+include serial.makefile
 endif

README.md

@@ -7,7 +7,6 @@ Coming Soon!
 ## Dependencies
 
 * CMake, for the build system: http://www.cmake.org/
-* Boost, for threading: http://www.boost.org/
 * (Optional) ROS
 
 ## Stand Alone Installation

examples/serial_example.cc

@@ -0,0 +1,147 @@
+/***
+ * This example expects the serial port has a loopback on it.
+ *
+ * Alternatively, you could use an Arduino:
+ * 
+ * <pre>
+ *  setup() {
+ *    Serial.begin(<insert your baudrate here>);
+ *  }
+ * 
+ *  loop() {
+ *    if (Serial.available()) {
+ *      Serial.write(Serial.read());
+ *    }
+ *  }
+ * </pre>
+ */
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+
+// OS Specific sleep
+#ifdef __WIN32__
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include "serial/serial.h"
+
+using std::string;
+using std::exception;
+using std::cout;
+using std::cerr;
+using std::endl;
+
+void my_sleep(unsigned long milliseconds) {
+#ifdef __WIN32__
+      Sleep(milliseconds); // 100 ms
+#else
+      usleep(milliseconds*1000); // 100 ms
+#endif
+}
+
+int run(int argc, char **argv)
+{
+  if(argc < 3) {
+    cerr << "Usage: test_serial <serial port address> ";
+    cerr << "<baudrate> [test string]" << endl;
+    return 0;
+  }
+  // Argument 1 is the serial port
+  string port(argv[1]);
+
+  // Argument 2 is the baudrate
+  unsigned long baud = 0;
+  sscanf(argv[2], "%lu", &baud);
+
+  // port, baudrate, timeout in milliseconds
+  serial::Serial my_serial(port, baud, 1000);
+
+  cout << "Is the serial port open?";
+  if(my_serial.isOpen())
+    cout << " Yes." << endl;
+  else
+    cout << " No." << endl;
+
+  // Get the Test string
+  int count = 0;
+  string test_string;
+  if (argc == 4) {
+    test_string = argv[3];
+  } else {
+    test_string = "Testing.";
+  }
+
+  // Test the timeout, there should be 1 second between prints
+  cout << "Timeout == 1000ms, asking for 1 more byte than written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length()+1);
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  // Test the timeout at 250ms
+  my_serial.setTimeout(250);
+  count = 0;
+  cout << "Timeout == 250ms, asking for 1 more byte than written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length()+1);
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  // Test the timeout at 250ms, but asking exactly for what was written
+  count = 0;
+  cout << "Timeout == 250ms, asking for exactly what was written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length());
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  // Test the timeout at 250ms, but asking for 1 less than what was written
+  count = 0;
+  cout << "Timeout == 250ms, asking for 1 less than was written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length()-1);
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  return 0;
+}
+
+int main(int argc, char **argv) {
+  try {
+    return run(argc, argv);
+  } catch (exception &e) {
+    cerr << "Unhandled Exception: " << e.what() << endl;
+  }
+}

examples/serial_example.cpp

@@ -1,33 +0,0 @@
-#include <string>
-#include <iostream>
-
-#include "serial/serial.h"
-
-int main(int argc, char **argv)
-{
-    if(argc < 2) {
-        std::cerr << "Usage: test_serial <serial port address>" << std::endl;
-        return 0;
-    }
-    std::string port(argv[1]);
-    
-    serial::Serial serial(port, 115200, 250);
-    
-    std::cout << "Is the serial port open?";
-    if(serial.isOpen())
-        std::cout << " Yes." << std::endl;
-    else
-        std::cout << " No." << std::endl;
-    
-    int count = 0;
-    while (count >= 0) {
-        int bytes_wrote = serial.write("Testing.");
-        std::string result = serial.read(8);
-        if(count % 10 == 0)
-            std::cout << ">" << count << ">" << bytes_wrote << ">" << result << std::endl;
-        
-        count += 1;
-    }
-    
-    return 0;
-}

include/serial/impl/unix.h

@@ -0,0 +1,197 @@
+/*!
+ * \file serial/impl/unix.h
+ * \author  William Woodall <wjwwood@gmail.com>
+ * \author  John Harrison <ash@greaterthaninfinity.com>
+ * \version 0.1
+ *
+ * \section LICENSE
+ *
+ * The MIT License
+ *
+ * Copyright (c) 2011 William Woodall, John Harrison
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a 
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * \section DESCRIPTION
+ *
+ * This provides a unix based pimpl for the Serial class. This implementation is
+ * based off termios.h and uses select for multiplexing the IO ports.
+ *
+ */
+
+#ifndef SERIAL_IMPL_UNIX_H
+#define SERIAL_IMPL_UNIX_H
+
+#include "serial/serial.h"
+
+#include <pthread.h>
+
+namespace serial {
+
+using std::string;
+using std::invalid_argument;
+
+using serial::SerialExecption;
+using serial::IOException;
+
+class serial::Serial::SerialImpl {
+public:
+  SerialImpl (const string &port,
+              unsigned long baudrate,
+              long timeout,
+              bytesize_t bytesize,
+              parity_t parity,
+              stopbits_t stopbits,
+              flowcontrol_t flowcontrol);
+
+  virtual ~SerialImpl ();
+
+  void
+  open ();
+
+  void
+  close ();
+
+  bool
+  isOpen () const;
+
+  size_t
+  available ();
+
+  size_t
+  read (unsigned char* buf, size_t size = 1);
+
+  size_t
+  write (const string &data);
+
+  void
+  flush ();
+
+  void
+  flushInput ();
+
+  void
+  flushOutput ();
+
+  void
+  sendBreak(int duration);
+
+  void
+  setBreak(bool level);
+
+  void
+  setRTS(bool level);
+
+  void
+  setDTR(bool level);
+
+  bool
+  getCTS();
+
+  bool
+  getDSR();
+
+  bool
+  getRI();
+
+  bool
+  getCD();
+
+  void
+  setPort (const string &port);
+
+  string
+  getPort () const;
+
+  void
+  setTimeout (long timeout);
+
+  long
+  getTimeout () const;
+
+  void
+  setBaudrate (unsigned long baudrate);
+
+  unsigned long
+  getBaudrate () const;
+
+  void
+  setBytesize (bytesize_t bytesize);
+
+  bytesize_t
+  getBytesize () const;
+
+  void
+  setParity (parity_t parity);
+
+  parity_t
+  getParity () const;
+
+  void
+  setStopbits (stopbits_t stopbits);
+
+  stopbits_t
+  getStopbits () const;
+
+  void
+  setFlowcontrol (flowcontrol_t flowcontrol);
+
+  flowcontrol_t
+  getFlowcontrol () const;
+
+  void
+  readLock();
+
+  void
+  readUnlock();
+
+  void
+  writeLock();
+
+  void
+  writeUnlock();
+
+protected:
+  void reconfigurePort ();
+
+private:
+  string port_;               // Path to the file descriptor
+  int fd_;                    // The current file descriptor
+
+  bool is_open_;
+  bool xonxoff_;
+  bool rtscts_;
+
+  long timeout_;              // Timeout for read operations
+  unsigned long baudrate_;    // Baudrate
+
+  parity_t parity_;           // Parity
+  bytesize_t bytesize_;       // Size of the bytes
+  stopbits_t stopbits_;       // Stop Bits
+  flowcontrol_t flowcontrol_; // Flow Control
+
+  // Mutex used to lock the read functions
+  pthread_mutex_t read_mutex;
+  // Mutex used to lock the write functions
+  pthread_mutex_t write_mutex;
+};
+
+}
+
+#endif // SERIAL_IMPL_UNIX_H

include/serial/impl/windows.h

@@ -0,0 +1,177 @@
+/*!
+ * \file serial/impl/windows.h
+ * \author  William Woodall <wjwwood@gmail.com>
+ * \author  John Harrison <ash@greaterthaninfinity.com>
+ * \version 0.1
+ *
+ * \section LICENSE
+ *
+ * The MIT License
+ *
+ * Copyright (c) 2011 William Woodall, John Harrison
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a 
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * \section DESCRIPTION
+ *
+ * This provides a windows implementation of the Serial class interface.
+ *
+ */
+
+#ifndef SERIAL_IMPL_WINDOWS_H
+#define SERIAL_IMPL_WINDOWS_H
+
+#include "serial/serial.h"
+
+namespace serial {
+
+using std::string;
+using std::invalid_argument;
+
+using serial::SerialExecption;
+using serial::IOException;
+
+class serial::Serial::SerialImpl {
+public:
+  SerialImpl (const string &port,
+              unsigned long baudrate,
+              long timeout,
+              bytesize_t bytesize,
+              parity_t parity,
+              stopbits_t stopbits,
+              flowcontrol_t flowcontrol);
+
+  virtual ~SerialImpl ();
+
+  void
+  open ();
+
+  void
+  close ();
+
+  bool
+  isOpen () const;
+
+  size_t
+  available ();
+
+  size_t
+  read (char* buf, size_t size = 1);
+
+  size_t
+  write (const string &data);
+
+  void
+  flush ();
+
+  void
+  flushInput ();
+
+  void
+  flushOutput ();
+
+  void
+  sendBreak(int duration);
+
+  void
+  setBreak(bool level);
+
+  void
+  setRTS(bool level);
+
+  void
+  setDTR(bool level);
+  
+  bool
+  getCTS();
+  
+  bool
+  getDSR();
+  
+  bool
+  getRI();
+  
+  bool
+  getCD();
+
+  void
+  setPort (const string &port);
+  
+  string
+  getPort () const;
+
+  void
+  setTimeout (long timeout);
+  
+  long
+  getTimeout () const;
+
+  void
+  setBaudrate (unsigned long baudrate);
+  
+  unsigned long
+  getBaudrate () const;
+
+  void
+  setBytesize (bytesize_t bytesize);
+  
+  bytesize_t
+  getBytesize () const;
+
+  void
+  setParity (parity_t parity);
+
+  parity_t
+  getParity () const;
+
+  void
+  setStopbits (stopbits_t stopbits);
+
+  stopbits_t
+  getStopbits () const;
+
+  void
+  setFlowcontrol (flowcontrol_t flowcontrol);
+
+  flowcontrol_t
+  getFlowcontrol () const;
+
+protected:
+  void reconfigurePort ();
+
+private:
+  string port_;               // Path to the file descriptor
+  int fd_;                    // The current file descriptor
+
+  bool isOpen_;
+  bool xonxoff_;
+  bool rtscts_;
+
+  long timeout_;              // Timeout for read operations
+  unsigned long baudrate_;    // Baudrate
+
+  parity_t parity_;           // Parity
+  bytesize_t bytesize_;       // Size of the bytes
+  stopbits_t stopbits_;       // Stop Bits
+  flowcontrol_t flowcontrol_; // Flow Control
+};
+
+}
+
+#endif // SERIAL_IMPL_WINDOWS_H

include/serial/serial.h

@@ -1,21 +1,21 @@
-/**
+/*!
- * @file serial.h
+ * \file serial/serial.h
- * @author  William Woodall <wjwwood@gmail.com>
+ * \author  William Woodall <wjwwood@gmail.com>
- * @author  John Harrison   <ash.gti@gmail.com>
+ * \author  John Harrison   <ash.gti@gmail.com>
- * @version 0.1
+ * \version 0.1
  *
- * @section LICENSE
+ * \section LICENSE
  *
  * The MIT License
  *
  * Copyright (c) 2011 William Woodall
  *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * Permission is hereby granted, free of charge, to any person obtaining a
- * of this software and associated documentation files (the "Software"), to deal
+ * copy of this software and associated documentation files (the "Software"),
- * in the Software without restriction, including without limitation the rights
+ * to deal in the Software without restriction, including without limitation
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
- * copies of the Software, and to permit persons to whom the Software is
+ * and/or sell copies of the Software, and to permit persons to whom the
- * furnished to do so, subject to the following conditions:
+ * Software is furnished to do so, subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
@@ -24,423 +24,473 @@
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
- * THE SOFTWARE.
+ * DEALINGS IN THE SOFTWARE.
  *
- * @section DESCRIPTION
+ * \section DESCRIPTION
  *
  * This provides a cross platform interface for interacting with Serial Ports.
  */
 
-
 #ifndef SERIAL_H
 #define SERIAL_H
 
-#include <iostream>
+#include <limits>
+#include <vector>
+#include <string.h>
 #include <sstream>
-#include <string>
+#include <exception>
+#include <stdexcept>
 
-#include <boost/asio.hpp>
+#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, __LINE__, (message) )
-#include <boost/asio/serial_port.hpp>
-#include <boost/bind.hpp>
-#include <boost/thread.hpp>
-#include <boost/scoped_ptr.hpp>
-
-// A macro to disallow the copy constructor and operator= functions
-// This should be used in the private: declarations for a class
-#define DISALLOW_COPY_AND_ASSIGN(TypeName) \
-  TypeName(const TypeName&);               \
-  void operator=(const TypeName&)
-
-// If on Windows undefine the PARITY_* defines that are in winbase.h
-#ifdef _WIN32
-    #undef PARITY_NONE
-    #undef PARITY_ODD
-    #undef PARITY_EVEN
-#endif
-
-// DEFINES
-#ifndef DEFAULT_BAUDRATE
-#define DEFAULT_BAUDRATE 9600
-#endif
-#ifndef DEFAULT_TIMEOUT
-#define DEFAULT_TIMEOUT 0
-#endif
-#ifndef DEFAULT_BYTESIZE
-#define DEFAULT_BYTESIZE EIGHTBITS
-#endif
-#ifndef DEFAULT_PARITY
-#define DEFAULT_PARITY PARITY_NONE
-#endif
-#ifndef DEFAULT_STOPBITS
-#define DEFAULT_STOPBITS STOPBITS_ONE
-#endif 
-#ifndef DEFAULT_FLOWCONTROL
-#define DEFAULT_FLOWCONTROL FLOWCONTROL_NONE
-#endif
 
 namespace serial {
 
-// Serial Port settings CONSTANTS
+/*!
-enum bytesize_t { FIVEBITS = 5, SIXBITS = 6, SEVENBITS = 7, EIGHTBITS = 8 };
+ * Enumeration defines the possible bytesizes for the serial port.
-enum parity_t { PARITY_NONE, PARITY_ODD, PARITY_EVEN };
+ */
-enum stopbits_t { STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO };
+typedef enum {
-enum flowcontrol_t { FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE };
+  fivebits = 5,
+  sixbits = 6,
+  sevenbits = 7,
+  eightbits = 8
+} bytesize_t;
 
