| 1 | // %flair:license{
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| 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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| 4 | // %flair:license}
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| 5 | // created: 2014/04/25
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| 6 | // filename: Unix_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: Class for unix serial port
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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 "Unix_SerialPort.h"
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| 19 | #include <fcntl.h> /* File control definitions */
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| 20 | #include <unistd.h>
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| 21 |
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| 22 | using std::string;
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| 23 |
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| 24 | namespace flair
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| 25 | {
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| 26 | namespace core
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| 27 | {
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| 28 |
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| 29 | Unix_SerialPort::Unix_SerialPort(const Object* parent,string name,string device) : SerialPort(parent,name)
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| 30 | {
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| 31 | //open port
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| 32 | fd = open(device.c_str(), O_RDWR | O_NOCTTY);// |O_NDELAY|O_NONBLOCK);
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| 33 | if (fd == -1)
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| 34 | {
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| 35 | Err("open_port: Unable to open %s\n",device.c_str());
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| 36 | }
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| 37 | //fcntl(fd, F_SETFL, 0); //read calls are non blocking
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| 38 |
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| 39 | //Get the current options for the port
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| 40 |
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| 41 | tcgetattr(fd, &options);
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| 42 | //Set the baud rates to 115200
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| 43 | cfsetispeed(&options, B115200);
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| 44 | cfsetospeed(&options, B115200);
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| 45 |
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| 46 | options.c_cflag |= (CLOCAL | CREAD); //Enable the receiver and set local mode
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| 47 | options.c_iflag = 0; //clear input options
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| 48 | options.c_lflag=0; //clear local options
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| 49 | options.c_oflag &= ~OPOST; //clear output options (raw output)
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| 50 |
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| 51 | //Set the new options for the port
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| 52 | options.c_cc[VTIME] = 0;
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| 53 | options.c_cc[VMIN] = 1;
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| 54 | FlushInput();
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| 55 | tcsetattr(fd, TCSANOW, &options);
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| 56 | }
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| 57 |
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| 58 | Unix_SerialPort::~Unix_SerialPort()
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| 59 | {
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| 60 | close(fd);
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| 61 | }
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| 62 |
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| 63 | void Unix_SerialPort::SetBaudrate(int baudrate)
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| 64 | {
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| 65 | //set port options
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| 66 | struct termios options;
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| 67 | //Get the current options for the port
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| 68 | tcgetattr(fd, &options);
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| 69 | //Set the baud rates to 115200
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| 70 |
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| 71 | switch(baudrate)
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| 72 | {
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| 73 | case 1200:
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| 74 | cfsetispeed(&options, B1200);
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| 75 | cfsetospeed(&options, B1200);
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| 76 | break;
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| 77 | case 2400:
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| 78 | cfsetispeed(&options, B2400);
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| 79 | cfsetospeed(&options, B2400);
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| 80 | break;
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| 81 | case 4800:
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| 82 | cfsetispeed(&options, B4800);
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| 83 | cfsetospeed(&options, B4800);
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| 84 | break;
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| 85 | case 9600:
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| 86 | cfsetispeed(&options, B9600);
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| 87 | cfsetospeed(&options, B9600);
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| 88 | break;
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| 89 | case 19200:
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| 90 | cfsetispeed(&options, B19200);
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| 91 | cfsetospeed(&options, B19200);
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| 92 | break;
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| 93 | case 38400:
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| 94 | cfsetispeed(&options, B38400);
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| 95 | cfsetospeed(&options, B38400);
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| 96 | break;
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| 97 | case 115200:
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| 98 | cfsetispeed(&options, B115200);
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| 99 | cfsetospeed(&options, B115200);
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| 100 | break;
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| 101 | case 460800:
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| 102 | cfsetispeed(&options, B460800);
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| 103 | cfsetospeed(&options, B460800);
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| 104 | break;
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| 105 | case 921600:
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| 106 | cfsetispeed(&options, B921600);
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| 107 | cfsetospeed(&options, B921600);
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| 108 | break;
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| 109 | default:
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| 110 | Err("unsupported baudrate\n");
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| 111 | }
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| 112 | tcsetattr(fd, TCSANOW, &options);
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| 113 | FlushInput();
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| 114 |
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| 115 | }
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| 116 |
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| 117 | void Unix_SerialPort::SetRxTimeout(core::Time timeout_ns)
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| 118 | {
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| 119 |
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| 120 | }
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| 121 |
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| 122 | void Unix_SerialPort::FlushInput(void)
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| 123 | {
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| 124 | tcflush(fd, TCIFLUSH);
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| 125 | }
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| 126 |
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| 127 | ssize_t Unix_SerialPort::Write(const void *buf,size_t nbyte)
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| 128 | {
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| 129 | return write(fd, buf, nbyte);
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| 130 | }
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| 131 |
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| 132 | ssize_t Unix_SerialPort::Read(void *buf,size_t nbyte)
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| 133 | {
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| 134 | if(options.c_cc[VMIN] != nbyte)
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| 135 | {
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| 136 | tcgetattr(fd, &options);//bug if not called?
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| 137 | options.c_cc[VTIME] = 0;
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| 138 | options.c_cc[VMIN] = nbyte;
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| 139 | tcsetattr(fd, TCSANOW, &options);
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| 140 | }
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| 141 |
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| 142 | return read(fd, buf, nbyte);
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| 143 | }
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| 144 |
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| 145 | } // end namespace core
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| 146 | } // end namespace flair
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| 147 |
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