source: flair-src/trunk/lib/FlairCore/src/Unix_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:   Unix_SerialPort.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for unix serial port
//
//
/*********************************************************************/

#include "Unix_SerialPort.h"
#include <fcntl.h>   /* File control definitions */
#include <unistd.h>

using std::string;

namespace flair
{
namespace core
{

Unix_SerialPort::Unix_SerialPort(const Object* parent,string name,string device) : SerialPort(parent,name)
{
    //open port
        fd = open(device.c_str(), O_RDWR | O_NOCTTY);// |O_NDELAY|O_NONBLOCK);
        if (fd == -1)
        {
                Err("open_port: Unable to open %s\n",device.c_str());
        }
        //fcntl(fd, F_SETFL, 0); //read calls are non blocking

        //Get the current options for the port

        tcgetattr(fd, &options);
        //Set the baud rates to 115200
        cfsetispeed(&options, B115200);
        cfsetospeed(&options, B115200);

        options.c_cflag |= (CLOCAL | CREAD); //Enable the receiver and set local mode
        options.c_iflag = 0; //clear input options
        options.c_lflag=0; //clear local options
        options.c_oflag &= ~OPOST; //clear output options (raw output)

        //Set the new options for the port
    options.c_cc[VTIME] = 0;
    options.c_cc[VMIN] = 1;
        FlushInput();
        tcsetattr(fd, TCSANOW, &options);
}

Unix_SerialPort::~Unix_SerialPort()
{
    close(fd);
}

void Unix_SerialPort::SetBaudrate(int baudrate)
{
    //set port options
        struct termios options;
        //Get the current options for the port
        tcgetattr(fd, &options);
        //Set the baud rates to 115200

        switch(baudrate)
        {
            case 1200:
            cfsetispeed(&options, B1200);
            cfsetospeed(&options, B1200);
            break;
        case 2400:
            cfsetispeed(&options, B2400);
            cfsetospeed(&options, B2400);
            break;
        case 4800:
            cfsetispeed(&options, B4800);
            cfsetospeed(&options, B4800);
            break;
        case 9600:
            cfsetispeed(&options, B9600);
            cfsetospeed(&options, B9600);
            break;
        case 19200:
            cfsetispeed(&options, B19200);
            cfsetospeed(&options, B19200);
            break;
        case 38400:
            cfsetispeed(&options, B38400);
            cfsetospeed(&options, B38400);
            break;
        case 115200:
            cfsetispeed(&options, B115200);
            cfsetospeed(&options, B115200);
            break;
        case 460800:
            cfsetispeed(&options, B460800);
            cfsetospeed(&options, B460800);
            break;
        case 921600:
            cfsetispeed(&options, B921600);
            cfsetospeed(&options, B921600);
            break;
        default:
            Err("unsupported baudrate\n");
        }
        tcsetattr(fd, TCSANOW, &options);
        FlushInput();

}

void Unix_SerialPort::SetRxTimeout(core::Time timeout_ns)
{

}

void Unix_SerialPort::FlushInput(void)
{
    tcflush(fd, TCIFLUSH);
}

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

ssize_t Unix_SerialPort::Read(void *buf,size_t nbyte)
{
    if(options.c_cc[VMIN] != nbyte)
    {
        tcgetattr(fd, &options);//bug if not called?
        options.c_cc[VTIME] = 0;
        options.c_cc[VMIN] = nbyte;
        tcsetattr(fd, TCSANOW, &options);
    }

    return read(fd, buf, nbyte);
}

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