source: flair-src/trunk/lib/FlairCore/src/RTDM_SerialPort.cpp@ 2

Last change on this file since 2 was 2, checked in by Sanahuja Guillaume, 6 years ago

flaircore

File size: 3.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/04/25
6// filename: RTDM_SerialPort.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: port serie temps reel
14//
15//
16/*********************************************************************/
17
18#include "RTDM_SerialPort.h"
19
20#ifdef __XENO__
21
22#include <rtdm/rtserial.h>
23#include <errno.h>
24#include <cstring>
25
26using std::string;
27
28namespace flair
29{
30namespace core
31{
32
33RTDM_SerialPort::RTDM_SerialPort(const Object* parent,string name,string device) : SerialPort(parent,name)
34{
35 struct rtser_config write_config;
36
37 write_config.config_mask = RTSER_SET_BAUD | RTSER_SET_TIMESTAMP_HISTORY,
38 write_config.baud_rate = 115200,
39 write_config.timestamp_history = RTSER_DEF_TIMESTAMP_HISTORY,
40 // the rest implicitely remains default
41
42 fd = rt_dev_open(device.c_str(), 0);
43 if (fd < 0)
44 {
45 Err("erreur rt_dev_open (%s)\n",strerror(-fd));
46 }
47
48 // config
49 int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config );
50 if (err)
51 {
52 Err("erreur rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n",strerror(-err));
53 }
54}
55
56RTDM_SerialPort::~RTDM_SerialPort()
57{
58 rt_dev_close(fd);
59}
60
61void RTDM_SerialPort::SetBaudrate(int baudrate)
62{
63 struct rtser_config write_config;
64
65 write_config.config_mask = RTSER_SET_BAUD;
66 write_config.baud_rate = baudrate;
67 // the rest implicitely remains default
68
69 // config
70 int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config );
71 if (err)
72 {
73 Err("erreur rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n",strerror(-err));
74 }
75}
76
77void RTDM_SerialPort::SetRxTimeout(core::Time timeout_ns)
78{
79 struct rtser_config write_config;
80
81 write_config.config_mask = RTSER_SET_TIMEOUT_RX;
82 write_config.rx_timeout = timeout_ns;
83 // the rest implicitely remains default
84
85 // config
86 int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config );
87 if (err)
88 {
89 Err("erreur rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n",strerror(-err));
90 }
91}
92
93void RTDM_SerialPort::FlushInput(void)
94{
95 char tmp;
96
97 SetRxTimeout(1000000);
98 while(rt_dev_read(fd,&tmp,1)==1);
99 SetRxTimeout(TIME_INFINITE);
100}
101
102ssize_t RTDM_SerialPort::Write(const void *buf,size_t nbyte)
103{
104 return rt_dev_write(fd, buf, nbyte);
105}
106
107ssize_t RTDM_SerialPort::Read(void *buf,size_t nbyte)
108{
109 return rt_dev_read(fd, buf, nbyte);
110}
111
112} // end namespace core
113} // end namespace flair
114
115#else //__XENO__
116
117using std::string;
118using namespace flair::core;
119
120
121namespace flair
122{
123namespace core
124{
125
126RTDM_SerialPort::RTDM_SerialPort(const Object* parent,string name,string device) : SerialPort(parent,name)
127{
128 Err("not available in non real time\n");
129}
130
131RTDM_SerialPort::~RTDM_SerialPort()
132{
133
134}
135
136ssize_t RTDM_SerialPort::Write(const void *buf,size_t nbyte)
137{
138 return -1;
139}
140
141ssize_t RTDM_SerialPort::Read(void *buf,size_t nbyte)
142{
143 return -1;
144}
145
146void RTDM_SerialPort::SetBaudrate(int baudrate)
147{
148}
149
150void RTDM_SerialPort::SetRxTimeout(core::Time timeout_ns)
151{
152}
153
154void RTDM_SerialPort::FlushInput(void)
155{
156}
157
158} // end namespace core
159} // end namespace flair
160
161#endif
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