diff --git a/.gitignore b/.gitignore index f6cd356..00f5a05 100644 --- a/.gitignore +++ b/.gitignore @@ -7,11 +7,11 @@ *.pyc *.pyo *.zip -*.cc */files/* */tmp/* *.hwm* *.cfg +*.out .svn build bin diff --git a/Findserial.cmake b/Findserial.cmake index 6a0c76c..20fccd0 100644 --- a/Findserial.cmake +++ b/Findserial.cmake @@ -1,6 +1,8 @@ -find_path(serial_INCLUDE_DIRS serial.h /usr/include/serial "$ENV{NAMER_ROOT}") +find_path(serial_INCLUDE_DIRS serial/serial.h /usr/include + /usr/local/include "$ENV{NAMER_ROOT}") -find_library(serial_LIBRARIES serial /usr/lib "$ENV{NAMER_ROOT}") +find_library(serial_LIBRARIES serial /usr/lib /usr/local/lib + "$ENV{NAMER_ROOT}") set(serial_FOUND TRUE) diff --git a/Makefile b/Makefile index 663e15c..5df6eab 100644 --- a/Makefile +++ b/Makefile @@ -1,5 +1,5 @@ ifdef ROS_ROOT include $(shell rospack find mk)/cmake.mk else -include serial.mk +include serial.makefile endif diff --git a/README.md b/README.md index fb09589..75bd0fe 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,6 @@ Coming Soon! ## Dependencies * CMake, for the build system: http://www.cmake.org/ -* Boost, for threading: http://www.boost.org/ * (Optional) ROS ## Stand Alone Installation @@ -49,7 +48,7 @@ Setup workspace (skip if you already have one): rosws init some_ros_workspace cd some_ros_workspace source setup.bash - + Add the rosinstall entry for this stack: echo "- git: {local-name: serial, uri: 'https://github.com/wjwwood/serial.git', version: 'master'}" >> .rosinstall diff --git a/doc/Doxyfile b/doc/Doxyfile new file mode 100644 index 0000000..f64a659 --- /dev/null +++ b/doc/Doxyfile @@ -0,0 +1,1716 @@ +# Doxyfile 1.7.4 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" "). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = serial + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = 1.0 + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = Cross-platform serial port library for C++ + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = YES + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this +# tag. The format is ext=language, where ext is a file extension, and language +# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C, +# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make +# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C +# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions +# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penalty. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will roughly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols + +SYMBOL_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. + +SHOW_DIRECTORIES = NO + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. The create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = include/serial include/serial/impl src src/impl + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = YES + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is adviced to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the stylesheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = NO + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the +# mathjax.org site, so you can quickly see the result without installing +# MathJax, but it is strongly recommended to install a local copy of MathJax +# before deployment. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a PHP enabled web server instead of at the web client +# using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server +# based approach is that it scales better to large projects and allows +# full text search. The disadvantages are that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. 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To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. 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The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = YES + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will write a font called Helvetica to the output +# directory and reference it in all dot files that doxygen generates. +# When you want a differently looking font you can specify the font name +# using DOT_FONTNAME. You need to make sure dot is able to find the font, +# which can be done by putting it in a standard location or by setting the +# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory +# containing the font. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the output directory to look for the +# FreeSans.ttf font (which doxygen will put there itself). If you specify a +# different font using DOT_FONTNAME you can set the path where dot +# can find it using this tag. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will generate a graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are svg, png, jpg, or gif. +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES \ No newline at end of file diff --git a/examples/serial_example.cc b/examples/serial_example.cc new file mode 100644 index 0000000..93de9af --- /dev/null +++ b/examples/serial_example.cc @@ -0,0 +1,147 @@ +/*** + * This example expects the serial port has a loopback on it. + * + * Alternatively, you could use an Arduino: + * + * 
+ *  setup() {
+ *    Serial.begin();
+ *  }
+ * 
+ *  loop() {
+ *    if (Serial.available()) {
+ *      Serial.write(Serial.read());
+ *    }
+ *  }
+ *
+ */ + +#include +#include +#include + +// OS Specific sleep +#ifdef __WIN32__ +#include +#else +#include +#endif + +#include "serial/serial.h" + +using std::string; +using std::exception; +using std::cout; +using std::cerr; +using std::endl; + +void my_sleep(unsigned long milliseconds) { +#ifdef __WIN32__ + Sleep(milliseconds); // 100 ms +#else + usleep(milliseconds*1000); // 100 ms +#endif +} + +int run(int argc, char **argv) +{ + if(argc < 3) { + cerr << "Usage: test_serial "; + cerr << " [test string]" << endl; + return 0; + } + // Argument 1 is the serial port + string port(argv[1]); + + // Argument 2 is the baudrate + unsigned long baud = 0; + sscanf(argv[2], "%lu", &baud); + + // port, baudrate, timeout in milliseconds + serial::Serial my_serial(port, baud, 1000); + + cout << "Is the serial port open?"; + if(my_serial.isOpen()) + cout << " Yes." << endl; + else + cout << " No." << endl; + + // Get the Test string + int count = 0; + string test_string; + if (argc == 4) { + test_string = argv[3]; + } else { + test_string = "Testing."; + } + + // Test the timeout, there should be 1 second between prints + cout << "Timeout == 1000ms, asking for 1 more byte than written." << endl; + while (count < 10) { + size_t bytes_wrote = my_serial.write(test_string); + + string result = my_serial.read(test_string.length()+1); + + cout << "Iteration: " << count << ", Bytes written: "; + cout << bytes_wrote << ", Bytes read: "; + cout << result.length() << ", String read: " << result << endl; + + count += 1; + } + + // Test the timeout at 250ms + my_serial.setTimeout(250); + count = 0; + cout << "Timeout == 250ms, asking for 1 more byte than written." << endl; + while (count < 10) { + size_t bytes_wrote = my_serial.write(test_string); + + string result = my_serial.read(test_string.length()+1); + + cout << "Iteration: " << count << ", Bytes written: "; + cout << bytes_wrote << ", Bytes read: "; + cout << result.length() << ", String read: " << result << endl; + + count += 1; + } + + // Test the timeout at 250ms, but asking exactly for what was written + count = 0; + cout << "Timeout == 250ms, asking for exactly what was written." << endl; + while (count < 10) { + size_t bytes_wrote = my_serial.write(test_string); + + string result = my_serial.read(test_string.length()); + + cout << "Iteration: " << count << ", Bytes written: "; + cout << bytes_wrote << ", Bytes read: "; + cout << result.length() << ", String read: " << result << endl; + + count += 1; + } + + // Test the timeout at 250ms, but asking for 1 less than what was written + count = 0; + cout << "Timeout == 250ms, asking for 1 less than was written." << endl; + while (count < 10) { + size_t bytes_wrote = my_serial.write(test_string); + + string result = my_serial.read(test_string.length()-1); + + cout << "Iteration: " << count << ", Bytes written: "; + cout << bytes_wrote << ", Bytes read: "; + cout << result.length() << ", String read: " << result << endl; + + count += 1; + } + + return 0; +} + +int main(int argc, char **argv) { + try { + return run(argc, argv); + } catch (exception &e) { + cerr << "Unhandled Exception: " << e.what() << endl; + } +} diff --git a/examples/serial_example.cpp b/examples/serial_example.cpp deleted file mode 100644 index 7ebe30c..0000000 --- a/examples/serial_example.cpp +++ /dev/null @@ -1,33 +0,0 @@ -#include -#include - -#include "serial/serial.h" - -int main(int argc, char **argv) -{ - if(argc < 2) { - std::cerr << "Usage: test_serial " << std::endl; - return 0; - } - std::string port(argv[1]); - - serial::Serial serial(port, 115200, 250); - - std::cout << "Is the serial port open?"; - if(serial.isOpen()) - std::cout << " Yes." << std::endl; - else - std::cout << " No." << std::endl; - - int count = 0; - while (count >= 0) { - int bytes_wrote = serial.write("Testing."); - std::string result = serial.read(8); - if(count % 10 == 0) - std::cout << ">" << count << ">" << bytes_wrote << ">" << result << std::endl; - - count += 1; - } - - return 0; -} diff --git a/include/serial/impl/unix.h b/include/serial/impl/unix.h new file mode 100644 index 0000000..98f0fec --- /dev/null +++ b/include/serial/impl/unix.h @@ -0,0 +1,197 @@ +/*! + * \file serial/impl/unix.h + * \author William Woodall + * \author John Harrison + * \version 0.1 + * + * \section LICENSE + * + * The MIT License + * + * Copyright (c) 2011 William Woodall, John Harrison + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. + * + * \section DESCRIPTION + * + * This provides a unix based pimpl for the Serial class. This implementation is + * based off termios.h and uses select for multiplexing the IO ports. + * + */ + +#ifndef SERIAL_IMPL_UNIX_H +#define SERIAL_IMPL_UNIX_H + +#include "serial/serial.h" + +#include + +namespace serial { + +using std::string; +using std::invalid_argument; + +using serial::SerialExecption; +using serial::IOException; + +class serial::Serial::SerialImpl { +public: + SerialImpl (const string &port, + unsigned long baudrate, + long timeout, + bytesize_t bytesize, + parity_t parity, + stopbits_t stopbits, + flowcontrol_t flowcontrol); + + virtual ~SerialImpl (); + + void + open (); + + void + close (); + + bool + isOpen () const; + + size_t + available (); + + size_t + read (unsigned char* buf, size_t size = 1); + + size_t + write (const string &data); + + void + flush (); + + void + flushInput (); + + void + flushOutput (); + + void + sendBreak(int duration); + + void + setBreak(bool level); + + void + setRTS(bool level); + + void + setDTR(bool level); + + bool + getCTS(); + + bool + getDSR(); + + bool + getRI(); + + bool + getCD(); + + void + setPort (const string &port); + + string + getPort () const; + + void + setTimeout (long timeout); + + long + getTimeout () const; + + void + setBaudrate (unsigned long baudrate); + + unsigned long + getBaudrate () const; + + void + setBytesize (bytesize_t bytesize); + + bytesize_t + getBytesize () const; + + void + setParity (parity_t parity); + + parity_t + getParity () const; + + void + setStopbits (stopbits_t stopbits); + + stopbits_t + getStopbits () const; + + void + setFlowcontrol (flowcontrol_t flowcontrol); + + flowcontrol_t + getFlowcontrol () const; + + void + readLock(); + + void + readUnlock(); + + void + writeLock(); + + void + writeUnlock(); + +protected: + void reconfigurePort (); + +private: + string port_; // Path to the file descriptor + int fd_; // The current file descriptor + + bool is_open_; + bool xonxoff_; + bool rtscts_; + + long timeout_; // Timeout for read operations + unsigned long baudrate_; // Baudrate + + parity_t parity_; // Parity + bytesize_t bytesize_; // Size of the bytes + stopbits_t stopbits_; // Stop Bits + flowcontrol_t flowcontrol_; // Flow Control + + // Mutex used to lock the read functions + pthread_mutex_t read_mutex; + // Mutex used to lock the write functions + pthread_mutex_t write_mutex; +}; + +} + +#endif // SERIAL_IMPL_UNIX_H diff --git a/include/serial/impl/windows.h b/include/serial/impl/windows.h new file mode 100644 index 0000000..aa06706 --- /dev/null +++ b/include/serial/impl/windows.h @@ -0,0 +1,177 @@ +/*! + * \file serial/impl/windows.h + * \author William Woodall + * \author John Harrison + * \version 0.1 + * + * \section LICENSE + * + * The MIT License + * + * Copyright (c) 2011 William Woodall, John Harrison + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. + * + * \section DESCRIPTION + * + * This provides a windows implementation of the Serial class interface. + * + */ + +#ifndef SERIAL_IMPL_WINDOWS_H +#define SERIAL_IMPL_WINDOWS_H + +#include "serial/serial.h" + +namespace serial { + +using std::string; +using std::invalid_argument; + +using serial::SerialExecption; +using serial::IOException; + +class serial::Serial::SerialImpl { +public: + SerialImpl (const string &port, + unsigned long baudrate, + long timeout, + bytesize_t bytesize, + parity_t parity, + stopbits_t stopbits, + flowcontrol_t flowcontrol); + + virtual ~SerialImpl (); + + void + open (); + + void + close (); + + bool + isOpen () const; + + size_t + available (); + + size_t + read (char* buf, size_t size = 1); + + size_t + write (const string &data); + + void + flush (); + + void + flushInput (); + + void + flushOutput (); + + void + sendBreak(int duration); + + void + setBreak(bool level); + + void + setRTS(bool level); + + void + setDTR(bool level); + + bool + getCTS(); + + bool + getDSR(); + + bool + getRI(); + + bool + getCD(); + + void + setPort (const string &port); + + string + getPort () const; + + void + setTimeout (long timeout); + + long + getTimeout () const; + + void + setBaudrate (unsigned long baudrate); + + unsigned long + getBaudrate () const; + + void + setBytesize (bytesize_t bytesize); + + bytesize_t + getBytesize () const; + + void + setParity (parity_t parity); + + parity_t + getParity () const; + + void + setStopbits (stopbits_t stopbits); + + stopbits_t + getStopbits () const; + + void + setFlowcontrol (flowcontrol_t flowcontrol); + + flowcontrol_t + getFlowcontrol () const; + +protected: + void reconfigurePort (); + +private: + string port_; // Path to the file descriptor + int fd_; // The current file descriptor + + bool isOpen_; + bool xonxoff_; + bool rtscts_; + + long timeout_; // Timeout for read operations + unsigned long baudrate_; // Baudrate + + parity_t parity_; // Parity + bytesize_t bytesize_; // Size of the bytes + stopbits_t stopbits_; // Stop Bits + flowcontrol_t flowcontrol_; // Flow Control +}; + +} + +#endif // SERIAL_IMPL_WINDOWS_H diff --git a/include/serial/serial.h b/include/serial/serial.h index ed8215a..c1a9269 100644 --- a/include/serial/serial.h +++ b/include/serial/serial.h @@ -1,21 +1,21 @@ -/** - * @file serial.h - * @author William Woodall - * @author John Harrison - * @version 0.1 +/*! + * \file serial/serial.h + * \author William Woodall + * \author John Harrison + * \version 0.1 * - * @section LICENSE + * \section LICENSE * * The MIT License * * Copyright (c) 2011 William Woodall * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. @@ -24,425 +24,475 @@ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER + * DEALINGS IN THE SOFTWARE. * - * @section DESCRIPTION + * \section DESCRIPTION * * This provides a cross platform interface for interacting with Serial Ports. */ - #ifndef SERIAL_H #define SERIAL_H -#include +#include +#include +#include #include -#include +#include +#include -#include -#include -#include -#include -#include - -// A macro to disallow the copy constructor and operator= functions -// This should be used in the private: declarations for a class -#define DISALLOW_COPY_AND_ASSIGN(TypeName) \ - TypeName(const TypeName&); \ - void operator=(const TypeName&) - -// If on Windows undefine the PARITY_* defines that are in winbase.h -#ifdef _WIN32 - #undef PARITY_NONE - #undef PARITY_ODD - #undef PARITY_EVEN -#endif - -// DEFINES -#ifndef DEFAULT_BAUDRATE -#define DEFAULT_BAUDRATE 9600 -#endif -#ifndef DEFAULT_TIMEOUT -#define DEFAULT_TIMEOUT 0 -#endif -#ifndef DEFAULT_BYTESIZE -#define DEFAULT_BYTESIZE EIGHTBITS -#endif -#ifndef DEFAULT_PARITY -#define DEFAULT_PARITY PARITY_NONE -#endif -#ifndef DEFAULT_STOPBITS -#define DEFAULT_STOPBITS STOPBITS_ONE -#endif -#ifndef DEFAULT_FLOWCONTROL -#define DEFAULT_FLOWCONTROL FLOWCONTROL_NONE -#endif +#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, __LINE__, (message) ) namespace serial { -// Serial Port settings CONSTANTS -enum bytesize_t { FIVEBITS = 5, SIXBITS = 6, SEVENBITS = 7, EIGHTBITS = 8 }; -enum parity_t { PARITY_NONE, PARITY_ODD, PARITY_EVEN }; -enum stopbits_t { STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO }; -enum flowcontrol_t { FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE }; +/*! + * Enumeration defines the possible bytesizes for the serial port. + */ +typedef enum { + fivebits = 5, + sixbits = 6, + sevenbits = 7, + eightbits = 8 +} bytesize_t; +/*! + * Enumeration defines the possible parity types for the serial port. + */ +typedef enum { + parity_none = 0, + parity_odd = 1, + parity_even = 2 +} parity_t; + +/*! + * Enumeration defines the possible stopbit types for the serial port. + */ +typedef enum { + stopbits_one = 1, + stopbits_one_point_five, + stopbits_two = 2 +} stopbits_t; + +/*! + * Enumeration defines the possible flowcontrol types for the serial port. + */ +typedef enum { + flowcontrol_none = 0, + flowcontrol_software +} flowcontrol_t; + +/*! + * Class that provides a portable serial port interface. + */ class Serial { public: - /** Constructor, Creates a Serial object but doesn't open the serial port. */ - Serial(); - - /** - * Constructor, creates a SerialPortBoost object and opens the port. - * - * @param port A std::string containing the address of the serial port, - * which would be something like 'COM1' on Windows and '/dev/ttyS0' - * on Linux. - * - * @param baudrate An integer that represents the buadrate - * - * @param timeout A long that represents the time (in milliseconds) until a - * timeout on reads occur. Setting this to zero (0) will cause reading - * to be non-blocking, i.e. the available data will be returned immediately, - * but it will not block to wait for more. Setting this to a number less than - * zero (-1) will result in infinite blocking behaviour, i.e. the serial port will - * block until either size bytes have been read or an exception has occured. - * - * @param bytesize Size of each byte in the serial transmission of data, - * default is EIGHTBITS, possible values are: FIVEBITS, - * SIXBITS, SEVENBITS, EIGHTBITS - * - * @param parity Method of parity, default is PARITY_NONE, possible values - * are: PARITY_NONE, PARITY_ODD, PARITY_EVEN - * - * @param stopbits Number of stop bits used, default is STOPBITS_ONE, possible - * values are: STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO - * - * @param flowcontrol Type of flowcontrol used, default is FLOWCONTROL_NONE, possible - * values are: FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE - * - * @throw SerialPortAlreadyOpenException - * @throw SerialPortFailedToOpenException - */ - Serial(std::string port, - int baudrate = DEFAULT_BAUDRATE, - long timeout = DEFAULT_TIMEOUT, - bytesize_t bytesize = DEFAULT_BYTESIZE, - parity_t parity = DEFAULT_PARITY, - stopbits_t stopbits = DEFAULT_STOPBITS, - flowcontrol_t flowcontrol = DEFAULT_FLOWCONTROL); - - /** Destructor */ - ~Serial(); - - /** - * Opens the serial port as long as the portname is set and the port isn't alreay open. - * - * @throw SerialPortAlreadyOpenException - * @throw SerialPortFailedToOpenException - */ - void open(); - - /** Gets the status of the serial port. - * - * @return A boolean value that represents whether or not the serial port is open. - */ - bool isOpen(); - - /** Closes the serial port and terminates threads. */ - void close(); - - /** Read size bytes from the serial port. - * If a timeout is set it may return less characters than requested. With no timeout - * it will block until the requested number of bytes have been read. - * - * @param buffer A char[] of length >= the size parameter to hold incoming data. - * - * @param size An integer defining how many bytes to be read. - * - * @return An integer representing the number of bytes read. - */ - int read(char* buffer, int size = 1); - - /** Read size bytes from the serial port. - * If a timeout is set it may return less characters than requested. With no timeout - * it will block until the requested number of bytes have been read. - * - * @param size An integer defining how many bytes to be read. - * - * @return A std::string containing the data read. - */ - std::string read(int size = 1); - - std::string read_until(char delim, size_t size = -1); - std::string read_until(std::string delim, size_t size = -1); - - /** Write length bytes from buffer to the serial port. - * - * @param data A char[] with data to be written to the serial port. - * - * @param length An integer representing the number of bytes to be written. - * - * @return An integer representing the number of bytes written. - */ - int write(char data[], int length); - - /** Write a string to the serial port. - * - * @param data A std::string to be written to the serial port. (must be null terminated) - * - * @return An integer representing the number of bytes written to the serial port. - */ - int write(std::string data); - - /** Sets the logic level of the RTS line. - * - * @param level The logic level to set the RTS to. Defaults to true. - */ - void setRTS(bool level = true); - - /** Sets the logic level of the DTR line. - * - * @param level The logic level to set the DTR to. Defaults to true. - */ - void setDTR(bool level = true); - - /** Gets the status of the CTS line. - * - * @return A boolean value that represents the current logic level of the CTS line. - */ - bool getCTS() const; - - /** Gets the status of the DSR line. - * - * @return A boolean value that represents the current logic level of the DSR line. - */ - bool getDSR() const; - - /** Sets the serial port identifier. - * - * @param port A std::string containing the address of the serial port, - * which would be something like 'COM1' on Windows and '/dev/ttyS0' - * on Linux. - */ - void setPort(std::string port); - - /** Gets the serial port identifier. - * - * @return A std::string containing the address of the serial port, - * which would be something like 'COM1' on