+/*!
+ * Enumeration defines the possible parity types for the serial port.
+ */
+typedef enum {
+  parity_none = 0,
+  parity_odd = 1,
+  parity_even = 2
+} parity_t;
+
+/*!
+ * Enumeration defines the possible stopbit types for the serial port.
+ */
+typedef enum {
+  stopbits_one = 1,
+  stopbits_one_point_five,
+  stopbits_two = 2
+} stopbits_t;
+
+/*!
+ * Enumeration defines the possible flowcontrol types for the serial port.
+ */
+typedef enum {
+  flowcontrol_none = 0,
+  flowcontrol_software
+} flowcontrol_t;
+
+/*!
+ * Class that provides a portable serial port interface.
+ */
 class Serial {
 public:
-    /** Constructor, Creates a Serial object but doesn't open the serial port. */
+  /*!
-    Serial();
+   * Constructor, creates a SerialPortBoost object and opens the port.
+   *
+   * \param port A std::string containing the address of the serial port,
+   *        which would be something like 'COM1' on Windows and '/dev/ttyS0'
+   *        on Linux.
+   *
+   * \param baudrate An integer that represents the buadrate
+   *
+   * \param timeout A long that represents the time (in milliseconds) until a
+   * timeout on reads occur. Setting this to zero (0) will cause reading to
+   * be non-blocking, i.e. the available data will be returned immediately,
+   * but it will not block to wait for more. Setting this to a number less
+   * than zero (-1) will result in infinite blocking behaviour, i.e. the
+   * serial port will block until either size bytes have been read or an
+   * exception has occured.
+   *
+   * \param bytesize Size of each byte in the serial transmission of data,
+   * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
+   * eightbits
+   *
+   * \param parity Method of parity, default is parity_none, possible values
+   * are: parity_none, parity_odd, parity_even
+   *
+   * \param stopbits Number of stop bits used, default is stopbits_one,
+   * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
+   *
+   * \param flowcontrol Type of flowcontrol used, default is
+   * flowcontrol_none, possible values are: flowcontrol_none,
+   * flowcontrol_software, flowcontrol_hardware
+   *
+   * \param buffer_size The maximum size of the internal buffer, defaults
+   * to 256 bytes (2^8).
+   *
+   * \throw PortNotOpenedException
+   */
+  Serial (const std::string &port = "",
+          unsigned long baudrate = 9600,
+          long timeout = 0,
+          bytesize_t bytesize = eightbits,
+          parity_t parity = parity_none,
+          stopbits_t stopbits = stopbits_one,
+          flowcontrol_t flowcontrol = flowcontrol_none);
 
-    /**
+  /*! Destructor */
-    * Constructor, creates a SerialPortBoost object and opens the port.
+  virtual ~Serial ();
-    * 
-    * @param port A std::string containing the address of the serial port,
-    *        which would be something like 'COM1' on Windows and '/dev/ttyS0'
-    *        on Linux.
-    * 
-    * @param baudrate An integer that represents the buadrate
-    * 
-    * @param timeout A long that represents the time (in milliseconds) until a 
-    *        timeout on reads occur.  Setting this to zero (0) will cause reading
-    *        to be non-blocking, i.e. the available data will be returned immediately,
-    *        but it will not block to wait for more.  Setting this to a number less than
-    *        zero (-1) will result in infinite blocking behaviour, i.e. the serial port will
-    *        block until either size bytes have been read or an exception has occured.
-    * 
-    * @param bytesize Size of each byte in the serial transmission of data, 
-    *        default is EIGHTBITS, possible values are: FIVEBITS, 
-    *        SIXBITS, SEVENBITS, EIGHTBITS
-    * 
-    * @param parity Method of parity, default is PARITY_NONE, possible values
-    *        are: PARITY_NONE, PARITY_ODD, PARITY_EVEN
-    * 
-    * @param stopbits Number of stop bits used, default is STOPBITS_ONE, possible 
-    *        values are: STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO
-    * 
-    * @param flowcontrol Type of flowcontrol used, default is FLOWCONTROL_NONE, possible
-    *        values are: FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE
-    * 
-    * @throw SerialPortAlreadyOpenException
-    * @throw SerialPortFailedToOpenException
-    */
-    Serial(std::string port,
-           int baudrate = DEFAULT_BAUDRATE,
-           long timeout = DEFAULT_TIMEOUT,
-           bytesize_t bytesize = DEFAULT_BYTESIZE,
-           parity_t parity = DEFAULT_PARITY,
-           stopbits_t stopbits = DEFAULT_STOPBITS,
-           flowcontrol_t flowcontrol = DEFAULT_FLOWCONTROL);
 
-    /** Destructor */
+  /*!
-    ~Serial();
+   * Opens the serial port as long as the portname is set and the port isn't
+   * alreay open.
+   *
+   * If the port is provided to the constructor then an explicit call to open
+   * is not needed.
+   *
+   * \see Serial::Serial
+   *
+   * \throw std::invalid_argument
+   * \throw serial::SerialExecption
+   * \throw serial::IOException
+   */
+  void
+  open ();
 
-    /** 
+  /*! Gets the open status of the serial port.
-    * Opens the serial port as long as the portname is set and the port isn't alreay open.
+   *
-    * 
+   * \return Returns true if the port is open, false otherwise.
-    * @throw SerialPortAlreadyOpenException
+   */
-    * @throw SerialPortFailedToOpenException
+  bool
-    */
+  isOpen () const;
-    void open();
 
-    /** Gets the status of the serial port.
+  /*! Closes the serial port. */
-    * 
+  void
-    * @return A boolean value that represents whether or not the serial port is open.
+  close ();
-    */
-    bool isOpen();
 
-    /** Closes the serial port and terminates threads. */
+  /*! Return the number of characters in the buffer. */
-    void close();
+  size_t
+  available();
 
-    /** Read size bytes from the serial port.
+  /*! Read a given amount of bytes from the serial port.
-    * If a timeout is set it may return less characters than requested. With no timeout
+   *
-    * it will block until the requested number of bytes have been read.
+   * If a timeout is set it may return less characters than requested. With
-    * 
+   * no timeout it will block until the requested number of bytes have been
-    * @param buffer A char[] of length >= the size parameter to hold incoming data.
+   * read or until an exception occurs.
-    * 
+   *
-    * @param size An integer defining how many bytes to be read.
+   * \param size A size_t defining how many bytes to be read.
-    * 
+   *
-    * @return An integer representing the number of bytes read.
+   * \return A std::string containing the data read.
-    */
+   */
-    int read(char* buffer, int size = 1);
+  size_t
+  read (unsigned char *buffer, size_t size);
+  size_t
+  read (std::vector<unsigned char> &buffer, size_t size = 1);
+  size_t
+  read (std::string &buffer, size_t size = 1);
+  std::string
+  read (size_t size = 1);
 
-    /** Read size bytes from the serial port.
+  /*! Reads in a line or until a given delimiter has been processed
-    * If a timeout is set it may return less characters than requested. With no timeout
+   *
-    * it will block until the requested number of bytes have been read.
+   * Reads from the serial port until a single line has been read.
-    * 
+   *
-    * @param size An integer defining how many bytes to be read.
+   * \param size A maximum length of a line, defaults to 65536 (2^16)
-    * 
+   * \param eol A string to match against for the EOL.
-    * @return A std::string containing the data read.
+   *
-    */
+   * \return A std::string containing the line.
-    std::string read(int size = 1);
+   */
+  size_t
+  readline (std::string &buffer,
+            size_t size = 65536,
+            std::string eol = "\n");
+  std::string
+  readline (size_t size = 65536,
+            std::string eol = "\n");
 
-    std::string read_until(char delim, size_t size = -1);
+  /*! Reads in multiple lines until the serail port times out.
-    std::string read_until(std::string delim, size_t size = -1);
+   *
+   * This requires a timeout > 0 before it can be run. It will read until a
+   * timeout occurs and return a list of strings.
+   *
+   * \param size A maximum length of combined lines, defaults to 65536 (2^16)
+   * 
+   * \param eol A string to match against for the EOL.
+   *
+   * \return A vector<string> containing the lines.
+   */
+  std::vector<std::string>
+  readlines (size_t size = 65536, std::string eol = "\n");
 
-    /** Write length bytes from buffer to the serial port.
+  /*! Write a string to the serial port.
-    * 
+   *
-    * @param data A char[] with data to be written to the serial port.
+   * \param data A const reference containg the data to be written
-    * 
+   * to the serial port.
-    * @param length An integer representing the number of bytes to be written.
+   *
-    * 
+   * \return A size_t representing the number of bytes actually written to
-    * @return An integer representing the number of bytes written.
+   * the serial port.
-    */
+   */
-    int write(char data[], int length);
+  size_t
+  write (const unsigned char *data, size_t size);
+  size_t
+  write (const std::vector<unsigned char> &data);
+  size_t
+  write (const std::string &data);
 
-    /** Write a string to the serial port.
+  /*! Sets the serial port identifier.
-    * 
+  *
-    * @param data A std::string to be written to the serial port. (must be null terminated)
+  * \param port A const std::string reference containing the address of the
-    * 
+  * serial port, which would be something like 'COM1' on Windows and
-    * @return An integer representing the number of bytes written to the serial port.
+  * '/dev/ttyS0' on Linux.
-    */
+  *
-    int write(std::string data);
+  * \throw InvalidConfigurationException
+  */
+  void
+  setPort (const std::string &port);
 
-    /** Sets the logic level of the RTS line.
+  /*! Gets the serial port identifier.
-    * 
+  *
-    * @param level The logic level to set the RTS to. Defaults to true.
+  * \see Serial::setPort
-    */
+  *
-    void setRTS(bool level = true);
+  * \throw InvalidConfigurationException
+  */
+  std::string
+  getPort () const;
 
-    /** Sets the logic level of the DTR line.
+  /*! Sets the timeout for reads in milliseconds.
-    * 
+  *
-    * @param level The logic level to set the DTR to. Defaults to true.
+  * \param timeout A long that represents the time (in milliseconds) until a
-    */
+  * timeout on reads occur.  Setting this to zero (0) will cause reading to be
-    void setDTR(bool level = true);
+  * non-blocking, i.e. the available data will be returned immediately, but it
+  * will not block to wait for more.  Setting this to a number less than
+  * zero (-1) will result in infinite blocking behaviour, i.e. the serial port
+  * will block until either size bytes have been read or an exception has
+  * occured.
+  */
+  void
+  setTimeout (long timeout);
 
-    /** Gets the status of the CTS line.
+  /*! Gets the timeout for reads in seconds.
-    * 
+  *
-    * @return A boolean value that represents the current logic level of the CTS line.
+  * \see Serial::setTimeout
-    */
+  */
-    bool getCTS() const;
+  long
+  getTimeout () const;
 
-    /** Gets the status of the DSR line.
+  /*! Sets the baudrate for the serial port.
-    * 
+  *
-    * @return A boolean value that represents the current logic level of the DSR line.
+  * Possible baudrates depends on the system but some safe baudrates include:
-    */
+  * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000,
-    bool getDSR() const;
+  * 57600, 115200
+  * Some other baudrates that are supported by some comports:
+  * 128000, 153600, 230400, 256000, 460800, 921600
+  *
+  * \param baudrate An integer that sets the baud rate for the serial port.
+  *
+  * \throw InvalidConfigurationException
+  */
+  void
+  setBaudrate (unsigned long baudrate);
 
-    /** Sets the serial port identifier.
+  /*! Gets the baudrate for the serial port.
-    * 
+  *
-    * @param port A std::string containing the address of the serial port,
+  * \return An integer that sets the baud rate for the serial port.
-    *        which would be something like 'COM1' on Windows and '/dev/ttyS0'
+  *
-    *        on Linux.
+  * \see Serial::setBaudrate
-    */
+  *
-    void setPort(std::string port);
+  * \throw InvalidConfigurationException
+  */
+  unsigned long
+  getBaudrate () const;
 
-    /** Gets the serial port identifier.
+  /*! Sets the bytesize for the serial port.
-    * 
+  *
-    * @return A std::string containing the address of the serial port,
+  * \param bytesize Size of each byte in the serial transmission of data,
-    *         which would be something like 'COM1' on Windows and '/dev/ttyS0'
+  * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
-    *         on Linux.
+  * eightbits
-    */
+  *
-    std::string getPort() const;
+  * \throw InvalidConfigurationException
+  */
+  void
+  setBytesize (bytesize_t bytesize);
 
-    /** Sets the timeout for reads in seconds.
+  /*! Gets the bytesize for the serial port.
-    * 
+  *
-    * @param timeout A long that represents the time (in milliseconds) until a 
+  * \see Serial::setBytesize
-    *        timeout on reads occur.  Setting this to zero (0) will cause reading
+  *
-    *        to be non-blocking, i.e. the available data will be returned immediately,
+  * \throw InvalidConfigurationException
-    *        but it will not block to wait for more.  Setting this to a number less than
+  */
-    *        zero (-1) will result in infinite blocking behaviour, i.e. the serial port will
+  bytesize_t
-    *        block until either size bytes have been read or an exception has occured.
+  getBytesize () const;
-    */
-    void setTimeoutMilliseconds(long timeout);
 
