[2] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | // created: 2014/04/25
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| 6 | // filename: RTDM_SerialPort.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: port serie temps reel
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "RTDM_SerialPort.h"
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| 19 |
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| 20 | #ifdef __XENO__
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| 21 |
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| 22 | #include <rtdm/rtserial.h>
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| 23 | #include <cstring>
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| 24 |
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| 25 | using std::string;
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| 26 |
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[15] | 27 | namespace flair {
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| 28 | namespace core {
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[2] | 29 |
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[15] | 30 | RTDM_SerialPort::RTDM_SerialPort(const Object *parent, string name,
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| 31 | string device)
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| 32 | : SerialPort(parent, name) {
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| 33 | struct rtser_config write_config;
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[2] | 34 |
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[15] | 35 | write_config.config_mask = RTSER_SET_BAUD | RTSER_SET_TIMESTAMP_HISTORY,
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| 36 | write_config.baud_rate = 115200,
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| 37 | write_config.timestamp_history = RTSER_DEF_TIMESTAMP_HISTORY,
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| 38 | // the rest implicitely remains default
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[2] | 39 |
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[15] | 40 | fd = rt_dev_open(device.c_str(), 0);
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| 41 | if (fd < 0) {
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[133] | 42 | char errorMsg[256];
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| 43 | Err("error rt_dev_open (%s)\n", strerror_r(-fd, errorMsg, sizeof(errorMsg)));
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[15] | 44 | }
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[2] | 45 |
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[15] | 46 | // config
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| 47 | int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config);
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| 48 | if (err) {
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[133] | 49 | char errorMsg[256];
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| 50 | Err("error rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n", strerror_r(-err, errorMsg, sizeof(errorMsg)));
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[15] | 51 | }
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[2] | 52 | }
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| 53 |
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[15] | 54 | RTDM_SerialPort::~RTDM_SerialPort() { rt_dev_close(fd); }
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[2] | 55 |
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[15] | 56 | void RTDM_SerialPort::SetBaudrate(int baudrate) {
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| 57 | struct rtser_config write_config;
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[2] | 58 |
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[15] | 59 | write_config.config_mask = RTSER_SET_BAUD;
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| 60 | write_config.baud_rate = baudrate;
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| 61 | // the rest implicitely remains default
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[2] | 62 |
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[15] | 63 | // config
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| 64 | int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config);
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| 65 | if (err) {
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[133] | 66 | char errorMsg[256];
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| 67 | Err("error rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n", strerror_r(-err, errorMsg, sizeof(errorMsg)));
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[15] | 68 | }
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[2] | 69 | }
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| 70 |
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[15] | 71 | void RTDM_SerialPort::SetRxTimeout(core::Time timeout_ns) {
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| 72 | struct rtser_config write_config;
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[2] | 73 |
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[15] | 74 | write_config.config_mask = RTSER_SET_TIMEOUT_RX;
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| 75 | write_config.rx_timeout = timeout_ns;
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| 76 | // the rest implicitely remains default
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[2] | 77 |
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[15] | 78 | // config
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| 79 | int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config);
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| 80 | if (err) {
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[133] | 81 | char errorMsg[256];
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| 82 | Err("error rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n", strerror_r(-err, errorMsg, sizeof(errorMsg)));
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[15] | 83 | }
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[2] | 84 | }
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| 85 |
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[15] | 86 | void RTDM_SerialPort::FlushInput(void) {
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| 87 | char tmp;
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[2] | 88 |
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[15] | 89 | SetRxTimeout(1000000);
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| 90 | while (rt_dev_read(fd, &tmp, 1) == 1)
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| 91 | ;
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| 92 | SetRxTimeout(TIME_INFINITE);
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[2] | 93 | }
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| 94 |
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[15] | 95 | ssize_t RTDM_SerialPort::Write(const void *buf, size_t nbyte) {
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| 96 | return rt_dev_write(fd, buf, nbyte);
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[2] | 97 | }
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| 98 |
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[15] | 99 | ssize_t RTDM_SerialPort::Read(void *buf, size_t nbyte) {
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| 100 | return rt_dev_read(fd, buf, nbyte);
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[2] | 101 | }
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| 102 |
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| 103 | } // end namespace core
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| 104 | } // end namespace flair
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| 105 |
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| 106 | #else //__XENO__
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| 107 |
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| 108 | using std::string;
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| 109 | using namespace flair::core;
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| 110 |
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[15] | 111 | namespace flair {
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| 112 | namespace core {
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[2] | 113 |
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[15] | 114 | RTDM_SerialPort::RTDM_SerialPort(const Object *parent, string name,
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| 115 | string device)
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| 116 | : SerialPort(parent, name) {
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| 117 | Err("not available in non real time\n");
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[2] | 118 | }
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| 119 |
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[15] | 120 | RTDM_SerialPort::~RTDM_SerialPort() {}
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[2] | 121 |
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[15] | 122 | ssize_t RTDM_SerialPort::Write(const void *buf, size_t nbyte) { return -1; }
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[2] | 123 |
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[15] | 124 | ssize_t RTDM_SerialPort::Read(void *buf, size_t nbyte) { return -1; }
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[2] | 125 |
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[15] | 126 | void RTDM_SerialPort::SetBaudrate(int baudrate) {}
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[2] | 127 |
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[15] | 128 | void RTDM_SerialPort::SetRxTimeout(core::Time timeout_ns) {}
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[2] | 129 |
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[15] | 130 | void RTDM_SerialPort::FlushInput(void) {}
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[2] | 131 |
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| 132 | } // end namespace core
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| 133 | } // end namespace flair
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| 134 |
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| 135 | #endif
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