Windows and '/dev/ttyS0' - * on Linux. - */ - std::string getPort() const; - - /** Sets the timeout for reads in seconds. - * - * @param timeout A long that represents the time (in milliseconds) until a - * timeout on reads occur. Setting this to zero (0) will cause reading - * to be non-blocking, i.e. the available data will be returned immediately, - * but it will not block to wait for more. Setting this to a number less than - * zero (-1) will result in infinite blocking behaviour, i.e. the serial port will - * block until either size bytes have been read or an exception has occured. - */ - void setTimeoutMilliseconds(long timeout); - - /** Gets the timeout for reads in seconds. - * - * @param timeout A long that represents the time (in milliseconds) until a - * timeout on reads occur. Setting this to zero (0) will cause reading - * to be non-blocking, i.e. the available data will be returned immediately, - * but it will not block to wait for more. Setting this to a number less than - * zero (-1) will result in infinite blocking behaviour, i.e. the serial port will - * block until either size bytes have been read or an exception has occured. - */ - long getTimeoutMilliseconds() const; - - /** Sets the baudrate for the serial port. - * - * @param baudrate An integer that sets the baud rate for the serial port. - */ - void setBaudrate(int baudrate); - - /** Gets the baudrate for the serial port. - * - * @return An integer that sets the baud rate for the serial port. - */ - int getBaudrate() const; - - /** Sets the bytesize for the serial port. - * - * @param bytesize Size of each byte in the serial transmission of data, - * default is EIGHTBITS, possible values are: FIVEBITS, - * SIXBITS, SEVENBITS, EIGHTBITS - * - * @throw InvalidBytesizeException - */ - void setBytesize(bytesize_t bytesize); - - /** Gets the bytesize for the serial port. - * - * @return Size of each byte in the serial transmission of data, - * default is EIGHTBITS, possible values are: FIVEBITS, - * SIXBITS, SEVENBITS, EIGHTBITS - * - * @throw InvalidBytesizeException - */ - bytesize_t getBytesize() const; - - /** Sets the parity for the serial port. - * - * @param parity Method of parity, default is PARITY_NONE, possible values - * are: PARITY_NONE, PARITY_ODD, PARITY_EVEN - * - * @throw InvalidParityException - */ - void setParity(parity_t parity); - - /** Gets the parity for the serial port. - * - * @return Method of parity, default is PARITY_NONE, possible values - * are: PARITY_NONE, PARITY_ODD, PARITY_EVEN - * - * @throw InvalidParityException - */ - parity_t getParity() const; - - /** Sets the stopbits for the serial port. - * - * @param stopbits Number of stop bits used, default is STOPBITS_ONE, possible - * values are: STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO - * - * @throw InvalidStopbitsException - */ - void setStopbits(stopbits_t stopbits); - - /** Gets the stopbits for the serial port. - * - * @return Number of stop bits used, default is STOPBITS_ONE, possible - * values are: STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO - * - * @throw InvalidStopbitsException - */ - stopbits_t getStopbits() const; - - /** Sets the flow control for the serial port. - * - * @param flowcontrol Type of flowcontrol used, default is FLOWCONTROL_NONE, possible - * values are: FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE - * - * @throw InvalidFlowcontrolException - */ - void setFlowcontrol(flowcontrol_t flowcontrol); - - /** Gets the flow control for the serial port. - * - * @return Type of flowcontrol used, default is FLOWCONTROL_NONE, possible - * values are: FLOWCONTROL_NONE, FLOWCONTROL_SOFTWARE, FLOWCONTROL_HARDWARE - * - * @throw InvalidFlowcontrolException - */ - flowcontrol_t getFlowcontrol() const; + /*! + * Constructor, creates a SerialPortBoost object and opens the port. + * + * \param port A std::string containing the address of the serial port, + * which would be something like 'COM1' on Windows and '/dev/ttyS0' + * on Linux. + * + * \param baudrate An integer that represents the buadrate + * + * \param timeout A long that represents the time (in milliseconds) until a + * timeout on reads occur. Setting this to zero (0) will cause reading to + * be non-blocking, i.e. the available data will be returned immediately, + * but it will not block to wait for more. Setting this to a number less + * than zero (-1) will result in infinite blocking behaviour, i.e. the + * serial port will block until either size bytes have been read or an + * exception has occured. + * + * \param bytesize Size of each byte in the serial transmission of data, + * default is eightbits, possible values are: fivebits, sixbits, sevenbits, + * eightbits + * + * \param parity Method of parity, default is parity_none, possible values + * are: parity_none, parity_odd, parity_even + * + * \param stopbits Number of stop bits used, default is stopbits_one, + * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two + * + * \param flowcontrol Type of flowcontrol used, default is + * flowcontrol_none, possible values are: flowcontrol_none, + * flowcontrol_software, flowcontrol_hardware + * + * \param buffer_size The maximum size of the internal buffer, defaults + * to 256 bytes (2^8). + * + * \throw PortNotOpenedException + */ + Serial (const std::string &port = "", + unsigned long baudrate = 9600, + long timeout = 0, + bytesize_t bytesize = eightbits, + parity_t parity = parity_none, + stopbits_t stopbits = stopbits_one, + flowcontrol_t flowcontrol = flowcontrol_none); + + /*! Destructor */ + virtual ~Serial (); + + /*! + * Opens the serial port as long as the portname is set and the port isn't + * alreay open. + * + * If the port is provided to the constructor then an explicit call to open + * is not needed. + * + * \see Serial::Serial + * + * \throw std::invalid_argument + * \throw serial::SerialExecption + * \throw serial::IOException + */ + void + open (); + + /*! Gets the open status of the serial port. + * + * \return Returns true if the port is open, false otherwise. + */ + bool + isOpen () const; + + /*! Closes the serial port. */ + void + close (); + + /*! Return the number of characters in the buffer. */ + size_t + available(); + + /*! Read a given amount of bytes from the serial port. + * + * If a timeout is set it may return less characters than requested. With + * no timeout it will block until the requested number of bytes have been + * read or until an exception occurs. + * + * \param size A size_t defining how many bytes to be read. + * + * \return A std::string containing the data read. + */ + size_t + read (unsigned char *buffer, size_t size); + size_t + read (std::vector &buffer, size_t size = 1); + size_t + read (std::string &buffer, size_t size = 1); + std::string + read (size_t size = 1); + + /*! Reads in a line or until a given delimiter has been processed + * + * Reads from the serial port until a single line has been read. + * + * \param size A maximum length of a line, defaults to 65536 (2^16) + * \param eol A string to match against for the EOL. + * + * \return A std::string containing the line. + */ + size_t + readline (std::string &buffer, + size_t size = 65536, + std::string eol = "\n"); + std::string + readline (size_t size = 65536, + std::string eol = "\n"); + + /*! Reads in multiple lines until the serail port times out. + * + * This requires a timeout > 0 before it can be run. It will read until a + * timeout occurs and return a list of strings. + * + * \param size A maximum length of combined lines, defaults to 65536 (2^16) + * + * \param eol A string to match against for the EOL. + * + * \return A vector containing the lines. + */ + std::vector + readlines (size_t size = 65536, std::string eol = "\n"); + + /*! Write a string to the serial port. + * + * \param data A const reference containg the data to be written + * to the serial port. + * + * \return A size_t representing the number of bytes actually written to + * the serial port. + */ + size_t + write (const unsigned char *data, size_t size); + size_t + write (const std::vector &data); + size_t + write (const std::string &data); + + /*! Sets the serial port identifier. + * + * \param port A const std::string reference containing the address of the + * serial port, which would be something like 'COM1' on Windows and + * '/dev/ttyS0' on Linux. + * + * \throw InvalidConfigurationException + */ + void + setPort (const std::string &port); + + /*! Gets the serial port identifier. + * + * \see Serial::setPort + * + * \throw InvalidConfigurationException + */ + std::string + getPort () const; + + /*! Sets the timeout for reads in milliseconds. + * + * \param timeout A long that represents the time (in milliseconds) until a + * timeout on reads occur. Setting this to zero (0) will cause reading to be + * non-blocking, i.e. the available data will be returned immediately, but it + * will not block to wait for more. Setting this to a number less than + * zero (-1) will result in infinite blocking behaviour, i.e. the serial port + * will block until either size bytes have been read or an exception has + * occured. + */ + void + setTimeout (long timeout); + + /*! Gets the timeout for reads in seconds. + * + * \see Serial::setTimeout + */ + long + getTimeout () const; + + /*! Sets the baudrate for the serial port. + * + * Possible baudrates depends on the system but some safe baudrates include: + * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000, + * 57600, 115200 + * Some other baudrates that are supported by some comports: + * 128000, 153600, 230400, 256000, 460800, 921600 + * + * \param baudrate An integer that sets the baud rate for the serial port. + * + * \throw InvalidConfigurationException + */ + void + setBaudrate (unsigned long baudrate); + + /*! Gets the baudrate for the serial port. + * + * \return An integer that sets the baud rate for the serial port. + * + * \see Serial::setBaudrate + * + * \throw InvalidConfigurationException + */ + unsigned long + getBaudrate () const; + + /*! Sets the bytesize for the serial port. + * + * \param bytesize Size of each byte in the serial transmission of data, + * default is eightbits, possible values are: fivebits, sixbits, sevenbits, + * eightbits + * + * \throw InvalidConfigurationException + */ + void + setBytesize (bytesize_t bytesize); + + /*! Gets the bytesize for the serial port. + * + * \see Serial::setBytesize + * + * \throw InvalidConfigurationException + */ + bytesize_t + getBytesize () const; + + /*! Sets the parity for the serial port. + * + * \param parity Method of parity, default is parity_none, possible values + * are: parity_none, parity_odd, parity_even + * + * \throw InvalidConfigurationException + */ + void + setParity (parity_t parity); + + /*! Gets the parity for the serial port. + * + * \see Serial::setParity + * + * \throw InvalidConfigurationException + */ + parity_t + getParity () const; + + /*! Sets the stopbits for the serial port. + * + * \param stopbits Number of stop bits used, default is stopbits_one, + * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two + * + * \throw InvalidConfigurationException + */ + void + setStopbits (stopbits_t stopbits); + + /*! Gets the stopbits for the serial port. + * + * \see Serial::setStopbits + * + * \throw InvalidConfigurationException + */ + stopbits_t + getStopbits () const; + + /*! Sets the flow control for the serial port. + * + * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none, + * possible values are: flowcontrol_none, flowcontrol_software, + * flowcontrol_hardware + * + * \throw InvalidConfigurationException + */ + void + setFlowcontrol (flowcontrol_t flowcontrol); + + /*! Gets the flow control for the serial port. + * + * \see Serial::setFlowcontrol + * + * \throw InvalidConfigurationException + */ + flowcontrol_t + getFlowcontrol () const; + + /*! Flush the input and output buffers */ + void + flush (); + + /*! Flush only the input buffer */ + void + flushInput (); + + /*! Flush only the output buffer */ + void + flushOutput (); + + void + sendBreak (int duration); + + void + setBreak (bool level = true); + + void + setRTS (bool level = true); + + void + setDTR (bool level = true); + + bool + getCTS (); + + bool + getDSR (); + + bool + getRI (); + + bool + getCD (); + private: - DISALLOW_COPY_AND_ASSIGN(Serial); - void init(); - void read_complete(const boost::system::error_code& error, std::size_t bytes_transferred); - void timeout_callback(const boost::system::error_code& error); - - boost::asio::io_service io_service; - - boost::asio::io_service::work work; - - boost::scoped_ptr serial_port; - - boost::asio::deadline_timer timeout_timer; - - std::string port; - boost::asio::serial_port_base::baud_rate baudrate; - boost::posix_time::time_duration timeout; - boost::asio::serial_port_base::character_size bytesize; - boost::asio::serial_port_base::parity parity; - boost::asio::serial_port_base::stop_bits stopbits; - boost::asio::serial_port_base::flow_control flowcontrol; - - int bytes_read; - int bytes_to_read; - bool reading; - bool nonblocking; + // Disable copy constructors + Serial(const Serial&); + void operator=(const Serial&); + const Serial& operator=(Serial); + + std::string read_cache_; //!< Cache for doing reads in chunks. + + // Pimpl idiom, d_pointer + class SerialImpl; + SerialImpl *pimpl_; + + // Scoped Lock Classes + class ScopedReadLock; + class ScopedWriteLock; + + // Read common function + size_t + read_ (unsigned char *buffer, size_t size); + }; -class SerialPortAlreadyOpenException : public std::exception { - const char * port; +class SerialExecption : public std::exception +{ + const char* e_what_; public: - SerialPortAlreadyOpenException(const char * port) {this->port = port;} - - virtual const char* what() const throw() { - std::stringstream ss; - ss << "Serial Port already open: " << this->port; - return ss.str().c_str(); - } + SerialExecption (const char *description) : e_what_ (description) {} + + virtual const char* what () const throw () + { + std::stringstream ss; + ss << "SerialException " << e_what_ << " failed."; + return ss.str ().c_str (); + } }; -class SerialPortFailedToOpenException : public std::exception { - const char * e_what; +class IOException : public std::exception +{ + std::string file_; + int line_; + const char* e_what_; + int errno_; public: - SerialPortFailedToOpenException(const char * e_what) {this->e_what = e_what;} - - virtual const char* what() const throw() { - std::stringstream ss; - ss << "Serial Port failed to open: " << this->e_what; - return ss.str().c_str(); - } + explicit IOException (std::string file, int line, int errnum) + : file_(file), line_(line), e_what_ (strerror (errnum)), errno_(errnum) {} + explicit IOException (std::string file, int line, const char * description) + : file_(file), line_(line), e_what_ (description), errno_(0) {} + virtual ~IOException() throw() {} + + int getErrorNumber () { return errno_; } + + virtual const char* what () const throw () + { + std::stringstream ss; + if (errno_ == 0) + ss << "IO Exception: " << e_what_; + else + ss << "IO Exception (" << errno_ << "): " << e_what_; + ss << ", file " << file_ << ", line " << line_ << "."; + return ss.str ().c_str (); + } }; -class InvalidBytesizeException : public std::exception { - int bytesize; +class PortNotOpenedException : public std::exception +{ + const char * e_what_; public: - InvalidBytesizeException(int bytesize) {this->bytesize = bytesize;} - - virtual const char* what() const throw() { - std::stringstream ss; - ss << "Invalid bytesize provided: " << this->bytesize; - return ss.str().c_str(); - } + PortNotOpenedException (const char * description) : e_what_ (description) {} + + virtual const char* what () const throw () + { + std::stringstream ss; + ss << e_what_ << " called before port was opened."; + return ss.str ().c_str (); + } }; -class InvalidParityException : public std::exception { - int parity; -public: - InvalidParityException(int parity) {this->parity = parity;} - - virtual const char* what() const throw() { - std::stringstream ss; - ss << "Invalid parity provided: " << this->parity; - return ss.str().c_str(); - } -}; - -class InvalidStopbitsException : public std::exception { - int stopbits; -public: - InvalidStopbitsException(int stopbits) {this->stopbits = stopbits;} - - virtual const char* what() const throw() { - std::stringstream ss; - ss << "Invalid stopbits provided: " << this->stopbits; - return ss.str().c_str(); - } -}; - -class InvalidFlowcontrolException : public std::exception { - int flowcontrol; -public: - InvalidFlowcontrolException(int flowcontrol) {this->flowcontrol = flowcontrol;} - - virtual const char* what() const throw() { - std::stringstream ss; - ss << "Invalid flowcontrol provided: " << this->flowcontrol; - return ss.str().c_str(); - } +class SerialExceptionBase : public std::exception +{ + }; } // namespace serial -#endif \ No newline at end of file +#endif diff --git a/serial.cmake b/serial.cmake index 7f2ea57..ed63438 100644 --- a/serial.cmake +++ b/serial.cmake @@ -1,122 +1,150 @@ macro(build_serial) -## Project Setup -cmake_minimum_required(VERSION 2.4.6) -if(COMMAND cmake_policy) - cmake_policy(SET CMP0003 NEW) -endif(COMMAND cmake_policy) + ## Project Setup + cmake_minimum_required(VERSION 2.4.6) -project(Serial) + if(COMMAND cmake_policy) + cmake_policy(SET CMP0003 NEW) + endif(COMMAND cmake_policy) -## Configurations + project(Serial) -option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF) -option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF) + ## Configurations + # Enable warnings + # Assuming unix means a gcc style compiler, eg. g++ or clang++. + IF(UNIX) + set(CMAKE_CXX_FLAGS "-Wall -Weffc++ -pedantic -pedantic-errors -Wextra -Wall -Waggregate-return -Wcast-align -Wcast-qual -Wchar-subscripts -Wcomment -Wconversion -Wdisabled-optimization -Wfloat-equal -Wformat -Wformat=2 -Wformat-nonliteral -Wformat-security -Wformat-y2k -Wimplicit -Wimport -Winit-self -Winline -Winvalid-pch -Wlong-long -Wmissing-braces -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -Wpacked -Wparentheses -Wpointer-arith -Wredundant-decls -Wreturn-type -Wsequence-point -Wshadow -Wsign-compare -Wstack-protector -Wstrict-aliasing -Wstrict-aliasing=2 -Wswitch -Wswitch-default -Wswitch-enum -Wtrigraphs -Wuninitialized -Wunknown-pragmas -Wunreachable-code -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-value -Wunused-variable -Wvariadic-macros -Wvolatile-register-var -Wwrite-strings") + ELSEIF(WIN32) + # Force to always compile with W4 + if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]") + string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}") + else() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4") + endif() + endif(UNIX) -# Allow for building shared libs override -IF(NOT BUILD_SHARED_LIBS) - set(BUILD_SHARED_LIBS OFF) -ENDIF(NOT BUILD_SHARED_LIBS) + # Use clang if available + IF(EXISTS /usr/bin/clang) + set(CMAKE_CXX_COMPILER /usr/bin/clang++) + set(CMAKE_OSX_DEPLOYMENT_TARGET "") + set(SERIAL_BUILD_WARNINGS TRUE) + set(CMAKE_BUILD_TYPE Debug) + ENDIF(EXISTS /usr/bin/clang) -# Set the default path for built executables to the "bin" directory -IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH)) - set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH)) -# set the default path for built libraries to the "lib" directory -IF(NOT DEFINED(LIBRARY_OUTPUT_PATH)) - set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) -ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH)) + option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF) + option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF) -## Configure the build system + # Allow for building shared libs override + IF(NOT BUILD_SHARED_LIBS) + set(BUILD_SHARED_LIBS OFF) + ENDIF(NOT BUILD_SHARED_LIBS) -# Add the include folder to the include path -include_directories(${PROJECT_SOURCE_DIR}/include) + # Threading libraries added for mutexs + FIND_PACKAGE (Threads) -# Add default source files -set(SERIAL_SRCS src/serial.cpp) -# Add default header files -set(SERIAL_HEADERS include/serial/serial.h) + # Set the default path for built executables to the "bin" directory + IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH)) + set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) + ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH)) + # set the default path for built libraries to the "lib" directory + IF(NOT DEFINED(LIBRARY_OUTPUT_PATH)) + set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH)) -# Find Boost, if it hasn't already been found -IF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND) - find_package(Boost COMPONENTS system filesystem thread REQUIRED) -ENDIF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND) + ## Configure the build system -link_directories(${Boost_LIBRARY_DIRS}) -include_directories(${Boost_INCLUDE_DIRS}) + # Add the include folder to the include path + include_directories(${PROJECT_SOURCE_DIR}/include) -set(SERIAL_LINK_LIBS ${Boost_SYSTEM_LIBRARY} - ${Boost_FILESYSTEM_LIBRARY} - ${Boost_THREAD_LIBRARY}) + # Add default source files + set(SERIAL_SRCS src/serial.cc) + IF(WIN32) + list(APPEND SERIAL_SRCS src/impl/windows.cc) + ELSE(WIN32) + list(APPEND SERIAL_SRCS src/impl/unix.cc) + ENDIF(WIN32) + # Add default header files + set(SERIAL_HEADERS include/serial/serial.h) -## Build the Serial Library -# Compile the Library -add_library(serial ${SERIAL_SRCS} ${SERIAL_HEADERS}) -target_link_libraries(serial ${SERIAL_LINK_LIBS}) -IF( WIN32 ) - target_link_libraries(serial wsock32) -ENDIF( ) + set(OTHER_LIBS "") + if(UNIX) + set(OTHER_LIBS util) + endif(UNIX) + + ## Build the Serial Library -# Check for OS X and if so disable kqueue support in asio -IF(CMAKE_SYSTEM_NAME MATCHES Darwin) - add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE) -ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin) + # Compile the Library + add_library(serial ${SERIAL_SRCS}) + target_link_libraries(serial ${CMAKE_THREAD_LIBS_INIT} ${OTHER_LIBS}) -## Build Examples + ## Build Examples -# If asked to -IF(SERIAL_BUILD_EXAMPLES) - # Compile the Test program - add_executable(serial_example examples/serial_example.cpp) - # Link the Test program to the Serial library - target_link_libraries(serial_example serial) -ENDIF(SERIAL_BUILD_EXAMPLES) + # If asked to + IF(SERIAL_BUILD_EXAMPLES) + # Compile the Serial Test program + add_executable(serial_example examples/serial_example.cc) + # Link the Test program to the Serial library + target_link_libraries(serial_example serial) + ENDIF(SERIAL_BUILD_EXAMPLES) -## Build tests + ## Build tests -# If asked to -IF(SERIAL_BUILD_TESTS) - # none yet... -ENDIF(SERIAL_BUILD_TESTS) + # If asked to + IF(SERIAL_BUILD_TESTS) + # Find Google Test + enable_testing() + find_package(GTest REQUIRED) + include_directories(${GTEST_INCLUDE_DIRS}) -## Setup install and uninstall + # Compile the Serial Test program + add_executable(serial_tests tests/serial_tests.cc) + # Link the Test program to the serial library + target_link_libraries(serial_tests ${GTEST_BOTH_LIBRARIES} + serial) -# Unless asked not to... -IF(NOT SERIAL_DONT_CONFIGURE_INSTALL) - # Configure make install - IF(NOT CMAKE_INSTALL_PREFIX) - SET(CMAKE_INSTALL_PREFIX /usr/local) - ENDIF(NOT CMAKE_INSTALL_PREFIX) + add_test(AllTestsIntest_serial serial_tests) + ENDIF(SERIAL_BUILD_TESTS) + + ## Setup install and uninstall + + # Unless asked not to... + IF(NOT SERIAL_DONT_CONFIGURE_INSTALL) + # Configure make install + IF(NOT CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX /usr/local) + ENDIF(NOT CMAKE_INSTALL_PREFIX) - INSTALL(TARGETS serial - RUNTIME DESTINATION bin - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib - ) + INSTALL(TARGETS serial + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + ) - INSTALL(FILES include/serial/serial.h DESTINATION include/serial) + INSTALL(FILES include/serial/serial.h + DESTINATION include/serial) - IF(NOT CMAKE_FIND_INSTALL_PATH) - set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT}) - ENDIF(NOT CMAKE_FIND_INSTALL_PATH) + IF(NOT CMAKE_FIND_INSTALL_PATH) + set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT}) + ENDIF(NOT CMAKE_FIND_INSTALL_PATH) - INSTALL(FILES Findserial.cmake DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/) + INSTALL(FILES Findserial.cmake + DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/) - ADD_CUSTOM_TARGET(uninstall @echo uninstall package) + ADD_CUSTOM_TARGET(uninstall @echo uninstall package) - IF (UNIX) - ADD_CUSTOM_COMMAND( - COMMENT "uninstall package" - COMMAND xargs ARGS rm < install_manifest.txt + IF (UNIX) + ADD_CUSTOM_COMMAND( + COMMENT "uninstall package" + COMMAND xargs ARGS rm < install_manifest.txt - TARGET uninstall - ) - ELSE(UNIX) - ADD_CUSTOM_COMMAND( - COMMENT "uninstall only implemented in unix" - TARGET uninstall - ) - ENDIF(UNIX) -ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL) + TARGET uninstall + ) + ELSE(UNIX) + ADD_CUSTOM_COMMAND( + COMMENT "uninstall only implemented in unix" + TARGET uninstall + ) + ENDIF(UNIX) + ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL) endmacro(build_serial) diff --git a/serial.mk b/serial.makefile similarity index 80% rename from serial.mk rename to serial.makefile index 1cd189d..7ddb536 100644 --- a/serial.mk +++ b/serial.makefile @@ -20,6 +20,13 @@ clean: -cd build && make clean rm -rf build bin lib +.PHONY: doc +doc: + @doxygen doc/Doxyfile +ifeq ($(UNAME),Darwin) + @open doc/html/index.html +endif + .PHONY: test test: @mkdir -p build @@ -30,4 +37,4 @@ ifneq ($(MAKE),) else cd build && make endif - # cd bin && ./serial_tests \ No newline at end of file + cd bin && ./serial_tests \ No newline at end of file diff --git a/serial_ros.cmake b/serial_ros.cmake index cd6fa55..2877acf 100644 --- a/serial_ros.cmake +++ b/serial_ros.cmake @@ -1,36 +1,42 @@ macro(build_serial) -cmake_minimum_required(VERSION 2.4.6) -include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) -# Set the build type. Options are: -# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage -# Debug : w/ debug symbols, w/o optimization -# Release : w/o debug symbols, w/ optimization -# RelWithDebInfo : w/ debug symbols, w/ optimization -# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries -set(ROS_BUILD_TYPE RelWithDebInfo) + cmake_minimum_required(VERSION 2.4.6) + include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) -rosbuild_init() + # Set the build type. Options are: + # Coverage : w/ debug symbols, w/o optimization, w/ code-coverage + # Debug : w/ debug symbols, w/o optimization + # Release : w/o debug symbols, w/ optimization + # RelWithDebInfo : w/ debug symbols, w/ optimization + # MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries + set(ROS_BUILD_TYPE Debug) -#set the default path for built executables to the "bin" directory -set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + rosbuild_init() -# Check for OS X and if so disable kqueue support in asio -IF(CMAKE_SYSTEM_NAME MATCHES Darwin) - add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE) -ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin) + #set the default path for built executables to the "bin" directory + set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) + #set the default path for built libraries to the "lib" directory + set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) -# Build the serial library -rosbuild_add_library(serial src/serial.cpp include/serial/serial.h) + include_directories(include) + include_directories(vendor) -# Add boost dependencies -rosbuild_add_boost_directories() -rosbuild_link_boost(serial system filesystem thread) + set(SERIAL_SRCS src/serial.cc) + if(UNIX) + list(APPEND SERIAL_SRCS src/impl/unix.cc) + else(UNIX) + list(APPEND SERIAL_SRCS src/impl/winows.cc) + endif(UNIX) -# Build example -rosbuild_add_executable(serial_example examples/serial_example.cpp) -target_link_libraries(serial_example serial) + # Build the serial library + rosbuild_add_library(${PROJECT_NAME} ${SERIAL_SRCS}) + + # Build example + rosbuild_add_executable(serial_example examples/serial_example.cc) + target_link_libraries(serial_example ${PROJECT_NAME}) + + # Create unit tests + rosbuild_add_gtest(serial_tests tests/serial_tests.cc) + target_link_libraries(serial_tests ${PROJECT_NAME}) endmacro(build_serial) diff --git a/src/impl/unix.cc b/src/impl/unix.cc new file mode 100644 index 0000000..e87125d --- /dev/null +++ b/src/impl/unix.cc @@ -0,0 +1,761 @@ +/* Copyright 2012 William Woodall and John Harrison */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#if defined(__linux__) +# include +#endif + +#include +#include +#include +#ifdef __MACH__ +#include +#include +#endif + +#include "serial/impl/unix.h" + +#ifndef TIOCINQ +#ifdef FIONREAD +#define TIOCINQ FIONREAD +#else +#define TIOCINQ 0x541B +#endif +#endif + +using std::string; +using std::invalid_argument; +using serial::Serial; +using serial::SerialExecption; +using serial::PortNotOpenedException; +using serial::IOException; + + +Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, + long timeout, bytesize_t bytesize, + parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) +: port_ (port), fd_ (-1), is_open_ (false), xonxoff_ (true), rtscts_ (false), + timeout_ (timeout), baudrate_ (baudrate), parity_ (parity), + bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) +{ + pthread_mutex_init(&this->read_mutex, NULL); + pthread_mutex_init(&this->write_mutex, NULL); + if (port_.empty () == false) + open (); +} + +Serial::SerialImpl::~SerialImpl () +{ + close(); + pthread_mutex_destroy(&this->read_mutex); + pthread_mutex_destroy(&this->write_mutex); +} + +void +Serial::SerialImpl::open () +{ + if (port_.empty ()) + { + throw invalid_argument ("Empty port is invalid."); + } + if (is_open_ == true) + { + throw SerialExecption ("Serial port already open."); + } + + fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (fd_ == -1) + { + switch (errno) + { + case EINTR: + // Recurse because this is a recoverable error. + open (); + return; + case ENFILE: + case EMFILE: + THROW (IOException, "Too many file handles open."); + default: + THROW (IOException, errno); + } + } + + reconfigurePort(); + is_open_ = true; +} + +void +Serial::SerialImpl::reconfigurePort () +{ + if (fd_ == -1) + { + // Can only operate on a valid file descriptor + THROW (IOException, "Invalid file descriptor, is the serial port open?"); + } + + struct termios options; // The options for the file descriptor + + if (tcgetattr(fd_, &options) == -1) + { + THROW (IOException, "::tcgetattr"); + } + + // set up raw mode / no echo / binary + options.c_cflag |= (unsigned long) (CLOCAL|CREAD); + options.c_lflag &= (unsigned long) ~(ICANON|ECHO|ECHOE|ECHOK|ECHONL| + ISIG|IEXTEN); //|ECHOPRT + + options.c_oflag &= (unsigned long) ~(OPOST); + options.c_iflag &= (unsigned long) ~(INLCR|IGNCR|ICRNL|IGNBRK); +#ifdef IUCLC + options.c_iflag &= (unsigned long) ~IUCLC; +#endif +#ifdef PARMRK + options.c_iflag &= (unsigned long) ~PARMRK; +#endif + + // setup baud rate + bool custom_baud = false; + speed_t baud; + switch (baudrate_) + { +#ifdef B0 + case 0: baud = B0; break; +#endif +#ifdef B50 + case 50: baud = B50; break; +#endif +#ifdef B75 + case 75: baud = B75; break; +#endif +#ifdef B110 + case 110: baud = B110; break; +#endif +#ifdef B134 + case 134: baud = B134; break; +#endif +#ifdef B150 + case 150: baud = B150; break; +#endif +#ifdef B200 + case 200: baud = B200; break; +#endif +#ifdef B300 + case 300: baud = B300; break; +#endif +#ifdef B600 + case 600: baud = B600; break; +#endif +#ifdef B1200 + case 1200: baud = B1200; break; +#endif +#ifdef B1800 + case 1800: baud = B1800; break; +#endif +#ifdef B2400 + case 2400: baud = B2400; break; +#endif +#ifdef B4800 + case 4800: baud = B4800; break; +#endif +#ifdef B7200 + case 7200: baud = B7200; break; +#endif +#ifdef B9600 + case 9600: baud = B9600; break; +#endif +#ifdef B14400 + case 14400: baud = B14400; break; +#endif +#ifdef B19200 + case 19200: baud = B19200; break; +#endif +#ifdef B28800 + case 28800: baud = B28800; break; +#endif +#ifdef B57600 + case 57600: baud = B57600; break; +#endif +#ifdef B76800 + case 76800: baud = B76800; break; +#endif +#ifdef B38400 + case 38400: baud = B38400; break; +#endif +#ifdef B115200 + case 115200: baud = B115200; break; +#endif +#ifdef B128000 + case 128000: baud = B128000; break; +#endif +#ifdef B153600 + case 153600: baud = B153600; break; +#endif +#ifdef B230400 + case 230400: baud = B230400; break; +#endif +#ifdef B256000 + case 256000: baud = B256000; break; +#endif +#ifdef B460800 + case 460800: baud = B460800; break; +#endif +#ifdef B921600 + case 921600: baud = B921600; break; +#endif + default: + custom_baud = true; +// Mac OS X 10.x Support +#if defined(__APPLE__) && defined(__MACH__) +#define IOSSIOSPEED _IOW('T', 2, speed_t) + int new_baud = static_cast (baudrate_); + if (ioctl (fd_, IOSSIOSPEED, &new_baud, 1) < 0) + { + THROW (IOException, errno); + } +// Linux Support +#elif defined(__linux__) + struct serial_struct ser; + ioctl (fd_, TIOCGSERIAL, &ser); + // set custom divisor + ser.custom_divisor = ser.baud_base / baudrate_; + // update flags + ser.flags &= ~ASYNC_SPD_MASK; + ser.flags |= ASYNC_SPD_CUST; + + if (ioctl (fd_, TIOCSSERIAL, ser) < 0) + { + THROW (IOException, errno); + } +#else + throw invalid_argument ("OS does not currently support custom bauds"); +#endif + } + if (custom_baud == false) + { +#ifdef _BSD_SOURCE + ::cfsetspeed(&options, baud); +#else + ::cfsetispeed(&options, baud); + ::cfsetospeed(&options, baud); +#endif + } + + // setup char len + options.c_cflag &= (unsigned long) ~CSIZE; + if (bytesize_ == eightbits) + options.c_cflag |= CS8; + else if (bytesize_ == sevenbits) + options.c_cflag |= CS7; + else if (bytesize_ == sixbits) + options.c_cflag |= CS6; + else if (bytesize_ == fivebits) + options.c_cflag |= CS5; + else + throw invalid_argument ("invalid