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ublox6: remove driver and replace with generic nmea_gps driver

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2016-08-25 14:04:42 -06:00 committed by Noel Eck
parent a040f51cda
commit d456066277
13 changed files with 5 additions and 713 deletions
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5
docs/apichanges.md
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@ -4,6 +4,11 @@ API Changes {#apichanges}
Here's a list of other API changes made to the library that break source/binary
compatibility between releases:
* The Ublox6 driver has been removed and replaced with a generic
implementation called nmea_gps. This driver should handle all
generic serial GPS devices that output NMEA data going forward. This
new driver has been tested with ublox6, DFRobot VK2828U7 (ublox7) and
ublox LEA-6H GPS devices.
* There were frequent misspellings of the word *Celsius* in the UPM
code. In some cases, these were in method names, which will cause
some API compatibility issues. These have all been corrected for UPM

1
examples/c++/CMakeLists.txt
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@ -150,7 +150,6 @@ add_example (grovevdiv)
add_example (grovewater)
add_example (guvas12d)
add_example (mpr121)
add_example (ublox6)
add_example (yg1006)
add_example (wt5001)
add_example (ppd42ns)

97
examples/c++/ublox6.cxx
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@ -1,97 +0,0 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
#include <unistd.h>
#include <iostream>
#include <signal.h>
#include "ublox6.hpp"
using namespace std;
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
const size_t bufferLength = 256;
int main (int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a Ublox6 GPS device on uart 0.
upm::Ublox6* nmea = new upm::Ublox6(0);
// make sure port is initialized properly. 9600 baud is the default.
if (!nmea->setupTty(B9600))
{
cerr << "Failed to setup tty port parameters" << endl;
return 1;
}
// Collect and output NMEA data. There are various libraries out on
// the Internet, such as tinyGPS or tinyGPS++ that can handle
// decoding NMEA data and presenting it in a more easily accessible
// format. This example will just check for, and read raw NMEA data
// from the device and output it on stdout.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
char nmeaBuffer[bufferLength];
while (shouldRun)
{
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (nmea->dataAvailable())
{
int rv = nmea->readData(nmeaBuffer, bufferLength);
if (rv > 0)
write(1, nmeaBuffer, rv);
if (rv < 0) // some sort of read error occurred
{
cerr << "Port read error." << endl;
break;
}
continue;
}
usleep(100000); // 100ms
}
//! [Interesting]
cout << "Exiting..." << endl;
delete nmea;
return 0;
}

1
examples/java/CMakeLists.txt
View File

@ -97,7 +97,6 @@ add_example(TM1637Sample tm1637)
add_example(TP401Sample gas)
add_example(TSL2561Sample tsl2561)
add_example(TTP223Sample ttp223)
add_example(Ublox6Sample ublox6)
add_example(ULN200XASample uln200xa)
add_example(WaterLevelSensor waterlevel)
add_example(WT5001Sample wt5001)

73
examples/java/Ublox6Sample.java
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@ -1,73 +0,0 @@
/*
* Author: Stefan Andritoiu <stefan.andritoiu@intel.com>
* Copyright (c) 2015 Intel Corporation.
*
* 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.
*/
public class Ublox6Sample {
private static final int BUFFERLENGTH = 256;
public static void main(String[] args) throws InterruptedException {
// ! [Interesting]
// Instantiate a Ublox6 GPS device on uart 0
upm_ublox6.Ublox6 nmea = new upm_ublox6.Ublox6(0);
// make sure port is initialized properly. 9600 baud is the default.
if (!nmea.setupTty()) {
throw new RuntimeException("Failed to setup tty port parameters");
}
// Collect and output NMEA data. There are various libraries out on
// the Internet, that can handle decoding NMEA data and presenting
// it in a more easily accessible format. This example will just
// check for, and read raw NMEA data from the device and output it
// on standard output.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
byte[] nmeaBuffer = new byte[BUFFERLENGTH];
while (true) {
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (nmea.dataAvailable()) {
int rv = nmea.readData(nmeaBuffer);
if (rv > 0)
for (int i = 0; i < rv; i++)
System.out.print((char) nmeaBuffer[i]);
if (rv < 0) { // some sort of read error occurred
System.err.println("Port read error.");
break;
}
continue;
}
Thread.sleep(1000);
}
// ! [Interesting]
}
}

