#ifndef SERIAL_CHANNEL_HH
#define SERIAL_CHANNEL_HH

#include <string.h>
#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/termios.h>
#include <unistd.h>

#include "Constants.hh"
#include "Channel.hh"
#include "Semaphore.hh"

void fd_zero_function( fd_set* fds ) { FD_ZERO( fds ); };
void fd_set_function( int id, fd_set* fds ) { FD_SET( id, fds ); };

/**
 * Each of the Set commands is mapped to a terminal command, changing the 
 * attributes of the device. Each of the terminal commands is mapped to an
 * ioctl() command but configuration is easier to deal with at the higher
 * level.
 */

template <class Dtype>
class SerialChannel : public Channel<Dtype>
{
public:
  SerialChannel  (int port, int baud, 
		  const char* serialName = "SerialChannel");
  ~SerialChannel ();
  
  STATUS Open  ();
  STATUS Close ();
  STATUS Read  (Dtype message, long length, int timeout);
  STATUS Read  (Dtype message, long length);
  STATUS Write (Dtype message, long length);
  
  bool IsOpen    ();
  int getComPort ();
  int FlushIn    ();
  int FlushOut   ();
  
protected:
  int id;
  int comPort;
  int baudRate;
  int bytesSent, bytesReceived;
  int isOpen;                           // has the serial port been opened?
  struct termios oldConfig, newConfig;  // for configuration restoration
};

#include "SerialChannel.icc"

#endif /* SERIAL_CHANNEL_HH */