-    /** Gets the timeout for reads in seconds.
+  /*! Sets the parity for the serial port.
-    * 
+  *
-    * @param timeout A long that represents the time (in milliseconds) until a 
+  * \param parity Method of parity, default is parity_none, possible values
-    *        timeout on reads occur.  Setting this to zero (0) will cause reading
+  * are: parity_none, parity_odd, parity_even
-    *        to be non-blocking, i.e. the available data will be returned immediately,
+  *
-    *        but it will not block to wait for more.  Setting this to a number less than
+  * \throw InvalidConfigurationException
-    *        zero (-1) will result in infinite blocking behaviour, i.e. the serial port will
+  */
-    *        block until either size bytes have been read or an exception has occured.
+  void
-    */
+  setParity (parity_t parity);
-    long getTimeoutMilliseconds() const;
 
-    /** Sets the baudrate for the serial port.
+  /*! Gets the parity for the serial port.
-    * 
+  *
-    * @param baudrate An integer that sets the baud rate for the serial port.
+  * \see Serial::setParity
-    */
+  *
-    void setBaudrate(int baudrate);
+  * \throw InvalidConfigurationException
+  */
+  parity_t
+  getParity () const;
 
-    /** Gets the baudrate for the serial port.
+  /*! Sets the stopbits for the serial port.
-    * 
+  *
-    * @return An integer that sets the baud rate for the serial port.
+  * \param stopbits Number of stop bits used, default is stopbits_one,
-    */
+  * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
-    int getBaudrate() const;
+  *
+  * \throw InvalidConfigurationException
+  */
+  void
+  setStopbits (stopbits_t stopbits);
 
-    /** Sets the bytesize for the serial port.
+  /*! Gets the stopbits for the serial port.
-    * 
+  *
-    * @param bytesize Size of each byte in the serial transmission of data, 
+  * \see Serial::setStopbits
-    *        default is EIGHTBITS, possible values are: FIVEBITS, 
+  *
-    *        SIXBITS, SEVENBITS, EIGHTBITS
+  * \throw InvalidConfigurationException
-    * 
+  */
-    * @throw InvalidBytesizeException
+  stopbits_t
-    */
+  getStopbits () const;
-    void setBytesize(bytesize_t bytesize);
 
-    /** Gets the bytesize for the serial port.
+  /*! Sets the flow control for the serial port.
-    * 
+  *
-    * @return Size of each byte in the serial transmission of data, 
+  * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none,
-    *         default is EIGHTBITS, possible values are: FIVEBITS, 
+  * possible values are: flowcontrol_none, flowcontrol_software,
-    *         SIXBITS, SEVENBITS, EIGHTBITS
+  * flowcontrol_hardware
-    * 
+  *
-    * @throw InvalidBytesizeException
+  * \throw InvalidConfigurationException
-    */
+  */
-    bytesize_t getBytesize() const;
+  void
+  setFlowcontrol (flowcontrol_t flowcontrol);
 
-    /** Sets the parity for the serial port.
+  /*! Gets the flow control for the serial port.
-    * 
+  *
-    * @param parity Method of parity, default is PARITY_NONE, possible values
+  * \see Serial::setFlowcontrol
-    *        are: PARITY_NONE, PARITY_ODD, PARITY_EVEN
+  *
-    * 
+  * \throw InvalidConfigurationException
-    * @throw InvalidParityException
+  */
-    */
+  flowcontrol_t
-    void setParity(parity_t parity);
+  getFlowcontrol () const;
 
-    /** Gets the parity for the serial port.
+  /*! Flush the input and output buffers */
-    * 
+  void
-    * @return Method of parity, default is PARITY_NONE, possible values
+  flush ();
-    *         are: PARITY_NONE, PARITY_ODD, PARITY_EVEN
-    * 
-    * @throw InvalidParityException
-    */
-    parity_t getParity() const;
 
-    /** Sets the stopbits for the serial port.
+  /*! Flush only the input buffer */
-    * 
+  void
-    * @param stopbits Number of stop bits used, default is STOPBITS_ONE, possible 
+  flushInput ();
-    *        values are: STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO
-    * 
-    * @throw InvalidStopbitsException
-    */
-    void setStopbits(stopbits_t stopbits);
 
-    /** Gets the stopbits for the serial port.
+  /*! Flush only the output buffer */
-    * 
+  void
-    * @return Number of stop bits used, default is STOPBITS_ONE, possible 
+  flushOutput ();
-    *         values are: STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO
-    * 
-    * @throw InvalidStopbitsException
-    */
-    stopbits_t getStopbits() const;
 
-    /** Sets the flow control for the serial port.
+  void
-    * 
+  sendBreak (int duration);
-    * @param flowcontrol Type of flowcontrol used, default is FLOWCONTROL_NONE, possible
+
-    *        values are: FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE
+  void
-    * 
+  setBreak (bool level = true);
-    * @throw InvalidFlowcontrolException
+
-    */
+  void
-    void setFlowcontrol(flowcontrol_t flowcontrol);
+  setRTS (bool level = true);
+
+  void
+  setDTR (bool level = true);
+
+  bool
+  getCTS ();
+
+  bool
+  getDSR ();
+
+  bool
+  getRI ();
+
+  bool
+  getCD ();
 
-    /** Gets the flow control for the serial port.
-    * 
-    * @return Type of flowcontrol used, default is FLOWCONTROL_NONE, possible
-    *         values are: FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE
-    * 
-    * @throw InvalidFlowcontrolException
-    */
-    flowcontrol_t getFlowcontrol() const;
 private:
-    DISALLOW_COPY_AND_ASSIGN(Serial);
+  // Disable copy constructors
-    void init();
+  Serial(const Serial&);
-    void read_complete(const boost::system::error_code& error, std::size_t bytes_transferred);
+  void operator=(const Serial&);
-    void timeout_callback(const boost::system::error_code& error);
+  const Serial& operator=(Serial);
 
-    boost::asio::io_service io_service;
+  std::string read_cache_; //!< Cache for doing reads in chunks.
 
-    boost::asio::io_service::work work;
+  // Pimpl idiom, d_pointer
+  class SerialImpl;
+  SerialImpl *pimpl_;
 
-    boost::scoped_ptr<boost::asio::serial_port> serial_port;
+  // Scoped Lock Classes
+  class ScopedReadLock;
+  class ScopedWriteLock;
 
-    boost::asio::deadline_timer timeout_timer;
+  // Read common function
+  size_t
+  read_ (unsigned char *buffer, size_t size);
 
-    std::string port;
-    boost::asio::serial_port_base::baud_rate baudrate;
-    boost::posix_time::time_duration timeout;
-    boost::asio::serial_port_base::character_size bytesize;
-    boost::asio::serial_port_base::parity parity;
-    boost::asio::serial_port_base::stop_bits stopbits;
-    boost::asio::serial_port_base::flow_control flowcontrol;
-    
-    int bytes_read;
-    int bytes_to_read;
-    bool reading;
-    bool nonblocking;
 };
 
-class SerialPortAlreadyOpenException : public std::exception {
+class SerialExecption : public std::exception
-    const char * port;
+{
+  const char* e_what_;
 public:
-    SerialPortAlreadyOpenException(const char * port) {this->port = port;}
+  SerialExecption (const char *description) : e_what_ (description) {}
 
-    virtual const char* what() const throw() {
+  virtual const char* what () const throw ()
-        std::stringstream ss;
+  {
-        ss << "Serial Port already open: " << this->port;
+    std::stringstream ss;
-        return ss.str().c_str();
+    ss << "SerialException " << e_what_ << " failed.";
-    }
+    return ss.str ().c_str ();
+  }
 };
 
-class SerialPortFailedToOpenException : public std::exception {
+class IOException : public std::exception
-    const char * e_what;
+{
+  std::string file_;
+  int line_;
+  const char* e_what_;
+  int errno_;
 public:
-    SerialPortFailedToOpenException(const char * e_what) {this->e_what = e_what;}
+  explicit IOException (std::string file, int line, int errnum)
+  : file_(file), line_(line), e_what_ (strerror (errnum)), errno_(errnum) {}
+  explicit IOException (std::string file, int line, const char * description)
+  : file_(file), line_(line), e_what_ (description), errno_(0) {}
+  virtual ~IOException() throw() {}
 
-    virtual const char* what() const throw() {
+  int getErrorNumber () { return errno_; }
-        std::stringstream ss;
+
-        ss << "Serial Port failed to open: " << this->e_what;
+  virtual const char* what () const throw ()
-        return ss.str().c_str();
+  {
-    }
+    std::stringstream ss;
+    if (errno_ == 0)
+      ss << "IO Exception: " << e_what_;
+    else
+      ss << "IO Exception (" << errno_ << "): " << e_what_;
+    ss << ", file " << file_ << ", line " << line_ << ".";
+    return ss.str ().c_str ();
+  }
 };
 
-class InvalidBytesizeException : public std::exception {
+class PortNotOpenedException : public std::exception
-    int bytesize;
+{
+  const char * e_what_;
 public:
-    InvalidBytesizeException(int bytesize) {this->bytesize = bytesize;}
+  PortNotOpenedException (const char * description) : e_what_ (description) {}
 
-    virtual const char* what() const throw() {
+  virtual const char* what () const throw ()
-        std::stringstream ss;
+  {
-        ss << "Invalid bytesize provided: " << this->bytesize;
+    std::stringstream ss;
-        return ss.str().c_str();
+    ss << e_what_ << " called before port was opened.";
-    }
+    return ss.str ().c_str ();
+  }
 };
 
-class InvalidParityException : public std::exception {
+class SerialExceptionBase : public std::exception
-    int parity;
+{
-public:
-    InvalidParityException(int parity) {this->parity = parity;}
   
-    virtual const char* what() const throw() {
-        std::stringstream ss;
-        ss << "Invalid parity provided: " << this->parity;
-        return ss.str().c_str();
-    }
-};
-
-class InvalidStopbitsException : public std::exception {
-    int stopbits;
-public:
-    InvalidStopbitsException(int stopbits) {this->stopbits = stopbits;}
-    
-    virtual const char* what() const throw() {
-        std::stringstream ss;
-        ss << "Invalid stopbits provided: " << this->stopbits;
-        return ss.str().c_str();
-    }
-};
-
-class InvalidFlowcontrolException : public std::exception {
-    int flowcontrol;
-public:
-    InvalidFlowcontrolException(int flowcontrol) {this->flowcontrol = flowcontrol;}
-    
-    virtual const char* what() const throw() {
-        std::stringstream ss;
-        ss << "Invalid flowcontrol provided: " << this->flowcontrol;
-        return ss.str().c_str();
-    }
 };
 
 } // namespace serial

serial.cmake

@@ -1,122 +1,150 @@
 macro(build_serial)
-## Project Setup
-cmake_minimum_required(VERSION 2.4.6)
 
-if(COMMAND cmake_policy)
+  ## Project Setup
-    cmake_policy(SET CMP0003 NEW)
+  cmake_minimum_required(VERSION 2.4.6)
-endif(COMMAND cmake_policy)
 
-project(Serial)
+  if(COMMAND cmake_policy)
+      cmake_policy(SET CMP0003 NEW)
+  endif(COMMAND cmake_policy)
 
-## Configurations
+  project(Serial)
 
-option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF)
+  ## Configurations
-option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF)
+  # Enable warnings
+  # Assuming unix means a gcc style compiler, eg. g++ or clang++.
+  IF(UNIX)
+    set(CMAKE_CXX_FLAGS "-Wall -Weffc++ -pedantic -pedantic-errors -Wextra  -Wall -Waggregate-return -Wcast-align -Wcast-qual  -Wchar-subscripts  -Wcomment -Wconversion -Wdisabled-optimization -Wfloat-equal  -Wformat  -Wformat=2 -Wformat-nonliteral -Wformat-security  -Wformat-y2k -Wimplicit  -Wimport  -Winit-self  -Winline -Winvalid-pch   -Wlong-long -Wmissing-braces -Wmissing-field-initializers -Wmissing-format-attribute   -Wmissing-include-dirs -Wmissing-noreturn -Wpacked -Wparentheses  -Wpointer-arith -Wredundant-decls -Wreturn-type -Wsequence-point  -Wshadow -Wsign-compare  -Wstack-protector -Wstrict-aliasing -Wstrict-aliasing=2 -Wswitch  -Wswitch-default -Wswitch-enum -Wtrigraphs  -Wuninitialized -Wunknown-pragmas  -Wunreachable-code -Wunused -Wunused-function  -Wunused-label  -Wunused-parameter -Wunused-value  -Wunused-variable  -Wvariadic-macros -Wvolatile-register-var  -Wwrite-strings")
+  ELSEIF(WIN32)
+    # Force to always compile with W4
+    if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
+      string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+    else()
+      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+    endif()
+  endif(UNIX)
 
-# Allow for building shared libs override
+  # Use clang if available
-IF(NOT BUILD_SHARED_LIBS)
+  IF(EXISTS /usr/bin/clang)
-    set(BUILD_SHARED_LIBS OFF)
+    set(CMAKE_CXX_COMPILER /usr/bin/clang++)
-ENDIF(NOT BUILD_SHARED_LIBS)
+    set(CMAKE_OSX_DEPLOYMENT_TARGET "")
+    set(SERIAL_BUILD_WARNINGS TRUE)
+    set(CMAKE_BUILD_TYPE Debug)
+  ENDIF(EXISTS /usr/bin/clang)
 
-# Set the default path for built executables to the "bin" directory
+  option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF)
-IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
+  option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF)
-    set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
-# set the default path for built libraries to the "lib" directory
-IF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
-    set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
 
-## Configure the build system
+  # Allow for building shared libs override
+  IF(NOT BUILD_SHARED_LIBS)
+      set(BUILD_SHARED_LIBS OFF)
+  ENDIF(NOT BUILD_SHARED_LIBS)
 
-# Add the include folder to the include path
+  # Threading libraries added for mutexs
-include_directories(${PROJECT_SOURCE_DIR}/include)
+  FIND_PACKAGE (Threads)
 
-# Add default source files
+  # Set the default path for built executables to the "bin" directory
-set(SERIAL_SRCS src/serial.cpp)
+  IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
-# Add default header files
+      set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-set(SERIAL_HEADERS include/serial/serial.h)
+  ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
+  # set the default path for built libraries to the "lib" directory
+  IF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
+      set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+  ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
 