char len"); + // setup stopbits + if (stopbits_ == stopbits_one) + options.c_cflag &= (unsigned long) ~(CSTOPB); + else if (stopbits_ == stopbits_one_point_five) + // ONE POINT FIVE same as TWO.. there is no POSIX support for 1.5 + options.c_cflag |= (CSTOPB); + else if (stopbits_ == stopbits_two) + options.c_cflag |= (CSTOPB); + else + throw invalid_argument ("invalid stop bit"); + // setup parity + options.c_iflag &= (unsigned long) ~(INPCK|ISTRIP); + if (parity_ == parity_none) + { + options.c_cflag &= (unsigned long) ~(PARENB|PARODD); + } + else if (parity_ == parity_even) + { + options.c_cflag &= (unsigned long) ~(PARODD); + options.c_cflag |= (PARENB); + } + else if (parity_ == parity_odd) + { + options.c_cflag |= (PARENB|PARODD); + } + else + { + throw invalid_argument ("invalid parity"); + } + // setup flow control + // xonxoff +#ifdef IXANY + if (xonxoff_) + options.c_iflag |= (IXON|IXOFF); //|IXANY) + else + options.c_iflag &= (unsigned long) ~(IXON|IXOFF|IXANY); +#else + if (xonxoff_) + options.c_iflag |= (IXON|IXOFF); + else + options.c_iflag &= (unsigned long) ~(IXON|IXOFF); +#endif + // rtscts +#ifdef CRTSCTS + if (rtscts_) + options.c_cflag |= (CRTSCTS); + else + options.c_cflag &= (unsigned long) ~(CRTSCTS); +#elif defined CNEW_RTSCTS + if (rtscts_) + options.c_cflag |= (CNEW_RTSCTS); + else + options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS); +#else +#error "OS Support seems wrong." +#endif + + // http://www.unixwiz.net/techtips/termios-vmin-vtime.html + // this basically sets the read call up to be a polling read, + // but we are using select to ensure there is data available + // to read before each call, so we should never needlessly poll + options.c_cc[VMIN] = 0; + options.c_cc[VTIME] = 0; + + // activate settings + ::tcsetattr (fd_, TCSANOW, &options); +} + +void +Serial::SerialImpl::close () +{ + if (is_open_ == true) + { + if (fd_ != -1) + { + ::close (fd_); // Ignoring the outcome + fd_ = -1; + } + is_open_ = false; + } +} + +bool +Serial::SerialImpl::isOpen () const +{ + return is_open_; +} + +size_t +Serial::SerialImpl::available () +{ + if (!is_open_) + { + return 0; + } + int count = 0; + int result = ioctl (fd_, TIOCINQ, &count); + if (result == 0) + { + return static_cast (count); + } + else + { + THROW (IOException, errno); + } +} + +inline void get_time_now(struct timespec &time) { +# ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time + clock_serv_t cclock; + mach_timespec_t mts; + host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock); + clock_get_time(cclock, &mts); + mach_port_deallocate(mach_task_self(), cclock); + time.tv_sec = mts.tv_sec; + time.tv_nsec = mts.tv_nsec; +# else + clock_gettime(CLOCK_REALTIME, &time); +# endif +} + +size_t +Serial::SerialImpl::read (unsigned char* buf, size_t size) +{ + if (!is_open_) + { + throw PortNotOpenedException ("Serial::read"); + } + fd_set readfds; + size_t bytes_read = 0; + struct timeval timeout; + timeout.tv_sec = timeout_ / 1000; + timeout.tv_usec = static_cast (timeout_ % 1000) * 1000; + while (bytes_read < size) + { + FD_ZERO (&readfds); + FD_SET (fd_, &readfds); + // On Linux the timeout struct is updated by select to contain the time + // left on the timeout to make looping easier, but on other platforms this + // does not occur. +#if !defined(__linux__) + // Begin timing select + struct timespec start, end; + get_time_now(start); +#endif + // Do the select + int r = select (fd_ + 1, &readfds, NULL, NULL, &timeout); +#if !defined(__linux__) + // Calculate difference and update the structure + get_time_now(end); + // Calculate the time select took + struct timeval diff; + diff.tv_sec = end.tv_sec-start.tv_sec; + diff.tv_usec = static_cast ((end.tv_nsec-start.tv_nsec)/1000); + // Update the timeout + if (timeout.tv_sec <= diff.tv_sec) { + timeout.tv_sec = 0; + } else { + timeout.tv_sec -= diff.tv_sec; + } + if (timeout.tv_usec <= diff.tv_usec) { + timeout.tv_usec = 0; + } else { + timeout.tv_usec -= diff.tv_usec; + } +#endif + + // Figure out what happened by looking at select's response 'r' +/** Error **/ + if (r < 0) { + // Select was interrupted, try again + if (errno == EINTR) { + continue; + } + // Otherwise there was some error + THROW (IOException, errno); + } +/** Timeout **/ + if (r == 0) { + break; + } +/** Something ready to read **/ + if (r > 0) { + // Make sure our file descriptor is in the ready to read list + if (FD_ISSET (fd_, &readfds)) { + // This should be non-blocking returning only what is avaialble now + // Then returning so that select can block again. + ssize_t bytes_read_now = + ::read (fd_, buf+bytes_read, size-bytes_read); + // read should always return some data as select reported it was + // ready to read when we get to this point. + if (bytes_read_now < 1) + { + // Disconnected devices, at least on Linux, show the + // behavior that they are always ready to read immediately + // but reading returns nothing. + throw SerialExecption ("device reports readiness to read but " + "returned no data (device disconnected?)"); + } + // Update bytes_read + bytes_read += static_cast (bytes_read_now); + // If bytes_read == size then we have read everything we need + if (bytes_read == size) { + break; + } + // If bytes_read < size then we have more to read + if (bytes_read < size) { + continue; + } + // If bytes_read > size then we have over read, which shouldn't happen + if (bytes_read > size) { + throw SerialExecption ("read over read, too many bytes where " + "read, this shouldn't happen, might be " + "a logical error!"); + } + } + // This shouldn't happen, if r > 0 our fd has to be in the list! + THROW (IOException, "select reports ready to read, but our fd isn't" + " in the list, this shouldn't happen!"); + } + } + return bytes_read; +} + +size_t +Serial::SerialImpl::write (const string &data) +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::write"); + } + + return static_cast (::write (fd_, data.c_str (), data.length ())); +} + +void +Serial::SerialImpl::setPort (const string &port) +{ + port_ = port; +} + +string +Serial::SerialImpl::getPort () const +{ + return port_; +} + +void +Serial::SerialImpl::setTimeout (long timeout) +{ + timeout_ = timeout; +} + +long +Serial::SerialImpl::getTimeout () const +{ + return timeout_; +} + +void +Serial::SerialImpl::setBaudrate (unsigned long baudrate) +{ + baudrate_ = baudrate; + if (is_open_) + reconfigurePort (); +} + +unsigned long +Serial::SerialImpl::getBaudrate () const +{ + return baudrate_; +} + +void +Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) +{ + bytesize_ = bytesize; + if (is_open_) + reconfigurePort (); +} + +serial::bytesize_t +Serial::SerialImpl::getBytesize () const +{ + return bytesize_; +} + +void +Serial::SerialImpl::setParity (serial::parity_t parity) +{ + parity_ = parity; + if (is_open_) + reconfigurePort (); +} + +serial::parity_t +Serial::SerialImpl::getParity () const +{ + return parity_; +} + +void +Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) +{ + stopbits_ = stopbits; + if (is_open_) + reconfigurePort (); +} + +serial::stopbits_t +Serial::SerialImpl::getStopbits () const +{ + return stopbits_; +} + +void +Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) +{ + flowcontrol_ = flowcontrol; + if (is_open_) + reconfigurePort (); +} + +serial::flowcontrol_t +Serial::SerialImpl::getFlowcontrol () const +{ + return flowcontrol_; +} + +void +Serial::SerialImpl::flush () +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::flush"); + } + tcdrain (fd_); +} + +void +Serial::SerialImpl::flushInput () +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::flushInput"); + } + tcflush (fd_, TCIFLUSH); +} + +void +Serial::SerialImpl::flushOutput () +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::flushOutput"); + } + tcflush (fd_, TCOFLUSH); +} + +void +Serial::SerialImpl::sendBreak (int duration) +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::sendBreak"); + } + tcsendbreak (fd_, static_cast (duration/4)); +} + +void +Serial::SerialImpl::setBreak (bool level) +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::setBreak"); + } + if (level) + { + ioctl (fd_, TIOCSBRK); + } + else { + ioctl (fd_, TIOCCBRK); + } +} + +void +Serial::SerialImpl::setRTS (bool level) +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::setRTS"); + } + if (level) + { + ioctl (fd_, TIOCMBIS, TIOCM_RTS); + } + else { + ioctl (fd_, TIOCMBIC, TIOCM_RTS); + } +} + +void +Serial::SerialImpl::setDTR (bool level) +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::setDTR"); + } + if (level) + { + ioctl (fd_, TIOCMBIS, TIOCM_DTR); + } + else + { + ioctl (fd_, TIOCMBIC, TIOCM_DTR); + } +} + +bool +Serial::SerialImpl::getCTS () +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::getCTS"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_CTS) != 0; +} + +bool +Serial::SerialImpl::getDSR() +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::getDSR"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_DSR) != 0; +} + +bool +Serial::SerialImpl::getRI() +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::getRI"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_RI) != 0; +} + +bool +Serial::SerialImpl::getCD() +{ + if (is_open_ == false) + { + throw PortNotOpenedException ("Serial::getCD"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_CD) != 0; +} + +void +Serial::SerialImpl::readLock() { + int result = pthread_mutex_lock(&this->read_mutex); + if (result) { + THROW (IOException, result); + } +} + +void +Serial::SerialImpl::readUnlock() { + int result = pthread_mutex_unlock(&this->read_mutex); + if (result) { + THROW (IOException, result); + } +} + +void +Serial::SerialImpl::writeLock() { + int result = pthread_mutex_lock(&this->write_mutex); + if (result) { + THROW (IOException, result); + } +} + +void +Serial::SerialImpl::writeUnlock() { + int result = pthread_mutex_unlock(&this->write_mutex); + if (result) { + THROW (IOException, result); + } +} diff --git a/src/impl/windows.cc b/src/impl/windows.cc new file mode 100644 index 0000000..5e82227 --- /dev/null +++ b/src/impl/windows.cc @@ -0,0 +1,670 @@ +/* Copyright 2012 William Woodall and John Harrison */ + +#include "serial/impl/windows.h" + +using std::string; +using std::invalid_argument; +using serial::Serial; +using serial::SerialExecption; +using serial::PortNotOpenedException; +using serial::IOException; + + +Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, + long timeout, bytesize_t bytesize, + parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) +: port_ (port), fd_ (-1), isOpen_ (false), xonxoff_ (true), rtscts_ (false), + timeout_ (timeout), baudrate_ (baudrate), parity_ (parity), bytesize_ (bytesize), + stopbits_ (stopbits), flowcontrol_ (flowcontrol) +{ + if (port_.empty () == false) + open (); +} + +Serial::SerialImpl::~SerialImpl () +{ + close(); +} + +void +Serial::SerialImpl::open () +{ + if (port_.empty()) + { + throw invalid_argument ("bad port specified"); + } + if (isOpen_ == true) + { + throw SerialExecption ("port already open"); + } + + fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (fd_ == -1) + { + switch (errno) + { + case EINTR: + // Recurse because this is a recoverable error. + open (); + return; + case ENFILE: + case EMFILE: + throw IOException ("to many file handles open"); + break; + default: + throw IOException (errno); + } + } + + reconfigurePort(); + isOpen_ = true; +} + +void +Serial::SerialImpl::reconfigurePort () +{ + if (fd_ == -1) + { + // Can only operate on a valid file descriptor + throw IOException ("invalid file descriptor"); + } + + struct termios options; // The options for the file descriptor + + if (tcgetattr(fd_, &options) == -1) + { + throw IOException ("::tcgetattr"); + } + + // set up raw mode / no echo / binary + options.c_cflag |= (unsigned long) (CLOCAL|CREAD); + options.c_lflag &= (unsigned long) ~(ICANON|ECHO|ECHOE|ECHOK|ECHONL| + ISIG|IEXTEN); //|ECHOPRT + + options.c_oflag &= (unsigned long) ~(OPOST); + options.c_iflag &= (unsigned long) ~(INLCR|IGNCR|ICRNL|IGNBRK); +#ifdef IUCLC + options.c_iflag &= (unsigned long) ~IUCLC; +#endif +#ifdef PARMRK + options.c_iflag &= (unsigned long) ~PARMRK; +#endif + + // setup baud rate + bool custom_baud = false; + speed_t baud; + switch (baudrate_) + { +#ifdef B0 + case 0: baud = B0; break; +#endif +#ifdef B50 + case 50: baud = B50; break; +#endif +#ifdef B75 + case 75: baud = B75; break; +#endif +#ifdef B110 + case 110: baud = B110; break; +#endif +#ifdef B134 + case 134: baud = B134; break; +#endif +#ifdef B150 + case 150: baud = B150; break; +#endif +#ifdef B200 + case 200: baud = B200; break; +#endif +#ifdef B300 + case 300: baud = B300; break; +#endif +#ifdef B600 + case 600: baud = B600; break; +#endif +#ifdef B1200 + case 1200: baud = B1200; break; +#endif +#ifdef B1800 + case 1800: baud = B1800; break; +#endif +#ifdef B2400 + case 2400: baud = B2400; break; +#endif +#ifdef B4800 + case 4800: baud = B4800; break; +#endif +#ifdef B7200 + case 7200: baud = B7200; break; +#endif +#ifdef B9600 + case 9600: baud = B9600; break; +#endif +#ifdef B14400 + case 14400: baud = B14400; break; +#endif +#ifdef B19200 + case 19200: baud = B19200; break; +#endif +#ifdef B28800 + case 28800: baud = B28800; break; +#endif +#ifdef B57600 + case 57600: baud = B57600; break; +#endif +#ifdef B76800 + case 76800: baud = B76800; break; +#endif +#ifdef B38400 + case 38400: baud = B38400; break; +#endif +#ifdef B115200 + case 115200: baud = B115200; break; +#endif +#ifdef B128000 + case 128000: baud = B128000; break; +#endif +#ifdef B153600 + case 153600: baud = B153600; break; +#endif +#ifdef B230400 + case 230400: baud = B230400; break; +#endif +#ifdef B256000 + case 256000: baud = B256000; break; +#endif +#ifdef B460800 + case 460800: baud = B460800; break; +#endif +#ifdef B921600 + case 921600: baud = B921600; break; +#endif + default: + custom_baud = true; +// Mac OS X 10.x Support +#if defined(__APPLE__) && defined(__MACH__) +#define IOSSIOSPEED _IOW('T', 2, speed_t) + int new_baud = static_cast (baudrate_); + if (ioctl (fd_, IOSSIOSPEED, &new_baud, 1) < 0) + { + throw IOException (errno); + } +// Linux Support +#elif defined(__linux__) + struct serial_struct ser; + ioctl(fd_, TIOCGSERIAL, &ser); + // set custom divisor + ser.custom_divisor = ser.baud_base / baudrate_; + // update flags + ser.flags &= ~ASYNC_SPD_MASK; + ser.flags |= ASYNC_SPD_CUST; + + if (ioctl(fd_, TIOCSSERIAL, ser) < 0) + { + throw IOException (errno); + } +#else + throw invalid_argument ("OS does not currently support custom bauds"); +#endif + } + if (custom_baud == false) + { +#ifdef _BSD_SOURCE + ::cfsetspeed(&options, baud); +#else + ::cfsetispeed(&options, baud); + ::cfsetospeed(&options, baud); +#endif + } + + // setup char len + options.c_cflag &= (unsigned long) ~CSIZE; + if (bytesize_ == EIGHTBITS) + options.c_cflag |= CS8; + else if (bytesize_ == SEVENBITS) + options.c_cflag |= CS7; + else if (bytesize_ == SIXBITS) + options.c_cflag |= CS6; + else if (bytesize_ == FIVEBITS) + options.c_cflag |= CS5; + else + throw invalid_argument ("invalid char len"); + // setup stopbits + if (stopbits_ == STOPBITS_ONE) + options.c_cflag &= (unsigned long) ~(CSTOPB); + else if (stopbits_ == STOPBITS_ONE_POINT_FIVE) + options.c_cflag |= (CSTOPB); // XXX same as TWO.. there is no POSIX support for 1.5 + else if (stopbits_ == STOPBITS_TWO) + options.c_cflag |= (CSTOPB); + else + throw invalid_argument ("invalid stop bit"); + // setup parity + options.c_iflag &= (unsigned long) ~(INPCK|ISTRIP); + if (parity_ == PARITY_NONE) + { + options.c_cflag &= (unsigned long) ~(PARENB|PARODD); + } + else if (parity_ == PARITY_EVEN) + { + options.c_cflag &= (unsigned long) ~(PARODD); + options.c_cflag |= (PARENB); + } + else if (parity_ == PARITY_ODD) + { + options.c_cflag |= (PARENB|PARODD); + } + else + { + throw invalid_argument ("invalid parity"); + } + // setup flow control + // xonxoff +#ifdef IXANY + if (xonxoff_) + options.c_iflag |= (IXON|IXOFF); //|IXANY) + else + options.c_iflag &= (unsigned long) ~(IXON|IXOFF|IXANY); +#else + if (xonxoff_) + options.c_iflag |= (IXON|IXOFF); + else + options.c_iflag &= (unsigned long) ~(IXON|IXOFF); +#endif + // rtscts +#ifdef CRTSCTS + if (rtscts_) + options.c_cflag |= (CRTSCTS); + else + options.c_cflag &= (unsigned long) ~(CRTSCTS); +#elif defined CNEW_RTSCTS + if (rtscts_) + options.c_cflag |= (CNEW_RTSCTS); + else + options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS); +#else +#error "OS Support seems wrong." +#endif + + options.c_cc[VMIN] = 1; // Minimum of 1 character in the buffer + options.c_cc[VTIME] = 0; // timeout on waiting for new data + + // activate settings + ::tcsetattr (fd_, TCSANOW, &options); +} + +void +Serial::SerialImpl::close () +{ + if (isOpen_ == true) + { + if (fd_ != -1) + { + ::close (fd_); // Ignoring the outcome + fd_ = -1; + } + isOpen_ = false; + } +} + +bool +Serial::SerialImpl::isOpen () const +{ + return isOpen_; +} + +size_t +Serial::SerialImpl::available () +{ + if (!isOpen_) + { + return 0; + } + int count = 0; + int result = ioctl (fd_, TIOCINQ, &count); + if (result == 0) + { + return static_cast (count); + } + else + { + throw IOException (errno); + } +} + +size_t +Serial::SerialImpl::read (char* buf, size_t size) +{ + if (!isOpen_) + { + throw PortNotOpenedException ("Serial::read"); + } + fd_set readfds; + ssize_t bytes_read = 0; + int count = 0; + while (true) + { + count++; + if (timeout_ != -1) + { + FD_ZERO (&readfds); + FD_SET (fd_, &readfds); + struct timeval timeout; + timeout.tv_sec = timeout_ / 1000; + timeout.tv_usec = static_cast (timeout_ % 1000) * 1000; + int r = select (fd_ + 1, &readfds, NULL, NULL, &timeout); + + if (r == -1 && errno == EINTR) + continue; + + if (r == -1) + { + throw IOException (errno); + } + } + + if (timeout_ == -1 || FD_ISSET (fd_, &readfds)) + { + bytes_read = ::read (fd_, buf, size); + // read should always return some data as select reported it was + // ready to read when we get to this point. + if (bytes_read < 1) + { + // Disconnected devices, at least on Linux, show the + // behavior that they are always ready to read immediately + // but reading returns nothing. + throw SerialExecption ("device reports readiness to read but " + "returned no data (device disconnected?)"); + } + break; + } + else + { + break; + } + } + return static_cast (bytes_read); +} + +size_t +Serial::SerialImpl::write (const string &data) +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::write"); + } + + fd_set writefds; + ssize_t bytes_written = 0; + while (true) + { + if (timeout_ != -1) + { + FD_ZERO (&writefds); + FD_SET (fd_, &writefds); + struct timeval timeout; + timeout.tv_sec = timeout_ / 1000; + timeout.tv_usec = static_cast (timeout_ % 1000) * 1000; + int r = select (fd_ + 1, NULL, &writefds, NULL, &timeout); + + if (r == -1 && errno == EINTR) + continue; + + if (r == -1) + { + throw IOException (errno); + } + } + + if (timeout_ == -1 || FD_ISSET (fd_, &writefds)) + { + bytes_written = ::write (fd_, data.c_str (), data.length ()); + // read should always return some data as select reported it was + // ready to read when we get to this point. + if (bytes_written < 1) + { + // Disconnected devices, at least on Linux, show the + // behavior that they are always ready to read immediately + // but reading returns nothing. + throw SerialExecption ("device reports readiness to read but " + "returned no data (device disconnected?)"); + } + break; + } + else + { + break; + } + } + + return static_cast (bytes_written); +} + +void +Serial::SerialImpl::setPort (const string &port) +{ + port_ = port; +} + +string +Serial::SerialImpl::getPort () const +{ + return port_; +} + +void +Serial::SerialImpl::setTimeout (long timeout) +{ + timeout_ = timeout; +} + +long +Serial::SerialImpl::getTimeout () const +{ + return timeout_; +} + +void +Serial::SerialImpl::setBaudrate (unsigned long baudrate) +{ + baudrate_ = baudrate; + if (isOpen_) + reconfigurePort (); +} + +unsigned long +Serial::SerialImpl::getBaudrate () const +{ + return baudrate_; +} + +void +Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) +{ + bytesize_ = bytesize; + if (isOpen_) + reconfigurePort (); +} + +serial::bytesize_t +Serial::SerialImpl::getBytesize () const +{ + return bytesize_; +} + +void +Serial::SerialImpl::setParity (serial::parity_t parity) +{ + parity_ = parity; + if (isOpen_) + reconfigurePort (); +} + +serial::parity_t +Serial::SerialImpl::getParity () const +{ + return parity_; +} + +void +Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) +{ + stopbits_ = stopbits; + if (isOpen_) + reconfigurePort (); +} + +serial::stopbits_t +Serial::SerialImpl::getStopbits () const +{ + return stopbits_; +} + +void +Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) +{ + flowcontrol_ = flowcontrol; + if (isOpen_) + reconfigurePort (); +} + +serial::flowcontrol_t +Serial::SerialImpl::getFlowcontrol () const +{ + return flowcontrol_; +} + +void +Serial::SerialImpl::flush () +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::flush"); + } + tcdrain (fd_); +} + +void +Serial::SerialImpl::flushInput () +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::flushInput"); + } + tcflush (fd_, TCIFLUSH); +} + +void +Serial::SerialImpl::flushOutput () +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::flushOutput"); + } + tcflush (fd_, TCOFLUSH); +} + +void +Serial::SerialImpl::sendBreak (int duration) +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::sendBreak"); + } + tcsendbreak (fd_, static_cast (duration/4)); +} + +void +Serial::SerialImpl::setBreak (bool level) +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::setBreak"); + } + if (level) + { + ioctl (fd_, TIOCSBRK); + } + else { + ioctl (fd_, TIOCCBRK); + } +} + +void +Serial::SerialImpl::setRTS (bool level) +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::setRTS"); + } + if (level) + { + ioctl (fd_, TIOCMBIS, TIOCM_RTS); + } + else { + ioctl (fd_, TIOCMBIC, TIOCM_RTS); + } +} + +void +Serial::SerialImpl::setDTR (bool level) +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::setDTR"); + } + if (level) + { + ioctl (fd_, TIOCMBIS, TIOCM_DTR); + } + else + { + ioctl (fd_, TIOCMBIC, TIOCM_DTR); + } +} + +bool +Serial::SerialImpl::getCTS () +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::getCTS"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_CTS) != 0; +} + +bool +Serial::SerialImpl::getDSR() +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::getDSR"); + } + int s = ioctl(fd_, TIOCMGET, 0); + return (s & TIOCM_DSR) != 0; +} + +bool +Serial::SerialImpl::getRI() +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::getRI"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_RI) != 