.. _program_listing_file_src_tap_communication_serial_terminal_serial.hpp:

Program Listing for File terminal_serial.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_communication_serial_terminal_serial.hpp>` (``src/tap/communication/serial/terminal_serial.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_TERMINAL_SERIAL_HPP_
   #define TAPROOT_TERMINAL_SERIAL_HPP_
   
   #include <cstring>
   #include <map>
   
   #ifdef PLATFORM_HOSTED
   #ifdef ENV_UNIT_TESTS
   #include "tap/stub/terminal_device_stub.hpp"
   #else
   #include "hosted_terminal_device.hpp"
   #endif  // ENV_UNIT_TESTS
   #else
   #include "uart_terminal_device.hpp"
   #endif
   
   #include "tap/architecture/periodic_timer.hpp"
   #include "tap/board/board.hpp"
   #include "tap/communication/serial/uart.hpp"
   #include "tap/util_macros.hpp"
   
   #include "modm/io.hpp"
   
   namespace tap
   {
   class Drivers;
   }
   
   namespace tap::communication::serial
   {
   class TerminalSerialCallbackInterface
   {
   public:
       virtual bool terminalSerialCallback(
           char *inputLine,
           modm::IOStream &outputStream,
           bool streamingEnabled) = 0;
   
       virtual void terminalSerialStreamCallback(modm::IOStream &outputStream) = 0;
   };  // class TerminalSerialCallbackInterface
   
   class TerminalSerial
   {
   public:
       static constexpr char DELIMITERS[] = " \t";
       static constexpr int MAX_LINE_LENGTH = 256;
       static constexpr int STREAMING_PERIOD = 500;
   
       explicit TerminalSerial(Drivers *drivers);
   
       DISALLOW_COPY_AND_ASSIGN(TerminalSerial);
   
       virtual ~TerminalSerial() = default;
   
       mockable void initialize();
   
       mockable void update();
   
       mockable void addHeader(const char *header, TerminalSerialCallbackInterface *callback);
   
   private:
       // Use either an IO device that interacts with UART or with stdin/stdout.
   #ifdef PLATFORM_HOSTED
   #ifdef ENV_UNIT_TESTS
   public:
       stub::TerminalDeviceStub device;
   
   private:
   #else
       HostedTerminalDevice device;
   #endif  // ENV_UNIT_TESTS
   #else
       UartTerminalDevice device;
   #endif
   
       modm::IOStream stream;
   
       char rxBuff[MAX_LINE_LENGTH];
   
       uint8_t currLineSize = 0;
   
       TerminalSerialCallbackInterface *currStreamer = nullptr;
   
       tap::arch::PeriodicMilliTimer streamingTimer;
   
       struct cmpByStringEquality
       {
           bool operator()(const char *c1, const char *c2) const { return strcmp(c1, c2) < 0; }
       };
   
       std::map<const char *, TerminalSerialCallbackInterface *, cmpByStringEquality>
           headerCallbackMap;
   
       Drivers *drivers;
   
       bool prevCharSpace = false;
   
       void printUsage();
   };  // class TerminalSerial
   }  // namespace tap::communication::serial
   
   #endif  // TAPROOT_TERMINAL_SERIAL_HPP_