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

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/04/25
//  filename:   RTDM_SerialPort.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    port serie temps reel
//
//
/*********************************************************************/

#include "RTDM_SerialPort.h"

#ifdef __XENO__

#include <rtdm/rtserial.h>
#include <errno.h>
#include <cstring>

using std::string;

namespace flair
{
namespace core
{

RTDM_SerialPort::RTDM_SerialPort(const Object* parent,string name,string device) : SerialPort(parent,name)
{
    struct rtser_config write_config;

        write_config.config_mask       = RTSER_SET_BAUD | RTSER_SET_TIMESTAMP_HISTORY,
        write_config.baud_rate         = 115200,
        write_config.timestamp_history = RTSER_DEF_TIMESTAMP_HISTORY,
        // the rest implicitely remains default

        fd = rt_dev_open(device.c_str(), 0);
        if (fd < 0)
        {
                Err("erreur rt_dev_open (%s)\n",strerror(-fd));
        }

        // config
        int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config );
        if (err)
        {
            Err("erreur rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n",strerror(-err));
        }
}

RTDM_SerialPort::~RTDM_SerialPort()
{
    rt_dev_close(fd);
}

void RTDM_SerialPort::SetBaudrate(int baudrate)
{
    struct rtser_config write_config;

        write_config.config_mask       = RTSER_SET_BAUD;
        write_config.baud_rate         = baudrate;
        // the rest implicitely remains default

        // config
        int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config );
        if (err)
        {
            Err("erreur rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n",strerror(-err));
        }
}

void RTDM_SerialPort::SetRxTimeout(core::Time timeout_ns)
{
    struct rtser_config write_config;

        write_config.config_mask       = RTSER_SET_TIMEOUT_RX;
        write_config.rx_timeout         = timeout_ns;
        // the rest implicitely remains default

        // config
        int err = rt_dev_ioctl(fd, RTSER_RTIOC_SET_CONFIG, &write_config );
        if (err)
        {
            Err("erreur rt_dev_ioctl RTSER_RTIOC_SET_CONFIG (%s)\n",strerror(-err));
        }
}

void RTDM_SerialPort::FlushInput(void)
{
    char tmp;

    SetRxTimeout(1000000);
    while(rt_dev_read(fd,&tmp,1)==1);
    SetRxTimeout(TIME_INFINITE);
}

ssize_t RTDM_SerialPort::Write(const void *buf,size_t nbyte)
{
    return rt_dev_write(fd, buf, nbyte);
}

ssize_t RTDM_SerialPort::Read(void *buf,size_t nbyte)
{
    return rt_dev_read(fd, buf, nbyte);
}

} // end namespace core
} // end namespace flair

#else //__XENO__

using std::string;
using namespace flair::core;


namespace flair
{
namespace core
{

RTDM_SerialPort::RTDM_SerialPort(const Object* parent,string name,string device) : SerialPort(parent,name)
{
    Err("not available in non real time\n");
}

RTDM_SerialPort::~RTDM_SerialPort()
{

}

ssize_t RTDM_SerialPort::Write(const void *buf,size_t nbyte)
{
    return -1;
}

ssize_t RTDM_SerialPort::Read(void *buf,size_t nbyte)
{
    return -1;
}

void RTDM_SerialPort::SetBaudrate(int baudrate)
{
}

void RTDM_SerialPort::SetRxTimeout(core::Time timeout_ns)
{
}

void RTDM_SerialPort::FlushInput(void)
{
}

} // end namespace core
} // end namespace flair

#endif