tweaks for serial port and TCP

src/transport/mod.rs

@@ -44,4 +44,7 @@ pub trait PacketTransport {
     /// For each received packet, the closure will be called with the packet as an argument.
     /// The function will return the number of received packets.
     fn receive<F: FnMut(&[u8])>(&mut self, f: F) -> Result<usize, ReceiveError>;
+
+    /// Close the connection, used for graceful shutdowns.
+    fn close(&mut self);
 }

src/transport/serial.rs

@@ -2,6 +2,7 @@
 use std::time::Duration;
 
 use cobs::CobsDecoderOwned;
+use serialport::ReadMode;
 
 use crate::transport::PacketTransport;
 
@@ -20,15 +21,22 @@ impl PacketTransportSerialCobs {
     /// the passed parameters.
     ///
     /// The `max_rx_packet_size` parameter defines the expected maximum size of a received packet.
+    /// On non-linux platforms, the serial timeout parameter has to be specified as well.
     pub fn new_from_params(
         port_name: &str,
         baud_rate: u32,
         max_rx_packet_size: usize,
-        serial_timeout: Duration,
     ) -> Result<Self, std::io::Error> {
+        #[cfg(target_os = "linux")]
+        let mut serial = serialport::new(port_name, baud_rate).open_native()?;
+        #[cfg(target_os = "linux")]
+        serial.set_read_mode(ReadMode::Immediate)?;
+        #[cfg(not(target_os = "linux"))]
         let mut serial = serialport::new(port_name, baud_rate).open()?;
-        serial.set_timeout(serial_timeout)?;
-        Ok(Self::new(serial, CobsDecoderOwned::new(max_rx_packet_size)))
+        Ok(Self::new(
+            Box::new(serial),
+            CobsDecoderOwned::new(max_rx_packet_size),
+        ))
     }
 
     /// Generic constructor.
@@ -41,6 +49,11 @@ impl PacketTransportSerialCobs {
         }
     }
 
+    /// Set the serial port timeout.
+    pub fn set_serial_timeout(&mut self, timeout: Duration) -> Result<(), serialport::Error> {
+        self.serial.set_timeout(timeout)
+    }
+
     /// Send a packet.
     ///
     /// It encodes the packet using COBS encoding before sending it over the serial port.
@@ -103,6 +116,8 @@ impl PacketTransport for PacketTransportSerialCobs {
     fn receive<F: FnMut(&[u8])>(&mut self, f: F) -> Result<usize, super::ReceiveError> {
         self.receive(f)
     }
+
+    fn close(&mut self) {}
 }
 
 #[cfg(test)]

src/transport/tcp.rs

@@ -21,17 +21,18 @@ impl PacketTransportTcpWithCobs {
     /// Generic constructor.
     ///
     /// The `tcp_stream` parameter is the underlying TCP stream which should already be connected.
-    pub fn new(tcp_stream: std::net::TcpStream, decoder: cobs::CobsDecoderOwned) -> Self {
-        tcp_stream.set_nonblocking(true).unwrap();
-        tcp_stream
-            .set_read_timeout(Some(Duration::from_millis(100)))
-            .unwrap();
-        Self {
+    pub fn new(
+        tcp_stream: std::net::TcpStream,
+        decoder: cobs::CobsDecoderOwned,
+    ) -> std::io::Result<Self> {
+        tcp_stream.set_nonblocking(true)?;
+        tcp_stream.set_read_timeout(Some(Duration::from_millis(100)))?;
+        Ok(Self {
             tcp_stream,
             decoder,
             reception_buffer: [0u8; 1024],
             log_decoding_errors: true,
-        }
+        })
     }
 
     /// Send a packet.
@@ -80,6 +81,10 @@ impl PacketTransportTcpWithCobs {
             log::warn!("COBS decoding error: {:?}", error);
         }
     }
+
+    pub fn close(&mut self) -> std::io::Result<()> {
+        self.tcp_stream.shutdown(std::net::Shutdown::Both)
+    }
 }
 
 impl PacketTransport for PacketTransportTcpWithCobs {
@@ -90,6 +95,10 @@ impl PacketTransport for PacketTransportTcpWithCobs {
     fn receive<F: FnMut(&[u8])>(&mut self, f: F) -> Result<usize, super::ReceiveError> {
         self.receive(f)
     }
+
+    fn close(&mut self) {
+        let _ = self.close();
+    }
 }
 
 #[cfg(test)]
@@ -105,7 +114,7 @@ mod tests {
         let addr = tcp_server.local_addr().unwrap();
         let tcp_client = std::net::TcpStream::connect(addr).unwrap();
         let mut transport =
-            PacketTransportTcpWithCobs::new(tcp_client, cobs::CobsDecoderOwned::new(1024));
+            PacketTransportTcpWithCobs::new(tcp_client, cobs::CobsDecoderOwned::new(1024)).unwrap();
         let packet = [1, 2, 3, 4];
         transport.send(&packet).unwrap();
         tcp_server
@@ -128,7 +137,7 @@ mod tests {
         let addr = tcp_server.local_addr().unwrap();
         let tcp_client = std::net::TcpStream::connect(addr).unwrap();
         let mut transport =
-            PacketTransportTcpWithCobs::new(tcp_client, cobs::CobsDecoderOwned::new(1024));
+            PacketTransportTcpWithCobs::new(tcp_client, cobs::CobsDecoderOwned::new(1024)).unwrap();
         let rx_data = [1, 2, 3, 4];
         let encoded_data = cobs::encode_vec_including_sentinels(&rx_data);
         tcp_server