001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.hal;
006
007/**
008 * Serial Port JNI HAL functions.
009 *
010 * @see "SerialPort.h"
011 */
012public class SerialPortJNI extends JNIWrapper {
013  /**
014   * Initializes a serial port.
015   *
016   * <p>The channels are either the onboard RS232, the MXP UART, or 2 USB ports. The top port is
017   * USB1, the bottom port is USB2.
018   *
019   * @param port the serial port to initialize
020   * @return Serial Port Handle
021   * @see "HAL_InitializeSerialPort"
022   */
023  public static native int serialInitializePort(byte port);
024
025  /**
026   * Initializes a serial port with a direct name.
027   *
028   * <p>This name is the /dev name for a specific port. Note these are not always consistent between
029   * roboRIO reboots.
030   *
031   * @param port the serial port to initialize
032   * @param portName the dev port name
033   * @return Serial Port Handle
034   * @see "HAL_InitializeSerialPortDirect"
035   */
036  public static native int serialInitializePortDirect(byte port, String portName);
037
038  /**
039   * Sets the baud rate of a serial port.
040   *
041   * <p>Any value between 0 and 0xFFFFFFFF may be used. Default is 9600.
042   *
043   * @param handle the serial port handle
044   * @param baud the baud rate to set
045   * @see "HAL_SetSerialBaudRate"
046   */
047  public static native void serialSetBaudRate(int handle, int baud);
048
049  /**
050   * Sets the number of data bits on a serial port.
051   *
052   * <p>Defaults to 8.
053   *
054   * @param handle the serial port handle
055   * @param bits the number of data bits (5-8)
056   * @see "HAL_SetSerialDataBits"
057   */
058  public static native void serialSetDataBits(int handle, byte bits);
059
060  /**
061   * Sets the number of parity bits on a serial port.
062   *
063   * <p>Valid values are: 0: None (default) 1: Odd 2: Even 3: Mark - Means exists and always 1 4:
064   * Space - Means exists and always 0
065   *
066   * @param handle the serial port handle
067   * @param parity the parity bit mode (see remarks for valid values)
068   * @see "HAL_SetSerialParity"
069   */
070  public static native void serialSetParity(int handle, byte parity);
071
072  /**
073   * Sets the number of stop bits on a serial port.
074   *
075   * <p>Valid values are: 10: One stop bit (default) 15: One and a half stop bits 20: Two stop bits
076   *
077   * @param handle the serial port handle
078   * @param stopBits the stop bit value (see remarks for valid values)
079   * @see "HAL_SetSerialStopBits"
080   */
081  public static native void serialSetStopBits(int handle, byte stopBits);
082
083  /**
084   * Sets the write mode on a serial port.
085   *
086   * <p>Valid values are: 1: Flush on access 2: Flush when full (default)
087   *
088   * @param handle the serial port handle
089   * @param mode the mode to set (see remarks for valid values)
090   * @see "HAL_SetSerialWriteMode"
091   */
092  public static native void serialSetWriteMode(int handle, byte mode);
093
094  /**
095   * Sets the flow control mode of a serial port.
096   *
097   * <p>Valid values are: 0: None (default) 1: XON-XOFF 2: RTS-CTS 3: DTR-DSR
098   *
099   * @param handle the serial port handle
100   * @param flow the mode to set (see remarks for valid values)
101   * @see "HAL_SetSerialFlowControl"
102   */
103  public static native void serialSetFlowControl(int handle, byte flow);
104
105  /**
106   * Sets the minimum serial read timeout of a port.
107   *
108   * @param handle the serial port handle
109   * @param timeout the timeout in milliseconds
110   * @see "HAL_SetSerialTimeout"
111   */
112  public static native void serialSetTimeout(int handle, double timeout);
113
114  /**
115   * Sets the termination character that terminates a read.
116   *
117   * <p>By default this is disabled.
118   *
119   * @param handle the serial port handle
120   * @param terminator the termination character to set
121   * @see "HAL_EnableSerialTermination"
122   */
123  public static native void serialEnableTermination(int handle, char terminator);
124
125  /**
126   * Disables a termination character for reads.
127   *
128   * @param handle the serial port handle
129   * @see "HAL_DisableSerialTermination"
130   */
131  public static native void serialDisableTermination(int handle);
132
133  /**
134   * Sets the size of the read buffer.
135   *
136   * @param handle the serial port handle
137   * @param size the read buffer size
138   * @see "HAL_SetSerialReadBufferSize"
139   */
140  public static native void serialSetReadBufferSize(int handle, int size);
141
142  /**
143   * Sets the size of the write buffer.
144   *
145   * @param handle the serial port handle
146   * @param size the write buffer size
147   * @see "HAL_SetSerialWriteBufferSize"
148   */
149  public static native void serialSetWriteBufferSize(int handle, int size);
150
151  /**
152   * Gets the number of bytes currently in the read buffer.
153   *
154   * @param handle the serial port handle
155   * @return the number of bytes in the read buffer
156   * @see "HAL_GetSerialBytesReceived"
157   */
158  public static native int serialGetBytesReceived(int handle);
159
160  /**
161   * Reads data from the serial port.
162   *
163   * <p>Will wait for either timeout (if set), the termination char (if set), or the count to be
164   * full. Whichever one comes first.
165   *
166   * @param handle the serial port handle
167   * @param buffer the buffer in which to store bytes read
168   * @param count the number of bytes maximum to read
169   * @return the number of bytes actually read
170   * @see "HAL_ReadSerial"
171   */
172  public static native int serialRead(int handle, byte[] buffer, int count);
173
174  /**
175   * Writes data to the serial port.
176   *
177   * @param handle the serial port handle
178   * @param buffer the buffer to write
179   * @param count the number of bytes to write from the buffer
180   * @return the number of bytes actually written
181   * @see "HAL_WriteSerial"
182   */
183  public static native int serialWrite(int handle, byte[] buffer, int count);
184
185  /**
186   * Flushes the serial write buffer out to the port.
187   *
188   * @param handle the serial port handle
189   * @see "HAL_FlushSerial"
190   */
191  public static native void serialFlush(int handle);
192
193  /**
194   * Clears the receive buffer of the serial port.
195   *
196   * @param handle the serial port handle
197   * @see "HAL_ClearSerial"
198   */
199  public static native void serialClear(int handle);
200
201  /**
202   * Closes a serial port.
203   *
204   * @param handle the serial port handle to close
205   * @see "HAL_CloseSerial"
206   */
207  public static native void serialClose(int handle);
208}