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//! API for using smart ports as generic serial ports.
use core::convert::TryInto;
use crate::{
bindings,
error::{Error, SentinelError},
smart_port::{smart_port_type, DeviceType},
};
/// Represents the generic serial interface of a smart port.
pub struct Serial(u8);
impl Serial {
/// Constructs a new generic serial port.
///
/// # Safety
/// This function is unsafe because it allows the user to create multiple
/// mutable references to the same smart port interface. You likely want to
/// implement [`Robot::new()`](crate::robot::Robot::new()) instead.
pub unsafe fn new(port: u8, baudrate: i32) -> Result<Self, Error> {
bindings::serial_enable(port).check()?;
while smart_port_type(port) != DeviceType::Serial {}
bindings::serial_set_baudrate(port, baudrate).check()?;
Ok(Self(port))
}
#[inline]
/// Changes the baudrate of the serial port.
pub fn set_baudrate(&mut self, baudrate: i32) -> Result<(), Error> {
unsafe { bindings::serial_set_baudrate(self.0, baudrate) }.check()?;
Ok(())
}
#[inline]
/// Gets the number of bytes available to read in the input buffer of the
/// serial port.
pub fn get_read_avail(&self) -> Result<usize, Error> {
Ok(unsafe { bindings::serial_get_read_avail(self.0) }
.check()?
.try_into()?)
}
#[inline]
/// Gets the number of bytes free in the output buffer of the serial port.
pub fn get_write_free(&self) -> Result<usize, Error> {
Ok(unsafe { bindings::serial_get_write_free(self.0) }
.check()?
.try_into()?)
}
#[inline]
/// Reads the next available byte in the input buffer of the serial port
/// without removing it.
pub fn peek_byte(&self) -> Result<u8, Error> {
Ok(unsafe { bindings::serial_peek_byte(self.0) }
.check()?
.try_into()?)
}
#[inline]
/// Reads the next available byte in the input buffer of the serial port.
pub fn read_byte(&mut self) -> Result<u8, Error> {
Ok(unsafe { bindings::serial_read_byte(self.0) }
.check()?
.try_into()?)
}
#[inline]
/// Writes the given byte to the output buffer of the serial port.
pub fn write_byte(&mut self, byte: u8) -> Result<(), Error> {
unsafe { bindings::serial_write_byte(self.0, byte) }.check()?;
Ok(())
}
#[inline]
/// Reads as many bytes as possible from the input buffer of the serial port
/// into the given buffer, returning the number read.
pub fn read(&mut self, buffer: &mut [u8]) -> Result<usize, Error> {
Ok(
unsafe { bindings::serial_read(self.0, buffer.as_mut_ptr(), buffer.len().try_into()?) }
.check()?
.try_into()?,
)
}
#[inline]
/// Writes as many bytes as possible to the output buffer of the serial port
/// from the given buffer, returning the number written.
pub fn write(&mut self, buffer: &[u8]) -> Result<usize, Error> {
Ok(unsafe {
bindings::serial_write(self.0, buffer.as_ptr() as *mut _, buffer.len().try_into()?)
}
.check()?
.try_into()?)
}
#[inline]
/// Clears the internal input and output buffers of the serial port,
/// effectively resetting its state.
pub fn flush(&mut self) -> Result<(), Error> {
unsafe { bindings::serial_flush(self.0) }.check()?;
Ok(())
}
}