81
examples/javascript/ublox6.js
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@ -1,81 +0,0 @@
/*
* Author: Zion Orent <zorent@ics.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
var GPSSensor = require('jsupm_ublox6');
// Instantiate a Ublox6 GPS device on uart 0.
var myGPSSensor = new GPSSensor.Ublox6(0);
if (!myGPSSensor.setupTty(GPSSensor.int_B9600))
{
console.log("Failed to setup tty port parameters");
process.exit(0);
}
// Collect and output NMEA data.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
var bufferLength = 256;
var nmeaBuffer = new GPSSensor.charArray(bufferLength);
function getGPSInfo()
{
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (myGPSSensor.dataAvailable())
{
var rv = myGPSSensor.readData(nmeaBuffer, bufferLength);
var GPSData, dataCharCode, isNewLine, lastNewLine;
var numlines= 0;
if (rv > 0)
{
GPSData = "";
// read only the number of characters
// specified by myGPSSensor.readData
for (var x = 0; x < rv; x++)
GPSData += nmeaBuffer.getitem(x);
process.stdout.write(GPSData)
}
if (rv < 0) // some sort of read error occurred
{
console.log("Port read error.");
process.exit(0);
}
}
}
setInterval(getGPSInfo, 100);
// Print message when exiting
process.on('SIGINT', function()
{
console.log("Exiting...");
process.exit(0);
});

82
examples/python/ublox6.py
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@ -1,82 +0,0 @@
#!/usr/bin/python
# Author: Zion Orent <zorent@ics.com>
# Copyright (c) 2015 Intel Corporation.
#
# 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.
import time, sys, signal, atexit
import pyupm_ublox6 as upmUblox6
# Instantiate a Ublox6 GPS device on uart 0.
myGPSSensor = upmUblox6.Ublox6(0)
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit, including functions from myGPSSensor
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
if (not myGPSSensor.setupTty(upmUblox6.cvar.int_B9600)):
print "Failed to setup tty port parameters"
sys.exit(0)
# Collect and output NMEA data.
# This device also supports numerous configuration options, which
# you can set with writeData(). Please refer to the Ublox-6 data
# sheet for further information on the formats of the data sent and
# received, and the various operating modes available.
bufferLength = 256
nmeaBuffer = upmUblox6.charArray(bufferLength)
def getGPSInfo():
# we don't want the read to block in this example, so always
# check to see if data is available first.
if (myGPSSensor.dataAvailable()):
rv = myGPSSensor.readData(nmeaBuffer, bufferLength)
numlines= 0
if (rv > 0):
GPSData = ""
# read only the number of characters
# specified by myGPSSensor.readData
for x in range(rv):
GPSData += nmeaBuffer.__getitem__(x)
sys.stdout.write(GPSData)
if (rv < 0): # some sort of read error occurred
print "Port read error."
sys.exit(0)
while (1):
getGPSInfo()
time.sleep(.1)

5
src/ublox6/CMakeLists.txt
View File

@ -1,5 +0,0 @@
set (libname "ublox6")
set (libdescription "upm u-blox 6 GPS UART support module")
set (module_src ${libname}.cxx)
set (module_hpp ${libname}.hpp)
upm_module_init()

30
src/ublox6/javaupm_ublox6.i
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@ -1,30 +0,0 @@
%module javaupm_ublox6
%include "../upm.i"
%include "../java_buffer.i"
%{
#include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%}
%include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%pragma(java) jniclasscode=%{
static {
try {
System.loadLibrary("javaupm_ublox6");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library failed to load. \n" + e);
System.exit(1);
}
}
%}

21
src/ublox6/jsupm_ublox6.i
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@ -1,21 +0,0 @@
%module jsupm_ublox6
%include "../upm.i"
%include "stdint.i"
%include "carrays.i"
%{
#include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%}
%include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%array_class(char, charArray);

25
src/ublox6/pyupm_ublox6.i
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@ -1,25 +0,0 @@
// Include doxygen-generated documentation
%include "pyupm_doxy2swig.i"
%module pyupm_ublox6
%include "../upm.i"
%include "stdint.i"
%include "carrays.i"
%feature("autodoc", "3");
%{
#include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%}
%include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%array_class(char, charArray);