-# Find Boost, if it hasn't already been found
+  ## Configure the build system
-IF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
-    find_package(Boost COMPONENTS system filesystem thread REQUIRED)
-ENDIF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
 
-link_directories(${Boost_LIBRARY_DIRS})
+  # Add the include folder to the include path
-include_directories(${Boost_INCLUDE_DIRS})
+  include_directories(${PROJECT_SOURCE_DIR}/include)
 
-set(SERIAL_LINK_LIBS ${Boost_SYSTEM_LIBRARY}
+  # Add default source files
-                     ${Boost_FILESYSTEM_LIBRARY}
+  set(SERIAL_SRCS src/serial.cc)
-                     ${Boost_THREAD_LIBRARY})
+  IF(WIN32)
+    list(APPEND SERIAL_SRCS src/impl/windows.cc)
+  ELSE(WIN32)
+    list(APPEND SERIAL_SRCS src/impl/unix.cc)
+  ENDIF(WIN32)
+  # Add default header files
+  set(SERIAL_HEADERS include/serial/serial.h)
 
-## Build the Serial Library
 
-# Compile the Library
+  set(OTHER_LIBS "")
-add_library(serial ${SERIAL_SRCS} ${SERIAL_HEADERS})
+  if(UNIX)
-target_link_libraries(serial ${SERIAL_LINK_LIBS})
+    set(OTHER_LIBS util)
-IF( WIN32 )
+  endif(UNIX)
-	target_link_libraries(serial wsock32)
-ENDIF( )
   
-# Check for OS X and if so disable kqueue support in asio
+  ## Build the Serial Library
-IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
-ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
 
-## Build Examples
+  # Compile the Library
+  add_library(serial ${SERIAL_SRCS})
+  target_link_libraries(serial ${CMAKE_THREAD_LIBS_INIT} ${OTHER_LIBS})
 
-# If asked to
+  ## Build Examples
-IF(SERIAL_BUILD_EXAMPLES)
-    # Compile the Test program
-    add_executable(serial_example examples/serial_example.cpp)
-    # Link the Test program to the Serial library
-    target_link_libraries(serial_example serial)
-ENDIF(SERIAL_BUILD_EXAMPLES)
 
-## Build tests
+  # If asked to
+  IF(SERIAL_BUILD_EXAMPLES)
+      # Compile the Serial Test program
+      add_executable(serial_example examples/serial_example.cc)
+      # Link the Test program to the Serial library
+      target_link_libraries(serial_example serial)
+  ENDIF(SERIAL_BUILD_EXAMPLES)
 
-# If asked to
+  ## Build tests
-IF(SERIAL_BUILD_TESTS)
-    # none yet...
-ENDIF(SERIAL_BUILD_TESTS)
 
-## Setup install and uninstall
+  # If asked to
+  IF(SERIAL_BUILD_TESTS)
+      # Find Google Test
+      enable_testing()
+      find_package(GTest REQUIRED)
+      include_directories(${GTEST_INCLUDE_DIRS})
 
-# Unless asked not to...
+      # Compile the Serial Test program
-IF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
+      add_executable(serial_tests tests/serial_tests.cc)
-    # Configure make install
+      # Link the Test program to the serial library
-    IF(NOT CMAKE_INSTALL_PREFIX)
+      target_link_libraries(serial_tests ${GTEST_BOTH_LIBRARIES}
-        SET(CMAKE_INSTALL_PREFIX /usr/local)
+                            serial)
-    ENDIF(NOT CMAKE_INSTALL_PREFIX)
 
-    INSTALL(TARGETS serial
+      add_test(AllTestsIntest_serial serial_tests)
-      RUNTIME DESTINATION bin
+  ENDIF(SERIAL_BUILD_TESTS)
-      LIBRARY DESTINATION lib
-      ARCHIVE DESTINATION lib
-    )
 
-    INSTALL(FILES include/serial/serial.h DESTINATION include/serial)
+  ## Setup install and uninstall
 
-    IF(NOT CMAKE_FIND_INSTALL_PATH)
+  # Unless asked not to...
-        set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT})
+  IF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
-    ENDIF(NOT CMAKE_FIND_INSTALL_PATH)
+      # Configure make install
+      IF(NOT CMAKE_INSTALL_PREFIX)
+          SET(CMAKE_INSTALL_PREFIX /usr/local)
+      ENDIF(NOT CMAKE_INSTALL_PREFIX)
     
-    INSTALL(FILES Findserial.cmake DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/)
+      INSTALL(TARGETS serial
-    
+        RUNTIME DESTINATION bin
-    ADD_CUSTOM_TARGET(uninstall @echo uninstall package)
+        LIBRARY DESTINATION lib
-    
+        ARCHIVE DESTINATION lib
-    IF (UNIX)
-      ADD_CUSTOM_COMMAND(
-        COMMENT "uninstall package"
-        COMMAND xargs ARGS rm < install_manifest.txt
-        
-        TARGET  uninstall
       )
-    ELSE(UNIX)
+    
-      ADD_CUSTOM_COMMAND(
+      INSTALL(FILES include/serial/serial.h
-        COMMENT "uninstall only implemented in unix"
+              DESTINATION include/serial)
-        TARGET  uninstall
+    
-      )
+      IF(NOT CMAKE_FIND_INSTALL_PATH)
-    ENDIF(UNIX)
+          set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT})
-ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
+      ENDIF(NOT CMAKE_FIND_INSTALL_PATH)
+    
+      INSTALL(FILES Findserial.cmake
+              DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/)
+    
+      ADD_CUSTOM_TARGET(uninstall @echo uninstall package)
+    
+      IF (UNIX)
+        ADD_CUSTOM_COMMAND(
+          COMMENT "uninstall package"
+          COMMAND xargs ARGS rm < install_manifest.txt
+        
+          TARGET  uninstall
+        )
+      ELSE(UNIX)
+        ADD_CUSTOM_COMMAND(
+          COMMENT "uninstall only implemented in unix"
+          TARGET  uninstall
+        )
+      ENDIF(UNIX)
+  ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
 endmacro(build_serial)

serial.makefile

@@ -20,6 +20,13 @@ clean:
 	-cd build && make clean
 	rm -rf build bin lib
 
+.PHONY: doc
+doc:
+	@doxygen doc/Doxyfile
+ifeq ($(UNAME),Darwin)
+	@open doc/html/index.html
+endif
+
 .PHONY: test
 test:
 	@mkdir -p build
@@ -30,4 +37,4 @@ ifneq ($(MAKE),)
 else
 	cd build && make
 endif
-    # cd bin && ./serial_tests
+	cd bin && ./serial_tests

serial_ros.cmake

@@ -1,36 +1,42 @@
 macro(build_serial)
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
-# Set the build type.  Options are:
+  cmake_minimum_required(VERSION 2.4.6)
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rosbuild_init()
+  # Set the build type.  Options are:
+  #  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+  #  Debug          : w/ debug symbols, w/o optimization
+  #  Release        : w/o debug symbols, w/ optimization
+  #  RelWithDebInfo : w/ debug symbols, w/ optimization
+  #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+  set(ROS_BUILD_TYPE Debug)
 
-#set the default path for built executables to the "bin" directory
+  rosbuild_init()
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-# Check for OS X and if so disable kqueue support in asio
+  #set the default path for built executables to the "bin" directory
-IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
+  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
+  #set the default path for built libraries to the "lib" directory
-ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
+  set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-# Build the serial library
+  include_directories(include)
-rosbuild_add_library(serial src/serial.cpp include/serial/serial.h)
+  include_directories(vendor)
 
-# Add boost dependencies
+  set(SERIAL_SRCS src/serial.cc)
-rosbuild_add_boost_directories()
+  if(UNIX)
-rosbuild_link_boost(serial system filesystem thread)
+    list(APPEND SERIAL_SRCS src/impl/unix.cc)
+  else(UNIX)
+    list(APPEND SERIAL_SRCS src/impl/winows.cc)
+  endif(UNIX)
 
-# Build example
+  # Build the serial library
-rosbuild_add_executable(serial_example examples/serial_example.cpp)
+  rosbuild_add_library(${PROJECT_NAME} ${SERIAL_SRCS})
-target_link_libraries(serial_example serial)
+
+  # Build example
+  rosbuild_add_executable(serial_example examples/serial_example.cc)
+  target_link_libraries(serial_example ${PROJECT_NAME})
+
+  # Create unit tests
+  rosbuild_add_gtest(serial_tests tests/serial_tests.cc)
+  target_link_libraries(serial_tests ${PROJECT_NAME})
 
 endmacro(build_serial)