167
src/ublox6/ublox6.cxx
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@ -1,167 +0,0 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
#include <iostream>
#include <string>
#include <stdexcept>
#include "ublox6.hpp"
using namespace upm;
using namespace std;
Ublox6::Ublox6(int uart)
{
m_ttyFd = -1;
if ( !(m_uart = mraa_uart_init(uart)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_uart_init() failed");
return;
}
// This requires a recent MRAA (1/2015)
const char *devPath = mraa_uart_get_dev_path(m_uart);
if (!devPath)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_uart_get_dev_path() failed");
return;
}
// now open the tty
if ( (m_ttyFd = open(devPath, O_RDWR)) == -1)
{
string err = __FUNCTION__;
err += ": open of " + std::string(devPath) + " failed: " +
std::string(strerror(errno));
throw std::runtime_error(err);
return;
}
}
Ublox6::~Ublox6()
{
if (m_ttyFd != -1)
close(m_ttyFd);
}
bool Ublox6::dataAvailable()
{
if (m_ttyFd == -1)
return false;
struct timeval timeout;
// no waiting
timeout.tv_sec = 0;
timeout.tv_usec = 0;
int nfds;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(m_ttyFd, &readfds);
if (select(m_ttyFd + 1, &readfds, NULL, NULL, &timeout) > 0)
return true; // data is ready
else
return false;
}
int Ublox6::readData(char *buffer, int len)
{
if (m_ttyFd == -1)
return(-1);
int rv = read(m_ttyFd, buffer, len);
if (rv < 0)
{
string err = string(__FUNCTION__) + ": read failed: " +
string(strerror(errno));
throw std::runtime_error(err);
return rv;
}
return rv;
}
int Ublox6::writeData(char * buffer, int len)
{
if (m_ttyFd == -1)
return(-1);
int rv = write(m_ttyFd, buffer, len);
if (rv < 0)
{
string err = string(__FUNCTION__) + ": write failed: " +
string(strerror(errno));
throw std::runtime_error(err);
return rv;
}
tcdrain(m_ttyFd);
return rv;
}
bool Ublox6::setupTty(speed_t baud)
{
if (m_ttyFd == -1)
return(false);
struct termios termio;
// get current modes
tcgetattr(m_ttyFd, &termio);
// setup for a 'raw' mode. 81N, no echo or special character
// handling, such as flow control.
cfmakeraw(&termio);
// set our baud rates
cfsetispeed(&termio, baud);
cfsetospeed(&termio, baud);
// make it so
int rv;
if ( (rv = tcsetattr(m_ttyFd, TCSAFLUSH, &termio)) < 0)
{
string err = string(__FUNCTION__) + ": tcsetattr failed: " +
string(strerror(errno));
throw std::runtime_error(err);
return false;
}
return true;
}

130
src/ublox6/ublox6.hpp
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@ -1,130 +0,0 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 Intel Corporation.
*
* 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.
*/
#pragma once
#include <string>
#include <iostream>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <sys/time.h>
#include <sys/select.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <mraa/uart.h>
const int UBLOX6_DEFAULT_UART = 0;
namespace upm {
/**
* @brief UBLOX6 & SIM28 GPS Module library
* @defgroup ublox6 libupm-ublox6
* @ingroup seeed uart gps tsk
*/
/**
* @library ublox6
* @sensor ublox6
* @comname Grove GPS
* @altname U-BLOX 6 SIM28
* @type gps
* @man seeed
* @web http://www.seeedstudio.com/depot/Grove-GPS-p-959.html
* @con uart
* @kit tsk
*
* @brief API for the U-BLOX 6 and SIM28 GPS Modules
*
* UPM support for the U-BLOX 6 GPS module. It is also compatible with
* the SIM28 GPS module.
*
* @image html ublox6.jpg
* @snippet ublox6.cxx Interesting
*/
class Ublox6 {
public:
/**
* Ublox6 object constructor
*
* @param uart Default UART to use (0 or 1)
*/
Ublox6(int uart);
/**
* Ublox6 object destructor
*/
~Ublox6();
/**
* Checks to see if there is data available for reading
*
* @return True if there is data available for reading
*/
bool dataAvailable();
/**
* Reads any available data in a user-supplied buffer. Note: the
* call blocks until data is available to be read. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return the Number of bytes read
*/
int readData(char *buffer, int len);
/**
* Writes the data in the buffer to the device
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes written
*/
int writeData(char *buffer, int len);
/**
* Sets up proper tty I/O modes and the baud rate. The default
* baud rate is 9,600 (B9600).
*
* @param baud Desired baud rate
* @return True if successful
*/
bool setupTty(speed_t baud=B9600);
protected:
int ttyFd() { return m_ttyFd; };
private:
mraa_uart_context m_uart;
int m_ttyFd;
};
}