src/impl/unix.cc

@@ -0,0 +1,761 @@
+/* Copyright 2012 William Woodall and John Harrison */
+
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <paths.h>
+#include <sysexits.h>
+#include <termios.h>
+#include <sys/param.h>
+#include <pthread.h>
+
+#if defined(__linux__)
+# include <linux/serial.h>
+#endif
+
+#include <sys/select.h>
+#include <sys/time.h>
+#include <time.h>
+#ifdef __MACH__
+#include <mach/clock.h>
+#include <mach/mach.h>
+#endif
+
+#include "serial/impl/unix.h"
+
+#ifndef TIOCINQ
+#ifdef FIONREAD
+#define TIOCINQ FIONREAD
+#else
+#define TIOCINQ 0x541B
+#endif
+#endif
+
+using std::string;
+using std::invalid_argument;
+using serial::Serial;
+using serial::SerialExecption;
+using serial::PortNotOpenedException;
+using serial::IOException;
+
+
+Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
+                                long timeout, bytesize_t bytesize,
+                                parity_t parity, stopbits_t stopbits,
+                                flowcontrol_t flowcontrol)
+: port_ (port), fd_ (-1), is_open_ (false), xonxoff_ (true), rtscts_ (false),
+  timeout_ (timeout), baudrate_ (baudrate), parity_ (parity),
+  bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol)
+{
+  pthread_mutex_init(&this->read_mutex, NULL);
+  pthread_mutex_init(&this->write_mutex, NULL);
+  if (port_.empty () == false)
+    open ();
+}
+
+Serial::SerialImpl::~SerialImpl ()
+{
+  close();
+  pthread_mutex_destroy(&this->read_mutex);
+  pthread_mutex_destroy(&this->write_mutex);
+}
+
+void
+Serial::SerialImpl::open ()
+{
+  if (port_.empty ())
+  {
+    throw invalid_argument ("Empty port is invalid.");
+  }
+  if (is_open_ == true)
+  {
+    throw SerialExecption ("Serial port already open.");
+  }
+
+  fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+  if (fd_ == -1)
+  {
+    switch (errno)
+    {
+      case EINTR:
+        // Recurse because this is a recoverable error.
+        open ();
+        return;
+      case ENFILE:
+      case EMFILE:
+        THROW (IOException, "Too many file handles open.");
+      default:
+        THROW (IOException, errno);
+    }
+  }
+
+  reconfigurePort();
+  is_open_ = true;
+}
+
+void
+Serial::SerialImpl::reconfigurePort ()
+{
+  if (fd_ == -1)
+  {
+    // Can only operate on a valid file descriptor
+    THROW (IOException, "Invalid file descriptor, is the serial port open?");
+  }
+
+  struct termios options; // The options for the file descriptor
+
+  if (tcgetattr(fd_, &options) == -1)
+  {
+    THROW (IOException, "::tcgetattr");
+  }
+
+  // set up raw mode / no echo / binary
+  options.c_cflag |= (unsigned long)  (CLOCAL|CREAD);
+  options.c_lflag &= (unsigned long) ~(ICANON|ECHO|ECHOE|ECHOK|ECHONL|
+                                       ISIG|IEXTEN); //|ECHOPRT
+
+  options.c_oflag &= (unsigned long) ~(OPOST);
+  options.c_iflag &= (unsigned long) ~(INLCR|IGNCR|ICRNL|IGNBRK);
+#ifdef IUCLC
+  options.c_iflag &= (unsigned long) ~IUCLC;
+#endif
+#ifdef PARMRK
+  options.c_iflag &= (unsigned long) ~PARMRK;
+#endif
+
+  // setup baud rate
+  bool custom_baud = false;
+  speed_t baud;
+  switch (baudrate_)
+  {
+#ifdef B0
+    case 0: baud = B0; break;
+#endif
+#ifdef B50
+    case 50: baud = B50; break;
+#endif
+#ifdef B75
+    case 75: baud = B75; break;
+#endif
+#ifdef B110
+    case 110: baud = B110; break;
+#endif
+#ifdef B134
+    case 134: baud = B134; break;
+#endif
+#ifdef B150
+    case 150: baud = B150; break;
+#endif
+#ifdef B200
+    case 200: baud = B200; break;
+#endif
+#ifdef B300
+    case 300: baud = B300; break;
+#endif
+#ifdef B600
+    case 600: baud = B600; break;
+#endif
+#ifdef B1200
+    case 1200: baud = B1200; break;
+#endif
+#ifdef B1800
+    case 1800: baud = B1800; break;
+#endif
+#ifdef B2400
+    case 2400: baud = B2400; break;
+#endif
+#ifdef B4800
+    case 4800: baud = B4800; break;
+#endif
+#ifdef B7200
+    case 7200: baud = B7200; break;
+#endif
+#ifdef B9600
+    case 9600: baud = B9600; break;
+#endif
+#ifdef B14400
+    case 14400: baud = B14400; break;
+#endif
+#ifdef B19200
+    case 19200: baud = B19200; break;
+#endif
+#ifdef B28800
+    case 28800: baud = B28800; break;
+#endif
+#ifdef B57600
+    case 57600: baud = B57600; break;
+#endif
+#ifdef B76800
+    case 76800: baud = B76800; break;
+#endif
+#ifdef B38400
+    case 38400: baud = B38400; break;
+#endif
+#ifdef B115200
+    case 115200: baud = B115200; break;
+#endif
+#ifdef B128000
+    case 128000: baud = B128000; break;
+#endif
+#ifdef B153600
+    case 153600: baud = B153600; break;
+#endif
+#ifdef B230400
+    case 230400: baud = B230400; break;
+#endif
+#ifdef B256000
+    case 256000: baud = B256000; break;
+#endif
+#ifdef B460800
+    case 460800: baud = B460800; break;
+#endif
+#ifdef B921600
+    case 921600: baud = B921600; break;
+#endif
+    default:
+      custom_baud = true;
+// Mac OS X 10.x Support
+#if defined(__APPLE__) && defined(__MACH__)
+#define IOSSIOSPEED _IOW('T', 2, speed_t)
+      int new_baud = static_cast<int> (baudrate_);
+      if (ioctl (fd_, IOSSIOSPEED, &new_baud, 1) < 0)
+      {
+        THROW (IOException, errno);
+      }
+// Linux Support
+#elif defined(__linux__)
+      struct serial_struct ser;
+      ioctl (fd_, TIOCGSERIAL, &ser);
+      // set custom divisor
+      ser.custom_divisor = ser.baud_base / baudrate_;
+      // update flags
+      ser.flags &= ~ASYNC_SPD_MASK;
+      ser.flags |= ASYNC_SPD_CUST;
+
+      if (ioctl (fd_, TIOCSSERIAL, ser) < 0)
+      {
+        THROW (IOException, errno);
+      }
+#else
+      throw invalid_argument ("OS does not currently support custom bauds");
+#endif
+  }
+  if (custom_baud == false)
+  {
+#ifdef _BSD_SOURCE
+    ::cfsetspeed(&options, baud);
+#else
+    ::cfsetispeed(&options, baud);
+    ::cfsetospeed(&options, baud);
+#endif
+  }
+
+  // setup char len
+  options.c_cflag &= (unsigned long) ~CSIZE;
+  if (bytesize_ == eightbits)
+      options.c_cflag |= CS8;
+  else if (bytesize_ == sevenbits)
+      options.c_cflag |= CS7;
+  else if (bytesize_ == sixbits)
+      options.c_cflag |= CS6;
+  else if (bytesize_ == fivebits)
+      options.c_cflag |= CS5;
+  else
+      throw invalid_argument ("invalid char len");
+  // setup stopbits
+  if (stopbits_ == stopbits_one)
+      options.c_cflag &= (unsigned long) ~(CSTOPB);
+  else if (stopbits_ == stopbits_one_point_five)
+  // ONE POINT FIVE same as TWO.. there is no POSIX support for 1.5
+      options.c_cflag |=  (CSTOPB);
+  else if (stopbits_ == stopbits_two)
+      options.c_cflag |=  (CSTOPB);
+  else
+      throw invalid_argument ("invalid stop bit");
+  // setup parity
+  options.c_iflag &= (unsigned long) ~(INPCK|ISTRIP);
+  if (parity_ == parity_none)
+  {
+    options.c_cflag &= (unsigned long) ~(PARENB|PARODD);
+  }
+  else if (parity_ == parity_even)
+  {
+    options.c_cflag &= (unsigned long) ~(PARODD);
+    options.c_cflag |=  (PARENB);
+  }
+  else if (parity_ == parity_odd)
+  {
+    options.c_cflag |=  (PARENB|PARODD);
+  }
+  else
+  {
+    throw invalid_argument ("invalid parity");
+  }
+  // setup flow control
+  // xonxoff
+#ifdef IXANY
+  if (xonxoff_)
+    options.c_iflag |=  (IXON|IXOFF); //|IXANY)
+  else
+    options.c_iflag &= (unsigned long) ~(IXON|IXOFF|IXANY);
+#else
+  if (xonxoff_)
+    options.c_iflag |=  (IXON|IXOFF);
+  else
+    options.c_iflag &= (unsigned long) ~(IXON|IXOFF);
+#endif
+  // rtscts
+#ifdef CRTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CRTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CRTSCTS);
+#elif defined CNEW_RTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CNEW_RTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS);
+#else
+#error "OS Support seems wrong."
+#endif
+
+  // http://www.unixwiz.net/techtips/termios-vmin-vtime.html
+  // this basically sets the read call up to be a polling read, 
+  // but we are using select to ensure there is data available 
+  // to read before each call, so we should never needlessly poll
+  options.c_cc[VMIN] = 0;
+  options.c_cc[VTIME] = 0;
+
+  // activate settings
+  ::tcsetattr (fd_, TCSANOW, &options);
+}
+
+void
+Serial::SerialImpl::close ()
+{
+  if (is_open_ == true)
+  {
+    if (fd_ != -1)
+    {
+      ::close (fd_); // Ignoring the outcome
+      fd_ = -1;
+    }
+    is_open_ = false;
+  }
+}
+
+bool
+Serial::SerialImpl::isOpen () const
+{
+  return is_open_;
+}
+
+size_t
+Serial::SerialImpl::available ()
+{
+  if (!is_open_)
+  {
+    return 0;
+  }
+  int count = 0;
+  int result = ioctl (fd_, TIOCINQ, &count);
+  if (result == 0)
+  {
+    return static_cast<size_t> (count);
+  }
+  else
+  {
+    THROW (IOException, errno);
+  }
+}
+
+inline void get_time_now(struct timespec &time) {
+# ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
+  clock_serv_t cclock;
+  mach_timespec_t mts;
+  host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
+  clock_get_time(cclock, &mts);
+  mach_port_deallocate(mach_task_self(), cclock);
+  time.tv_sec = mts.tv_sec;
+  time.tv_nsec = mts.tv_nsec;
+# else
+  clock_gettime(CLOCK_REALTIME, &time);
+# endif
+}
+
+size_t
+Serial::SerialImpl::read (unsigned char* buf, size_t size)
+{
+  if (!is_open_)
+  {
+    throw PortNotOpenedException ("Serial::read");
+  }
+  fd_set readfds;
+  size_t bytes_read = 0;
+  struct timeval timeout;
+  timeout.tv_sec =                    timeout_ / 1000;
+  timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
+  while (bytes_read < size)
+  {
+    FD_ZERO (&readfds);
+    FD_SET (fd_, &readfds);
+    // On Linux the timeout struct is updated by select to contain the time 
+    // left on the timeout to make looping easier, but on other platforms this 
+    // does not occur.
+#if !defined(__linux__)
+    // Begin timing select
+    struct timespec start, end;
+    get_time_now(start);
+#endif
+    // Do the select
+    int r = select (fd_ + 1, &readfds, NULL, NULL, &timeout);
+#if !defined(__linux__)
+    // Calculate difference and update the structure
+    get_time_now(end);
+    // Calculate the time select took
+    struct timeval diff;
+    diff.tv_sec = end.tv_sec-start.tv_sec;
+    diff.tv_usec = static_cast<int> ((end.tv_nsec-start.tv_nsec)/1000);
+    // Update the timeout
+    if (timeout.tv_sec <= diff.tv_sec) {
+      timeout.tv_sec = 0;
+    } else {
+      timeout.tv_sec -= diff.tv_sec;
+    }
+    if (timeout.tv_usec <= diff.tv_usec) {
+      timeout.tv_usec = 0;
+    } else {
+      timeout.tv_usec -= diff.tv_usec;
+    }
+#endif
+
+    // Figure out what happened by looking at select's response 'r'
+/** Error **/
+    if (r < 0) {
+      // Select was interrupted, try again
+      if (errno == EINTR) {
+        continue;
+      }
+      // Otherwise there was some error
+      THROW (IOException, errno);
+    }
+/** Timeout **/
+    if (r == 0) {
+      break;
+    }
+/** Something ready to read **/
+    if (r > 0) {
+      // Make sure our file descriptor is in the ready to read list
+      if (FD_ISSET (fd_, &readfds)) {
+        // This should be non-blocking returning only what is avaialble now
+        //  Then returning so that select can block again.
+        ssize_t bytes_read_now =
+          ::read (fd_, buf+bytes_read, size-bytes_read);
+        // read should always return some data as select reported it was
+        // ready to read when we get to this point.
+        if (bytes_read_now < 1)
+        {
+          // Disconnected devices, at least on Linux, show the
+          // behavior that they are always ready to read immediately
+          // but reading returns nothing.
+          throw SerialExecption ("device reports readiness to read but "
+                                 "returned no data (device disconnected?)");
+        }
+        // Update bytes_read
+        bytes_read += static_cast<size_t> (bytes_read_now);
+        // If bytes_read == size then we have read everything we need
+        if (bytes_read == size) {
+          break;
+        }
+        // If bytes_read < size then we have more to read
+        if (bytes_read < size) {
+          continue;
+        }
+        // If bytes_read > size then we have over read, which shouldn't happen
+        if (bytes_read > size) {
+          throw SerialExecption ("read over read, too many bytes where "
+                                 "read, this shouldn't happen, might be "
+                                 "a logical error!");
+        }
+      }
+      // This shouldn't happen, if r > 0 our fd has to be in the list!
+      THROW (IOException, "select reports ready to read, but our fd isn't"
+                          " in the list, this shouldn't happen!");
+    }
+  }
+  return bytes_read;
+}
+
+size_t
+Serial::SerialImpl::write (const string &data)
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::write");
+  }
+
+  return static_cast<size_t> (::write (fd_, data.c_str (), data.length ()));
+}
+
+void
+Serial::SerialImpl::setPort (const string &port)
+{
+  port_ = port;
+}
+
+string
+Serial::SerialImpl::getPort () const
+{
+  return port_;
+}
+
+void
+Serial::SerialImpl::setTimeout (long timeout)
+{
+  timeout_ = timeout;
+}
+
+long
+Serial::SerialImpl::getTimeout () const
+{
+  return timeout_;
+}
+
+void
+Serial::SerialImpl::setBaudrate (unsigned long baudrate)
+{
+  baudrate_ = baudrate;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+unsigned long
+Serial::SerialImpl::getBaudrate () const
+{
+  return baudrate_;
+}
+
+void
+Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
+{
+  bytesize_ = bytesize;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::bytesize_t
+Serial::SerialImpl::getBytesize () const
+{
+  return bytesize_;
+}
+
+void
+Serial::SerialImpl::setParity (serial::parity_t parity)
+{
+  parity_ = parity;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::parity_t
+Serial::SerialImpl::getParity () const
+{
+  return parity_;
+}
+
+void
+Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
+{
+  stopbits_ = stopbits;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::stopbits_t
+Serial::SerialImpl::getStopbits () const
+{
+  return stopbits_;
+}
+
+void
+Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
+{
+  flowcontrol_ = flowcontrol;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::flowcontrol_t
+Serial::SerialImpl::getFlowcontrol () const
+{
+  return flowcontrol_;
+}
+
+void
+Serial::SerialImpl::flush ()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flush");
+  }
+  tcdrain (fd_);
+}
+
+void
+Serial::SerialImpl::flushInput ()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flushInput");
+  }
+  tcflush (fd_, TCIFLUSH);
+}
+
+void
+Serial::SerialImpl::flushOutput ()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flushOutput");
+  }
+  tcflush (fd_, TCOFLUSH);
+}
+
+void
+Serial::SerialImpl::sendBreak (int duration)
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::sendBreak");
+  }
+  tcsendbreak (fd_, static_cast<int> (duration/4));
+}
+
+void
+Serial::SerialImpl::setBreak (bool level)
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setBreak");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCSBRK);
+  }
+  else {
+    ioctl (fd_, TIOCCBRK);
+  }
+}
+
+void
+Serial::SerialImpl::setRTS (bool level)
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setRTS");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCMBIS, TIOCM_RTS);
+  }
+  else {
+    ioctl (fd_, TIOCMBIC, TIOCM_RTS);
+  }
+}
+
+void
+Serial::SerialImpl::setDTR (bool level)
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setDTR");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCMBIS, TIOCM_DTR);
+  }
+  else
+  {
+    ioctl (fd_, TIOCMBIC, TIOCM_DTR);
+  }
+}
+
+bool
+Serial::SerialImpl::getCTS ()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getCTS");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_CTS) != 0;
+}
+
+bool
+Serial::SerialImpl::getDSR()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getDSR");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_DSR) != 0;
+}
+
+bool
+Serial::SerialImpl::getRI()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getRI");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_RI) != 0;
+}
+
+bool
+Serial::SerialImpl::getCD()
+{
+  if (is_open_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getCD");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_CD) != 0;
+}
+
+void
+Serial::SerialImpl::readLock() {
+  int result = pthread_mutex_lock(&this->read_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+void
+Serial::SerialImpl::readUnlock() {
+  int result = pthread_mutex_unlock(&this->read_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+void
+Serial::SerialImpl::writeLock() {
+  int result = pthread_mutex_lock(&this->write_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+void
+Serial::SerialImpl::writeUnlock() {
+  int result = pthread_mutex_unlock(&this->write_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}

src/impl/windows.cc

@@ -0,0 +1,670 @@
+/* Copyright 2012 William Woodall and John Harrison */
+
+#include "serial/impl/windows.h"
+
+using std::string;
+using std::invalid_argument;
+using serial::Serial;
+using serial::SerialExecption;
+using serial::PortNotOpenedException;
+using serial::IOException;
+
+
+Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
+                                long timeout, bytesize_t bytesize,
+                                parity_t parity, stopbits_t stopbits,
+                                flowcontrol_t flowcontrol)
+: port_ (port), fd_ (-1), isOpen_ (false), xonxoff_ (true), rtscts_ (false),
+  timeout_ (timeout), baudrate_ (baudrate), parity_ (parity), bytesize_ (bytesize),
+  stopbits_ (stopbits), flowcontrol_ (flowcontrol)
+{
+  if (port_.empty () == false)
+    open ();
+}
+
+Serial::SerialImpl::~SerialImpl ()
+{
+  close();
+}
+
+void
+Serial::SerialImpl::open ()
+{
+  if (port_.empty())
+  {
+    throw invalid_argument ("bad port specified");
+  }
+  if (isOpen_ == true)
+  {
+    throw SerialExecption ("port already open");
+  }
+
+  fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+  if (fd_ == -1)
+  {
+    switch (errno)
+    {
+      case EINTR:
+        // Recurse because this is a recoverable error.
+        open ();
+        return;
+      case ENFILE:
+      case EMFILE:
+        throw IOException ("to many file handles open");
+        break;
+      default:
+        throw IOException (errno);
+    }
+  }
+
+  reconfigurePort();
+  isOpen_ = true;
+}
+
+void
+Serial::SerialImpl::reconfigurePort ()
+{
+  if (fd_ == -1)
+  {
+    // Can only operate on a valid file descriptor
+    throw IOException ("invalid file descriptor");
+  }
+
+  struct termios options; // The options for the file descriptor
+
+  if (tcgetattr(fd_, &options) == -1)
+  {
+    throw IOException ("::tcgetattr");
+  }
+
+  // set up raw mode / no echo / binary
+  options.c_cflag |= (unsigned long)  (CLOCAL|CREAD);
+  options.c_lflag &= (unsigned long) ~(ICANON|ECHO|ECHOE|ECHOK|ECHONL|
+                                       ISIG|IEXTEN); //|ECHOPRT
+
+  options.c_oflag &= (unsigned long) ~(OPOST);
+  options.c_iflag &= (unsigned long) ~(INLCR|IGNCR|ICRNL|IGNBRK);
+#ifdef IUCLC
+  options.c_iflag &= (unsigned long) ~IUCLC;
+#endif
+#ifdef PARMRK
+  options.c_iflag &= (unsigned long) ~PARMRK;
+#endif
+
+  // setup baud rate
+  bool custom_baud = false;
+  speed_t baud;
+  switch (baudrate_)
+  {
+#ifdef B0
+    case 0: baud = B0; break;
+#endif
+#ifdef B50
+    case 50: baud = B50; break;
+#endif
+#ifdef B75
+    case 75: baud = B75; break;
+#endif
+#ifdef B110
+    case 110: baud = B110; break;
+#endif
+#ifdef B134
+    case 134: baud = B134; break;
+#endif
+#ifdef B150
+    case 150: baud = B150; break;
+#endif
+#ifdef B200
+    case 200: baud = B200; break;
+#endif
+#ifdef B300
+    case 300: baud = B300; break;
+#endif
+#ifdef B600
+    case 600: baud = B600; break;
+#endif
+#ifdef B1200
+    case 1200: baud = B1200; break;
+#endif
+#ifdef B1800
+    case 1800: baud = B1800; break;
+#endif
+#ifdef B2400
+    case 2400: baud = B2400; break;
+#endif
+#ifdef B4800
+    case 4800: baud = B4800; break;
+#endif
+#ifdef B7200
+    case 7200: baud = B7200; break;
+#endif
+#ifdef B9600
+    case 9600: baud = B9600; break;
+#endif
+#ifdef B14400
+    case 14400: baud = B14400; break;
+#endif
+#ifdef B19200
+    case 19200: baud = B19200; break;
+#endif
+#ifdef B28800
+    case 28800: baud = B28800; break;
+#endif
+#ifdef B57600
+    case 57600: baud = B57600; break;
+#endif
+#ifdef B76800
+    case 76800: baud = B76800; break;
+#endif
+#ifdef B38400
+    case 38400: baud = B38400; break;
+#endif
+#ifdef B115200
+    case 115200: baud = B115200; break;
+#endif
+#ifdef B128000
+    case 128000: baud = B128000; break;
+#endif
+#ifdef B153600
+    case 153600: baud = B153600; break;
+#endif
+#ifdef B230400
+    case 230400: baud = B230400; break;
+#endif
+#ifdef B256000
+    case 256000: baud = B256000; break;
+#endif
+#ifdef B460800
+    case 460800: baud = B460800; break;
+#endif
+#ifdef B921600
+    case 921600: baud = B921600; break;
+#endif
+    default:
+      custom_baud = true;
+// Mac OS X 10.x Support
+#if defined(__APPLE__) && defined(__MACH__)
+#define IOSSIOSPEED _IOW('T', 2, speed_t)
+      int new_baud = static_cast<int> (baudrate_);
+      if (ioctl (fd_, IOSSIOSPEED, &new_baud, 1) < 0)
+      {
+        throw IOException (errno);
+      }
+// Linux Support
+#elif defined(__linux__)
+      struct serial_struct ser;
+      ioctl(fd_, TIOCGSERIAL, &ser);
+      // set custom divisor
+      ser.custom_divisor = ser.baud_base / baudrate_;
+      // update flags
+      ser.flags &= ~ASYNC_SPD_MASK;
+      ser.flags |= ASYNC_SPD_CUST;
+
+      if (ioctl(fd_, TIOCSSERIAL, ser) < 0)
+      {
+        throw IOException (errno);
+      }
+#else
+      throw invalid_argument ("OS does not currently support custom bauds");
+#endif
+  }
+  if (custom_baud == false)
+  {
+#ifdef _BSD_SOURCE
+    ::cfsetspeed(&options, baud);
+#else
+    ::cfsetispeed(&options, baud);
+    ::cfsetospeed(&options, baud);
+#endif
+  }
+
+  // setup char len
+  options.c_cflag &= (unsigned long) ~CSIZE;
+  if (bytesize_ == EIGHTBITS)
+      options.c_cflag |= CS8;
+  else if (bytesize_ == SEVENBITS)
+      options.c_cflag |= CS7;
+  else if (bytesize_ == SIXBITS)
+      options.c_cflag |= CS6;
+  else if (bytesize_ == FIVEBITS)
+      options.c_cflag |= CS5;
+  else
+      throw invalid_argument ("invalid char len");
+  // setup stopbits
+  if (stopbits_ == STOPBITS_ONE)
+      options.c_cflag &= (unsigned long) ~(CSTOPB);
+  else if (stopbits_ == STOPBITS_ONE_POINT_FIVE)
+      options.c_cflag |=  (CSTOPB);  // XXX same as TWO.. there is no POSIX support for 1.5
+  else if (stopbits_ == STOPBITS_TWO)
+      options.c_cflag |=  (CSTOPB);
+  else
+      throw invalid_argument ("invalid stop bit");
+  // setup parity
+  options.c_iflag &= (unsigned long) ~(INPCK|ISTRIP);
+  if (parity_ == PARITY_NONE)
+  {
+    options.c_cflag &= (unsigned long) ~(PARENB|PARODD);
+  }
+  else if (parity_ == PARITY_EVEN)
+  {
+    options.c_cflag &= (unsigned long) ~(PARODD);
+    options.c_cflag |=  (PARENB);
+  }
+  else if (parity_ == PARITY_ODD)
+  {
+    options.c_cflag |=  (PARENB|PARODD);
+  }
+  else
+  {
+    throw invalid_argument ("invalid parity");
+  }
+  // setup flow control
+  // xonxoff
+#ifdef IXANY
+  if (xonxoff_)
+    options.c_iflag |=  (IXON|IXOFF); //|IXANY)
+  else
+    options.c_iflag &= (unsigned long) ~(IXON|IXOFF|IXANY);
+#else
+  if (xonxoff_)
+    options.c_iflag |=  (IXON|IXOFF);
+  else
+    options.c_iflag &= (unsigned long) ~(IXON|IXOFF);
+#endif
+  // rtscts
+#ifdef CRTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CRTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CRTSCTS);
+#elif defined CNEW_RTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CNEW_RTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS);
+#else
+#error "OS Support seems wrong."
+#endif
+
+  options.c_cc[VMIN] = 1; // Minimum of 1 character in the buffer
+  options.c_cc[VTIME] = 0; // timeout on waiting for new data
+
+  // activate settings
+  ::tcsetattr (fd_, TCSANOW, &options);
+}
+
+void
+Serial::SerialImpl::close ()
+{
+  if (isOpen_ == true)
+  {
+    if (fd_ != -1)
+    {
+      ::close (fd_); // Ignoring the outcome
+      fd_ = -1;
+    }
+    isOpen_ = false;
+  }
+}
+
+bool
+Serial::SerialImpl::isOpen () const
+{
+  return isOpen_;
+}
+
+size_t
+Serial::SerialImpl::available ()
+{
+  if (!isOpen_)
+  {
+    return 0;
+  }
+  int count = 0;
+  int result = ioctl (fd_, TIOCINQ, &count);
+  if (result == 0)
+  {
+    return static_cast<size_t> (count);
+  }
+  else
+  {
+    throw IOException (errno);
+  }
+}
+
+size_t
+Serial::SerialImpl::read (char* buf, size_t size)
+{
+  if (!isOpen_)
+  {
+    throw PortNotOpenedException ("Serial::read");
+  }
+  fd_set readfds;
+  ssize_t bytes_read = 0;
+  int count = 0;
+  while (true)
+  {
+    count++;
+    if (timeout_ != -1)
+    {
+      FD_ZERO (&readfds);
+      FD_SET (fd_, &readfds);
+      struct timeval timeout;
+      timeout.tv_sec =                    timeout_ / 1000;
+      timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
+      int r = select (fd_ + 1, &readfds, NULL, NULL, &timeout);
+
+      if (r == -1 && errno == EINTR)
+        continue;
+
+      if (r == -1)
+      {
+        throw IOException (errno);
+      }
+    }
+
+    if (timeout_ == -1 || FD_ISSET (fd_, &readfds))
+    {
+      bytes_read = ::read (fd_, buf, size);
+      // read should always return some data as select reported it was
+      // ready to read when we get to this point.
+      if (bytes_read < 1)
+      {
+        // Disconnected devices, at least on Linux, show the
+        // behavior that they are always ready to read immediately
+        // but reading returns nothing.
+        throw SerialExecption ("device reports readiness to read but "
+                               "returned no data (device disconnected?)");
+      }
+      break;
+    }
+    else
+    {
+      break;
+    }
+  }
+  return static_cast<size_t> (bytes_read);
+}
+
+size_t
+Serial::SerialImpl::write (const string &data)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::write");
+  }
+  
+  fd_set writefds;
+  ssize_t bytes_written = 0;
+  while (true)
+  {
+    if (timeout_ != -1)
+    {
+      FD_ZERO (&writefds);
+      FD_SET (fd_, &writefds);
+      struct timeval timeout;
+      timeout.tv_sec =                    timeout_ / 1000;
+      timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
+      int r = select (fd_ + 1, NULL, &writefds, NULL, &timeout);
+
+      if (r == -1 && errno == EINTR)
+        continue;
+
+      if (r == -1)
+      {
+        throw IOException (errno);
+      }
+    }
+
+    if (timeout_ == -1 || FD_ISSET (fd_, &writefds))
+    {
+      bytes_written = ::write (fd_, data.c_str (), data.length ());
+      // read should always return some data as select reported it was
+      // ready to read when we get to this point.
+      if (bytes_written < 1)
+      {
+        // Disconnected devices, at least on Linux, show the
+        // behavior that they are always ready to read immediately
+        // but reading returns nothing.
+        throw SerialExecption ("device reports readiness to read but "
+                               "returned no data (device disconnected?)");
+      }
+      break;
+    }
+    else
+    {
+      break;
+    }
+  }
+
+  return static_cast<size_t> (bytes_written);
+}
+
+void
+Serial::SerialImpl::setPort (const string &port)
+{
+  port_ = port;
+}
+
+string
+Serial::SerialImpl::getPort () const
+{
+  return port_;
+}
+
+void
+Serial::SerialImpl::setTimeout (long timeout)
+{
+  timeout_ = timeout;
+}
+
+long
+Serial::SerialImpl::getTimeout () const
+{
+  return timeout_;
+}
+
+void
+Serial::SerialImpl::setBaudrate (unsigned long baudrate)
+{
+  baudrate_ = baudrate;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+unsigned long
+Serial::SerialImpl::getBaudrate () const
+{
+  return baudrate_;
+}
+
+void
+Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
+{
+  bytesize_ = bytesize;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::bytesize_t
+Serial::SerialImpl::getBytesize () const
+{
+  return bytesize_;
+}
+
+void
+Serial::SerialImpl::setParity (serial::parity_t parity)
+{
+  parity_ = parity;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::parity_t
+Serial::SerialImpl::getParity () const
+{
+  return parity_;
+}
+
+void
+Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
+{
+  stopbits_ = stopbits;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::stopbits_t
+Serial::SerialImpl::getStopbits () const
+{
+  return stopbits_;
+}
+
+void
+Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
+{
+  flowcontrol_ = flowcontrol;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::flowcontrol_t
+Serial::SerialImpl::getFlowcontrol () const
+{
+  return flowcontrol_;
+}
+
+void
+Serial::SerialImpl::flush ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flush");
+  }
+  tcdrain (fd_);
+}
+
+void
+Serial::SerialImpl::flushInput ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flushInput");
+  }
+  tcflush (fd_, TCIFLUSH);
+}
+
+void
+Serial::SerialImpl::flushOutput ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flushOutput");
+  }
+  tcflush (fd_, TCOFLUSH);
+}
+
+void
+Serial::SerialImpl::sendBreak (int duration)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::sendBreak");
+  }
+  tcsendbreak (fd_, static_cast<int> (duration/4));
+}
+
+void
+Serial::SerialImpl::setBreak (bool level)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setBreak");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCSBRK);
+  }
+  else {
+    ioctl (fd_, TIOCCBRK);
+  }
+}
+
+void
+Serial::SerialImpl::setRTS (bool level)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setRTS");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCMBIS, TIOCM_RTS);
+  }
+  else {
+    ioctl (fd_, TIOCMBIC, TIOCM_RTS);
+  }
+}
+
+void
+Serial::SerialImpl::setDTR (bool level)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setDTR");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCMBIS, TIOCM_DTR);
+  }
+  else
+  {
+    ioctl (fd_, TIOCMBIC, TIOCM_DTR);
+  }
+}
+
+bool
+Serial::SerialImpl::getCTS ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getCTS");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_CTS) != 0;
+}
+
+bool
+Serial::SerialImpl::getDSR()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getDSR");
+  }
+  int s = ioctl(fd_, TIOCMGET, 0);
+  return (s & TIOCM_DSR) != 0;
+}
+
+bool
+Serial::SerialImpl::getRI()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getRI");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_RI) != 0;
+}
+
+bool
+Serial::SerialImpl::getCD()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getCD");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_CD) != 0;
+}
+

src/serial.cc

@@ -0,0 +1,362 @@
+/* Copyright 2012 William Woodall and John Harrison */
+#include <alloca.h>
+
+#include "serial/serial.h"
+
+#ifdef _WIN32
+#include "serial/impl/win.h"
+#else
+#include "serial/impl/unix.h"
+#endif
+
+using std::invalid_argument;
+using std::min;
+using std::numeric_limits;
+using std::vector;
+using std::size_t;
+using std::string;
+
+using serial::Serial;
+using serial::SerialExecption;
+using serial::IOException;
+using serial::bytesize_t;
+using serial::parity_t;
+using serial::stopbits_t;
+using serial::flowcontrol_t;
+
+class Serial::ScopedReadLock {
+public:
+  ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->readLock();
+  }
+  ~ScopedReadLock() {
+    this->pimpl_->readUnlock();
+  }
+private:
+  SerialImpl *pimpl_;
+};
+
+class Serial::ScopedWriteLock {
+public:
+  ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->writeLock();
+  }
+  ~ScopedWriteLock() {
+    this->pimpl_->writeUnlock();
+  }
+private:
+  SerialImpl *pimpl_;
+};
+
+Serial::Serial (const string &port, unsigned long baudrate, long timeout,
+                bytesize_t bytesize, parity_t parity, stopbits_t stopbits,
+                flowcontrol_t flowcontrol)
+ : read_cache_("")
+{
+  pimpl_ = new SerialImpl (port, baudrate, timeout, bytesize, parity,
+                           stopbits, flowcontrol);
+}
+
+Serial::~Serial ()
+{
+  delete pimpl_;
+}
+
+void
+Serial::open ()
+{
+  pimpl_->open ();
+}
+
+void
+Serial::close ()
+{
+  pimpl_->close ();
+}
+
+bool
+Serial::isOpen () const
+{
+  return pimpl_->isOpen ();
+}
+
+size_t
+Serial::available ()
+{
+  return pimpl_->available ();
+}
+
+size_t
+Serial::read_ (unsigned char *buffer, size_t size)
+{
+  return this->pimpl_->read (buffer, size);
+}
+
+size_t
+Serial::read (unsigned char *buffer, size_t size)
+{
+  ScopedReadLock (this->pimpl_);
+  return this->pimpl_->read (buffer, size);
+}
+
+size_t
+Serial::read (std::vector<unsigned char> &buffer, size_t size)
+{
+  ScopedReadLock (this->pimpl_);
+  unsigned char *buffer_ = new unsigned char[size];
+  size_t bytes_read = this->pimpl_->read (buffer_, size);
+  buffer.insert (buffer.end (), buffer_, buffer_+bytes_read);
+  delete[] buffer_;
+  return bytes_read;
+}
+
+size_t
+Serial::read (std::string &buffer, size_t size)
+{
+  ScopedReadLock (this->pimpl_);
+  unsigned char *buffer_ = new unsigned char[size];
+  size_t bytes_read = this->pimpl_->read (buffer_, size);
+  buffer.append (reinterpret_cast<const char*>(buffer_), bytes_read);
+  delete[] buffer_;
+  return bytes_read;
+}
+
+string
+Serial::read (size_t size)
+{
+  std::string buffer;
+  this->read (buffer, size);
+  return buffer;
+}
+
+size_t
+Serial::readline (string &buffer, size_t size, string eol)
+{
+  ScopedReadLock (this->pimpl_);
+  size_t eol_len = eol.length ();
+  unsigned char *buffer_ = static_cast<unsigned char*>
+                              (alloca (size * sizeof (unsigned char)));
+  size_t read_so_far = 0;
+  while (true)
+  {
+    size_t bytes_read = this->read_ (buffer_ + read_so_far, 1);
+    read_so_far += bytes_read;
+    if (bytes_read == 0) {
+      break; // Timeout occured on reading 1 byte
+    }
+    if (string (reinterpret_cast<const char*>
+         (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+      break; // EOL found
+    }
+    if (read_so_far == size) {
+      break; // Reached the maximum read length
+    }
+  }
+  buffer.append(reinterpret_cast<const char*> (buffer_), read_so_far);
+  return read_so_far;
+}
+
+string
+Serial::readline (size_t size, string eol)
+{
+  std::string buffer;
+  this->readline (buffer, size, eol);
+  return buffer;
+}
+
+vector<string>
+Serial::readlines (size_t size, string eol)
+{
+  ScopedReadLock (this->pimpl_);
+  std::vector<std::string> lines;
+  size_t eol_len = eol.length ();
+  unsigned char *buffer_ = static_cast<unsigned char*>
+    (alloca (size * sizeof (unsigned char)));
+  size_t read_so_far = 0;
+  size_t start_of_line = 0;
+  while (read_so_far < size) {
+    size_t bytes_read = this->read_ (buffer_+read_so_far, 1);
+    read_so_far += bytes_read;
+    if (bytes_read == 0) {
+      if (start_of_line != read_so_far) {
+        lines.push_back (
+          string (reinterpret_cast<const char*> (buffer_ + start_of_line),
+            read_so_far - start_of_line));
+      }
+      break; // Timeout occured on reading 1 byte
+    }
+    if (string (reinterpret_cast<const char*>
+         (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+      // EOL found
+      lines.push_back(
+        string(reinterpret_cast<const char*> (buffer_ + start_of_line),
+          read_so_far - start_of_line));
+      start_of_line = read_so_far;
+    }
+    if (read_so_far == size) {
+      if (start_of_line != read_so_far) {
+        lines.push_back(
+          string(reinterpret_cast<const char*> (buffer_ + start_of_line),
+            read_so_far - start_of_line));
+      }
+      break; // Reached the maximum read length
+    }
+  }
+  return lines;
+}
+
+size_t
+Serial::write (const string &data)
+{
+  ScopedWriteLock(this->pimpl_);
+  return pimpl_->write (data);
+}
+
+void
+Serial::setPort (const string &port)
+{
+  ScopedReadLock(this->pimpl_);
+  ScopedWriteLock(this->pimpl_);
+  bool was_open = pimpl_->isOpen ();
+  if (was_open) close();
+  pimpl_->setPort (port);
+  if (was_open) open ();
+}
+
+string
+Serial::getPort () const
+{
+  return pimpl_->getPort ();
+}
+
+void
+Serial::setTimeout (long timeout)
+{
+  pimpl_->setTimeout (timeout);
+}
+
+long
+Serial::getTimeout () const {
+  return pimpl_->getTimeout ();
+}
+
+void
+Serial::setBaudrate (unsigned long baudrate)
+{
+  pimpl_->setBaudrate (baudrate);
+}
+
+unsigned long
+Serial::getBaudrate () const
+{
+  return pimpl_->getBaudrate ();
+}
+
+void
+Serial::setBytesize (bytesize_t bytesize)
+{
+  pimpl_->setBytesize (bytesize);
+}
+
+bytesize_t
+Serial::getBytesize () const
+{
+  return pimpl_->getBytesize ();
+}
+
+void
+Serial::setParity (parity_t parity)
+{
+  pimpl_->setParity (parity);
+}
+
+parity_t
+Serial::getParity () const
+{
+  return pimpl_->getParity ();
+}
+
+void
+Serial::setStopbits (stopbits_t stopbits)
+{
+  pimpl_->setStopbits (stopbits);
+}
+
+stopbits_t
+Serial::getStopbits () const
+{
+  return pimpl_->getStopbits ();
+}
+
+void
+Serial::setFlowcontrol (flowcontrol_t flowcontrol)
+{
+  pimpl_->setFlowcontrol (flowcontrol);
+}
+
+flowcontrol_t
+Serial::getFlowcontrol () const
+{
+  return pimpl_->getFlowcontrol ();
+}
+
+void Serial::flush ()
+{
+  ScopedReadLock(this->pimpl_);
+  ScopedWriteLock(this->pimpl_);
+  pimpl_->flush ();
+  read_cache_.clear ();
+}
+
+void Serial::flushInput ()
+{
+  ScopedReadLock(this->pimpl_);
+  pimpl_->flushInput ();
+}
+
+void Serial::flushOutput ()
+{
+  ScopedWriteLock(this->pimpl_);
+  pimpl_->flushOutput ();
+  read_cache_.clear ();
+}
+
+void Serial::sendBreak (int duration)
+{
+  pimpl_->sendBreak (duration);
+}
+
+void Serial::setBreak (bool level)
+{
+  pimpl_->setBreak (level);
+}
+
+void Serial::setRTS (bool level)
+{
+  pimpl_->setRTS (level);
+}
+
+void Serial::setDTR (bool level)
+{
+  pimpl_->setDTR (level);
+}
+
+bool Serial::getCTS ()
+{
+  return pimpl_->getCTS ();
+}
+
+bool Serial::getDSR ()
+{
+  return pimpl_->getDSR ();
+}
+
+bool Serial::getRI ()
+{
+  return pimpl_->getRI ();
+}
+
+bool Serial::getCD ()
+{
+  return pimpl_->getCD ();
+}

src/serial.cpp

@@ -1,466 +0,0 @@
-#include "serial/serial.h"
-#include <iostream>
-
-using namespace serial;
-
-/** Completion Conditions **/
-
-class transfer_at_least_ignore_invalid_argument {
-public:
-    typedef bool result_type;
-    
-    explicit transfer_at_least_ignore_invalid_argument(std::size_t minimum) : minimum_(minimum) {}
-    
-    template <typename Error>
-    bool operator()(const Error& err, std::size_t bytes_transferred) {
-        if(err) {// There is an Error
-            if(err == boost::asio::error::invalid_argument)
-                std::cout << "Invalid Argument Error" << std::endl;
-            if(err == boost::asio::error::operation_aborted) {
-                return 1;
-            }
-            if(err != boost::asio::error::invalid_argument) {// The Error is not invalid argument
-                return 1; // Stop reading
-            }
-        }
-        if(bytes_transferred >= minimum_) {// We have all the bytes we need
-            return 1; // Stop
-        } else {
-            return 0; // Continue
-        }
-    }
-    
-private:
-    std::size_t minimum_;
-};
-
-/** Classes for Handshaking control **/
-
-#if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-# define BOOST_ASIO_OPTION_STORAGE DCB
-#else
-# define BOOST_ASIO_OPTION_STORAGE termios
-#endif
-
-class DTRControl {
-public:
-    explicit DTRControl(bool enable = false) : m_enable(enable) {};
-    
-    boost::system::error_code store(BOOST_ASIO_OPTION_STORAGE& storage,
-                                    boost::system::error_code& ec) const
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(m_enable)
-                storage.fDtrControl = DTR_CONTROL_ENABLE;
-            else
-                storage.fDtrControl = DTR_CONTROL_DISABLE;
-        #else
-            ec = boost::asio::error::operation_not_supported;
-            ec = boost::system::error_code();
-        #endif
-        return ec;
-    };
-    
-    boost::system::error_code load(const BOOST_ASIO_OPTION_STORAGE& storage,
-                                   boost::system::error_code& ec)
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(storage.fDtrControl == DTR_CONTROL_ENABLE)
-                m_enable = true;
-            else
-                m_enable = true;
-        #else
-        #endif
-        return ec;
-    };
-private:
-    bool m_enable;
-};
-
-class RTSControl {
-public:
-    explicit RTSControl(bool enable = false) : m_enable(enable) {};
-    boost::system::error_code store(BOOST_ASIO_OPTION_STORAGE& storage,
-                                    boost::system::error_code& ec) const
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(m_enable)
-                storage.fRtsControl = RTS_CONTROL_ENABLE;
-            else
-                storage.fRtsControl = RTS_CONTROL_DISABLE;
-        #else
-            ec = boost::asio::error::operation_not_supported;
-            ec = boost::system::error_code();
-        #endif
-        return ec;
-    };
-    
-    boost::system::error_code load(const BOOST_ASIO_OPTION_STORAGE& storage,
-                                   boost::system::error_code& ec)
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(storage.fRtsControl == RTS_CONTROL_ENABLE)
-                m_enable = true;
-            else
-                m_enable = true;
-        #else
-        #endif
-        return ec;
-    };
-private:
-    bool m_enable;
-};
-
-/** Serial Class Implementation **/
-
-Serial::Serial() : io_service(), work(io_service), timeout_timer(io_service) {
-    this->init();
-}
-
-Serial::Serial(std::string port,
-               int baudrate,
-               long timeout,
-               bytesize_t bytesize,
-               parity_t parity,
-               stopbits_t stopbits,
-               flowcontrol_t flowcontrol)
-               : io_service(), work(io_service), timeout_timer(io_service)
-{
-    // Call default constructor to initialize variables
-    this->init();
-    
-    // Write provided settings
-    this->port = port;
-    this->setBaudrate(baudrate);
-    this->setTimeoutMilliseconds(timeout);
-    this->setBytesize(bytesize);
-    this->setParity(parity);
-    this->setStopbits(stopbits);
-    this->setFlowcontrol(flowcontrol);
-    
-    // Open the serial port
-    this->open();
-}
-
-void Serial::init() {
-    // Boost asio variables
-    this->serial_port.reset();
-    
-    // Serial Port settings
-    this->port = "";
-    this->setBaudrate(DEFAULT_BAUDRATE);
-    this->setTimeoutMilliseconds(DEFAULT_TIMEOUT);
-    
-    // Private variables
-    this->bytes_read = 0;
-    this->bytes_to_read = 0;
-    this->reading = false;
-    this->nonblocking = false;
-}
-
-Serial::~Serial() {
-    this->close();
-}
-
-void Serial::open() {
-    // Make sure the Serial port is not already open.
-    if(this->serial_port != NULL && this->serial_port->is_open()) {
-        throw(SerialPortAlreadyOpenException(this->port.c_str()));
-    }
-    
-    // Try to open the serial port
-    try {
-        this->serial_port.reset(new boost::asio::serial_port(this->io_service, this->port));
-        
-        this->serial_port->set_option(this->baudrate);
-        this->serial_port->set_option(this->flowcontrol);
-        this->serial_port->set_option(this->parity);
-        this->serial_port->set_option(this->stopbits);
-        this->serial_port->set_option(this->bytesize);
-    } catch(std::exception &e) {
-        this->serial_port.reset();
-        throw(SerialPortFailedToOpenException(e.what()));
-    }
-}
-
-bool Serial::isOpen() {
-    if(this->serial_port != NULL)
-        return this->serial_port->is_open();
-    return false;
-}
-
-void Serial::close() {
-    // Cancel the current timeout timer and async reads
-    this->timeout_timer.cancel();
-    if(this->serial_port != NULL) {
-        this->serial_port->cancel();
-        this->serial_port->close();
-        this->serial_port.reset();
-    }
-}
-
-static const boost::posix_time::time_duration timeout_zero_comparison(boost::posix_time::milliseconds(0));
-
-int Serial::read(char* buffer, int size) {
-    this->reading = true;
-    if(this->nonblocking) {// Do not wait for data
-        this->serial_port->async_read_some(boost::asio::buffer(buffer, size),
-                                boost::bind(&Serial::read_complete, this,
-                                boost::asio::placeholders::error,
-                                boost::asio::placeholders::bytes_transferred));
-    } else {               // Wait for data until size is read or timeout occurs
-        boost::asio::async_read(*this->serial_port, boost::asio::buffer(buffer, size), transfer_at_least_ignore_invalid_argument(size),
-                                boost::bind(&Serial::read_complete, this,
-                                boost::asio::placeholders::error,
-                                boost::asio::placeholders::bytes_transferred));
-    }
-    if(this->timeout > timeout_zero_comparison) { // Only set a timeout_timer if there is a valid timeout
-        this->timeout_timer.expires_from_now(this->timeout);
-        this->timeout_timer.async_wait(boost::bind(&Serial::timeout_callback, this,
-                                 boost::asio::placeholders::error));
-    } else if(this->nonblocking) {
-        this->timeout_timer.expires_from_now(boost::posix_time::milliseconds(1));
-        this->timeout_timer.async_wait(boost::bind(&Serial::timeout_callback, this,
-                                 boost::asio::placeholders::error));
-    }
-    
-    while(this->reading)
-        this->io_service.run_one();
-    
-    this->bytes_to_read = size;
-    
-    return this->bytes_read;
-}
-
-std::string Serial::read(int size) {
-    char *serial_buffer = new char[size];
-    int bytes_read_ = this->read(serial_buffer, size);
-    std::string return_str(serial_buffer, (std::size_t)bytes_read_);
-    delete[] serial_buffer;
-    return return_str;
-}
-
-std::string 
-Serial::read_until(char delim, size_t size) {
-    using namespace std;
-    string r = "";
-    
-    while (r.find(delim) == string::npos) {
-        string s = read(1);
-        if (s.length() > 0) 
-            r += s;
-    }
-    
-    return r;
-}
-
-std::string 
-Serial::read_until(std::string delim, size_t size) {
-    using namespace std;
-    string r = "";
-    
-    while (r.find(delim) == string::npos) {
-        string s = read(1);
-        if (s.length() > 0) 
-            r += s;
-    }
-    
-    return r;
-}
-
-void Serial::read_complete(const boost::system::error_code& error, std::size_t bytes_transferred) {
-    if(!error || error != boost::asio::error::operation_aborted) { // If there was no error OR the error wasn't operation aborted (canceled), Cancel the timer
-        this->timeout_timer.cancel();  // will cause timeout_callback to fire with an error
-    }
-    
-    this->bytes_read = bytes_transferred;
-    
-    this->reading = false;
-}
-
-void Serial::timeout_callback(const boost::system::error_code& error) {
-    if (!error) {
-        // The timeout wasn't canceled, so cancel the async read
-        this->serial_port->cancel();
-    }
-}
-
-int Serial::write(char data[], int length) {
-    return boost::asio::write(*this->serial_port, boost::asio::buffer(data, length), boost::asio::transfer_all());
-}
-
-int Serial::write(std::string data) {
-    char *cstr = new char[data.size()+1];
-    std::strcpy(cstr, data.c_str());
-    int bytes_wrote = this->write(cstr, data.length());
-    delete[] cstr;
-    return bytes_wrote;
-}
-
-void Serial::setRTS(bool level) {
-    this->serial_port->set_option(RTSControl(level));
-}
-
-void Serial::setDTR(bool level) {
-    this->serial_port->set_option(DTRControl(level));
-}
-
-bool Serial::getCTS() const {
-    throw(boost::asio::error::operation_not_supported);
-    return false;
-}
-
-bool Serial::getDSR() const {
-    throw(boost::asio::error::operation_not_supported);
-    return false;
-}
-
-void Serial::setPort(std::string port) {
-    this->port = port;
-}
-
-std::string Serial::getPort() const {
-    return this->port;
-}
-
-void Serial::setTimeoutMilliseconds(long timeout) {
-    // If timeout > 0 then read until size or timeout occurs
-    // If timeout == 0 then read nonblocking, return data available immediately up to size
-    // If timeout < 0 then read blocking, until size is read, period.
-    if(timeout > 0) {
-        this->timeout = boost::posix_time::time_duration(boost::posix_time::milliseconds(timeout));
-    } else {
-        this->timeout = boost::posix_time::time_duration(boost::posix_time::milliseconds(0));
-    }
-    
-    if(timeout == 0)
-        this->nonblocking = true;
-    else // Must be negative
-        this->nonblocking = false;
-}
-
-long Serial::getTimeoutMilliseconds() const {
-    return this->timeout.total_milliseconds();
-}
-
-void Serial::setBaudrate(int baudrate) {
-    this->baudrate = boost::asio::serial_port_base::baud_rate(baudrate);
-}
-
-int Serial::getBaudrate() const {
-    return this->baudrate.value();
-}
-
-void Serial::setBytesize(bytesize_t bytesize) {
-    switch(bytesize) {
-        case FIVEBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(5);
-            break;
-        case SIXBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(6);
-            break;
-        case SEVENBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(7);
-            break;
-        case EIGHTBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(8);
-            break;
-        default:
-            throw(InvalidBytesizeException(bytesize));
-            break;
-    }
-}
-
-bytesize_t Serial::getBytesize() const {
-    return bytesize_t(this->bytesize.value());
-}
-
-void Serial::setParity(parity_t parity) {
-    switch(parity) {
-        case PARITY_NONE:
-            this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none);
-            break;
-        case PARITY_ODD:
-            this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::odd);
-            break;
-        case PARITY_EVEN:
-            this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::even);
-            break;
-        default:
-            throw(InvalidParityException(parity));
-            break;
-    }
-}
-
-parity_t Serial::getParity() const {
-    switch(this->parity.value()) {
-        case boost::asio::serial_port_base::parity::none:
-            return parity_t(PARITY_NONE);
-        case boost::asio::serial_port_base::parity::odd:
-            return parity_t(PARITY_ODD);
-        case boost::asio::serial_port_base::parity::even:
-            return parity_t(PARITY_EVEN);
-        default:
-            throw(InvalidParityException(this->parity.value()));
-    }
-}
-
-void Serial::setStopbits(stopbits_t stopbits) {
-    switch(stopbits) {
-        case STOPBITS_ONE:
-            this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one);
-            break;
-        case STOPBITS_ONE_POINT_FIVE:
-            this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::onepointfive);
-            break;
-        case STOPBITS_TWO:
-            this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::two);
-            break;
-        default:
-            throw(InvalidStopbitsException(stopbits));
-            break;
-    }
-}
-
-stopbits_t Serial::getStopbits() const {
-    switch(this->stopbits.value()) {
-        case boost::asio::serial_port_base::stop_bits::one:
-            return stopbits_t(STOPBITS_ONE);
-        case boost::asio::serial_port_base::stop_bits::onepointfive:
-            return stopbits_t(STOPBITS_ONE_POINT_FIVE);
-        case boost::asio::serial_port_base::stop_bits::two:
-            return stopbits_t(STOPBITS_TWO);
-        default:
-            throw(InvalidStopbitsException(this->stopbits.value()));
-    }
-}
-
-void Serial::setFlowcontrol(flowcontrol_t flowcontrol) {
-    switch(flowcontrol) {
-        case FLOWCONTROL_NONE:
-            this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::none);
-            break;
-        case FLOWCONTROL_SOFTWARE:
-            this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::software);
-            break;
-        case FLOWCONTROL_HARDWARE:
-            this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::hardware);
-            break;
-        default:
-            throw(InvalidFlowcontrolException(flowcontrol));
-            break;
-    }
-}
-
-flowcontrol_t Serial::getFlowcontrol() const {
-    switch(this->flowcontrol.value()) {
-        case boost::asio::serial_port_base::flow_control::none:
-            return flowcontrol_t(FLOWCONTROL_NONE);
-        case boost::asio::serial_port_base::flow_control::software:
-            return flowcontrol_t(FLOWCONTROL_SOFTWARE);
-        case boost::asio::serial_port_base::flow_control::hardware:
-            return flowcontrol_t(FLOWCONTROL_HARDWARE);
-        default:
-            throw(InvalidFlowcontrolException(this->flowcontrol.value()));
-    }
-}

tests/proof_of_concepts/mdc2250.cc

@@ -0,0 +1 @@
+#include ""

tests/proof_of_concepts/python_serial_test.py

@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+import serial, sys
+
+if len(sys.argv) != 2:
+    print "python: Usage_serial_test <port name like: /dev/ttyUSB0>"
+    sys.exit(1)
+
+sio = serial.Serial(sys.argv[1], 115200)
+sio.timeout = 250
+
+while True:
+    sio.write("Testing.")
+    print sio.read(8)
+

tests/proof_of_concepts/tokenizer.cc

@@ -0,0 +1,31 @@
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include <boost/bind.hpp>
+#include <boost/function.hpp>
+#include <boost/algorithm/string.hpp>
+#include <boost/foreach.hpp>
+
+void
+_delimeter_tokenizer (std::string &data, std::vector<std::string> &tokens,
+                      std::string delimeter)
+{
+  boost::split(tokens, data, boost::is_any_of(delimeter));
+}
+
+typedef boost::function<void(std::string&,std::vector<std::string>&)> TokenizerType;
+
+int main(void) {
+  std::string data = "a\rb\rc\r";
+  std::vector<std::string> tokens;
+  std::string delimeter = "\r";
+  
+  TokenizerType f = boost::bind(_delimeter_tokenizer, _1, _2, delimeter);
+  f(data, tokens);
+  
+  BOOST_FOREACH(std::string token, tokens)
+    std::cout << token << std::endl;
+  
+  return 0;
+}

tests/serial_tests.cc

@@ -0,0 +1,118 @@
+/* To run these tests you need to change the define below to the serial port 
+ * with a loop back device attached.
+ * 
+ * Alternatively you could use an Arduino:
+ 
+void setup()
+{
+ Serial.begin(115200);
+}
+
+void loop()
+{
+ while (Serial.available() > 0) {
+   Serial.write(Serial.read());
+ }
+}
+ 
+*/
+
+#include <string>
+#include "gtest/gtest.h"
+
+#include <boost/bind.hpp>
+
+// Use FRIEND_TEST... its not as nasty, thats what friends are for
+// // OMG this is so nasty...
+// #define private public
+// #define protected public
+
+#include "serial/serial.h"
+
+#ifdef __linux__
+#include <pty.h>
+#else
+#include <util.h>
+#endif
+
+using namespace serial;
+
+using std::string;
+
+namespace {
+
+class SerialTests : public ::testing::Test {
+protected:
+  virtual void SetUp() {
+    if (openpty(&master_fd, &slave_fd, name, NULL, NULL) == -1) {
+      perror("openpty");
+      exit(127);
+    }
+
+    ASSERT_TRUE(master_fd > 0);
+    ASSERT_TRUE(slave_fd > 0);
+    ASSERT_TRUE(string(name).length() > 0);
+
+    port1 = new Serial(string(name), 115200, 250);
+  }
+
+  virtual void TearDown() {
+    port1->close();
+    delete port1;
+  }
+
+  Serial * port1;
+  int master_fd;
+  int slave_fd;
+  char name[100];
+};
+
+TEST_F(SerialTests, readWorks) {
+  write(master_fd, "abc\n", 4);
+  string r = port1->read(4);
+  EXPECT_EQ(r, string("abc\n"));
+}
+
+TEST_F(SerialTests, writeWorks) {
+  char buf[5] = "";
+  port1->write("abc\n");
+  read(master_fd, buf, 4);
+  EXPECT_EQ(string(buf, 4), string("abc\n"));
+}
+
+TEST_F(SerialTests, timeoutWorks) {
+  // Timeout a read, returns an empty string
+  string empty = port1->read();
+  EXPECT_EQ(empty, string(""));
+  
+  // Ensure that writing/reading still works after a timeout.
+  write(master_fd, "abc\n", 4);
+  string r = port1->read(4);
+  EXPECT_EQ(r, string("abc\n"));
+}
+
+TEST_F(SerialTests, partialRead) {
+  // Write some data, but request more than was written.
+  write(master_fd, "abc\n", 4);
+
+  // Should timeout, but return what was in the buffer.
+  string empty = port1->read(10);
+  EXPECT_EQ(empty, string("abc\n"));
+  
+  // Ensure that writing/reading still works after a timeout.
+  write(master_fd, "abc\n", 4);
+  string r = port1->read(4);
+  EXPECT_EQ(r, string("abc\n"));
+}
+
+}  // namespace
+
+int main(int argc, char **argv) {
+  try {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+  } catch (std::exception &e) {
+    std::cerr << "Unhandled Exception: " << e.what() << std::endl;
+  }
+  return 1;
+}