0; +} + +bool +Serial::SerialImpl::getCD() +{ + if (isOpen_ == false) + { + throw PortNotOpenedException ("Serial::getCD"); + } + int s = ioctl (fd_, TIOCMGET, 0); + return (s & TIOCM_CD) != 0; +} + diff --git a/src/serial.cc b/src/serial.cc new file mode 100644 index 0000000..2133b06 --- /dev/null +++ b/src/serial.cc @@ -0,0 +1,362 @@ +/* Copyright 2012 William Woodall and John Harrison */ +#include + +#include "serial/serial.h" + +#ifdef _WIN32 +#include "serial/impl/win.h" +#else +#include "serial/impl/unix.h" +#endif + +using std::invalid_argument; +using std::min; +using std::numeric_limits; +using std::vector; +using std::size_t; +using std::string; + +using serial::Serial; +using serial::SerialExecption; +using serial::IOException; +using serial::bytesize_t; +using serial::parity_t; +using serial::stopbits_t; +using serial::flowcontrol_t; + +class Serial::ScopedReadLock { +public: + ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) { + this->pimpl_->readLock(); + } + ~ScopedReadLock() { + this->pimpl_->readUnlock(); + } +private: + SerialImpl *pimpl_; +}; + +class Serial::ScopedWriteLock { +public: + ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) { + this->pimpl_->writeLock(); + } + ~ScopedWriteLock() { + this->pimpl_->writeUnlock(); + } +private: + SerialImpl *pimpl_; +}; + +Serial::Serial (const string &port, unsigned long baudrate, long timeout, + bytesize_t bytesize, parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) + : read_cache_("") +{ + pimpl_ = new SerialImpl (port, baudrate, timeout, bytesize, parity, + stopbits, flowcontrol); +} + +Serial::~Serial () +{ + delete pimpl_; +} + +void +Serial::open () +{ + pimpl_->open (); +} + +void +Serial::close () +{ + pimpl_->close (); +} + +bool +Serial::isOpen () const +{ + return pimpl_->isOpen (); +} + +size_t +Serial::available () +{ + return pimpl_->available (); +} + +size_t +Serial::read_ (unsigned char *buffer, size_t size) +{ + return this->pimpl_->read (buffer, size); +} + +size_t +Serial::read (unsigned char *buffer, size_t size) +{ + ScopedReadLock (this->pimpl_); + return this->pimpl_->read (buffer, size); +} + +size_t +Serial::read (std::vector &buffer, size_t size) +{ + ScopedReadLock (this->pimpl_); + unsigned char *buffer_ = new unsigned char[size]; + size_t bytes_read = this->pimpl_->read (buffer_, size); + buffer.insert (buffer.end (), buffer_, buffer_+bytes_read); + delete[] buffer_; + return bytes_read; +} + +size_t +Serial::read (std::string &buffer, size_t size) +{ + ScopedReadLock (this->pimpl_); + unsigned char *buffer_ = new unsigned char[size]; + size_t bytes_read = this->pimpl_->read (buffer_, size); + buffer.append (reinterpret_cast(buffer_), bytes_read); + delete[] buffer_; + return bytes_read; +} + +string +Serial::read (size_t size) +{ + std::string buffer; + this->read (buffer, size); + return buffer; +} + +size_t +Serial::readline (string &buffer, size_t size, string eol) +{ + ScopedReadLock (this->pimpl_); + size_t eol_len = eol.length (); + unsigned char *buffer_ = static_cast + (alloca (size * sizeof (unsigned char))); + size_t read_so_far = 0; + while (true) + { + size_t bytes_read = this->read_ (buffer_ + read_so_far, 1); + read_so_far += bytes_read; + if (bytes_read == 0) { + break; // Timeout occured on reading 1 byte + } + if (string (reinterpret_cast + (buffer_ + read_so_far - eol_len), eol_len) == eol) { + break; // EOL found + } + if (read_so_far == size) { + break; // Reached the maximum read length + } + } + buffer.append(reinterpret_cast (buffer_), read_so_far); + return read_so_far; +} + +string +Serial::readline (size_t size, string eol) +{ + std::string buffer; + this->readline (buffer, size, eol); + return buffer; +} + +vector +Serial::readlines (size_t size, string eol) +{ + ScopedReadLock (this->pimpl_); + std::vector lines; + size_t eol_len = eol.length (); + unsigned char *buffer_ = static_cast + (alloca (size * sizeof (unsigned char))); + size_t read_so_far = 0; + size_t start_of_line = 0; + while (read_so_far < size) { + size_t bytes_read = this->read_ (buffer_+read_so_far, 1); + read_so_far += bytes_read; + if (bytes_read == 0) { + if (start_of_line != read_so_far) { + lines.push_back ( + string (reinterpret_cast (buffer_ + start_of_line), + read_so_far - start_of_line)); + } + break; // Timeout occured on reading 1 byte + } + if (string (reinterpret_cast + (buffer_ + read_so_far - eol_len), eol_len) == eol) { + // EOL found + lines.push_back( + string(reinterpret_cast (buffer_ + start_of_line), + read_so_far - start_of_line)); + start_of_line = read_so_far; + } + if (read_so_far == size) { + if (start_of_line != read_so_far) { + lines.push_back( + string(reinterpret_cast (buffer_ + start_of_line), + read_so_far - start_of_line)); + } + break; // Reached the maximum read length + } + } + return lines; +} + +size_t +Serial::write (const string &data) +{ + ScopedWriteLock(this->pimpl_); + return pimpl_->write (data); +} + +void +Serial::setPort (const string &port) +{ + ScopedReadLock(this->pimpl_); + ScopedWriteLock(this->pimpl_); + bool was_open = pimpl_->isOpen (); + if (was_open) close(); + pimpl_->setPort (port); + if (was_open) open (); +} + +string +Serial::getPort () const +{ + return pimpl_->getPort (); +} + +void +Serial::setTimeout (long timeout) +{ + pimpl_->setTimeout (timeout); +} + +long +Serial::getTimeout () const { + return pimpl_->getTimeout (); +} + +void +Serial::setBaudrate (unsigned long baudrate) +{ + pimpl_->setBaudrate (baudrate); +} + +unsigned long +Serial::getBaudrate () const +{ + return pimpl_->getBaudrate (); +} + +void +Serial::setBytesize (bytesize_t bytesize) +{ + pimpl_->setBytesize (bytesize); +} + +bytesize_t +Serial::getBytesize () const +{ + return pimpl_->getBytesize (); +} + +void +Serial::setParity (parity_t parity) +{ + pimpl_->setParity (parity); +} + +parity_t +Serial::getParity () const +{ + return pimpl_->getParity (); +} + +void +Serial::setStopbits (stopbits_t stopbits) +{ + pimpl_->setStopbits (stopbits); +} + +stopbits_t +Serial::getStopbits () const +{ + return pimpl_->getStopbits (); +} + +void +Serial::setFlowcontrol (flowcontrol_t flowcontrol) +{ + pimpl_->setFlowcontrol (flowcontrol); +} + +flowcontrol_t +Serial::getFlowcontrol () const +{ + return pimpl_->getFlowcontrol (); +} + +void Serial::flush () +{ + ScopedReadLock(this->pimpl_); + ScopedWriteLock(this->pimpl_); + pimpl_->flush (); + read_cache_.clear (); +} + +void Serial::flushInput () +{ + ScopedReadLock(this->pimpl_); + pimpl_->flushInput (); +} + +void Serial::flushOutput () +{ + ScopedWriteLock(this->pimpl_); + pimpl_->flushOutput (); + read_cache_.clear (); +} + +void Serial::sendBreak (int duration) +{ + pimpl_->sendBreak (duration); +} + +void Serial::setBreak (bool level) +{ + pimpl_->setBreak (level); +} + +void Serial::setRTS (bool level) +{ + pimpl_->setRTS (level); +} + +void Serial::setDTR (bool level) +{ + pimpl_->setDTR (level); +} + +bool Serial::getCTS () +{ + return pimpl_->getCTS (); +} + +bool Serial::getDSR () +{ + return pimpl_->getDSR (); +} + +bool Serial::getRI () +{ + return pimpl_->getRI (); +} + +bool Serial::getCD () +{ + return pimpl_->getCD (); +} diff --git a/src/serial.cpp b/src/serial.cpp deleted file mode 100644 index ae37ff1..0000000 --- a/src/serial.cpp +++ /dev/null @@ -1,466 +0,0 @@ -#include "serial/serial.h" -#include - -using namespace serial; - -/** Completion Conditions **/ - -class transfer_at_least_ignore_invalid_argument { -public: - typedef bool result_type; - - explicit transfer_at_least_ignore_invalid_argument(std::size_t minimum) : minimum_(minimum) {} - - template - bool operator()(const Error& err, std::size_t bytes_transferred) { - if(err) {// There is an Error - if(err == boost::asio::error::invalid_argument) - std::cout << "Invalid Argument Error" << std::endl; - if(err == boost::asio::error::operation_aborted) { - return 1; - } - if(err != boost::asio::error::invalid_argument) {// The Error is not invalid argument - return 1; // Stop reading - } - } - if(bytes_transferred >= minimum_) {// We have all the bytes we need - return 1; // Stop - } else { - return 0; // Continue - } - } - -private: - std::size_t minimum_; -}; - -/** Classes for Handshaking control **/ - -#if defined(BOOST_WINDOWS) || defined(__CYGWIN__) -# define BOOST_ASIO_OPTION_STORAGE DCB -#else -# define BOOST_ASIO_OPTION_STORAGE termios -#endif - -class DTRControl { -public: - explicit DTRControl(bool enable = false) : m_enable(enable) {}; - - boost::system::error_code store(BOOST_ASIO_OPTION_STORAGE& storage, - boost::system::error_code& ec) const - { - #if defined(BOOST_WINDOWS) || defined(__CYGWIN__) - if(m_enable) - storage.fDtrControl = DTR_CONTROL_ENABLE; - else - storage.fDtrControl = DTR_CONTROL_DISABLE; - #else - ec = boost::asio::error::operation_not_supported; - ec = boost::system::error_code(); - #endif - return ec; - }; - - boost::system::error_code load(const BOOST_ASIO_OPTION_STORAGE& storage, - boost::system::error_code& ec) - { - #if defined(BOOST_WINDOWS) || defined(__CYGWIN__) - if(storage.fDtrControl == DTR_CONTROL_ENABLE) - m_enable = true; - else - m_enable = true; - #else - #endif - return ec; - }; -private: - bool m_enable; -}; - -class RTSControl { -public: - explicit RTSControl(bool enable = false) : m_enable(enable) {}; - boost::system::error_code store(BOOST_ASIO_OPTION_STORAGE& storage, - boost::system::error_code& ec) const - { - #if defined(BOOST_WINDOWS) || defined(__CYGWIN__) - if(m_enable) - storage.fRtsControl = RTS_CONTROL_ENABLE; - else - storage.fRtsControl = RTS_CONTROL_DISABLE; - #else - ec = boost::asio::error::operation_not_supported; - ec = boost::system::error_code(); - #endif - return ec; - }; - - boost::system::error_code load(const BOOST_ASIO_OPTION_STORAGE& storage, - boost::system::error_code& ec) - { - #if defined(BOOST_WINDOWS) || defined(__CYGWIN__) - if(storage.fRtsControl == RTS_CONTROL_ENABLE) - m_enable = true; - else - m_enable = true; - #else - #endif - return ec; - }; -private: - bool m_enable; -}; - -/** Serial Class Implementation **/ - -Serial::Serial() : io_service(), work(io_service), timeout_timer(io_service) { - this->init(); -} - -Serial::Serial(std::string port, - int baudrate, - long timeout, - bytesize_t bytesize, - parity_t parity, - stopbits_t stopbits, - flowcontrol_t flowcontrol) - : io_service(), work(io_service), timeout_timer(io_service) -{ - // Call default constructor to initialize variables - this->init(); - - // Write provided settings - this->port = port; - this->setBaudrate(baudrate); - this->setTimeoutMilliseconds(timeout); - this->setBytesize(bytesize); - this->setParity(parity); - this->setStopbits(stopbits); - this->setFlowcontrol(flowcontrol); - - // Open the serial port - this->open(); -} - -void Serial::init() { - // Boost asio variables - this->serial_port.reset(); - - // Serial Port settings - this->port = ""; - this->setBaudrate(DEFAULT_BAUDRATE); - this->setTimeoutMilliseconds(DEFAULT_TIMEOUT); - - // Private variables - this->bytes_read = 0; - this->bytes_to_read = 0; - this->reading = false; - this->nonblocking = false; -} - -Serial::~Serial() { - this->close(); -} - -void Serial::open() { - // Make sure the Serial port is not already open. - if(this->serial_port != NULL && this->serial_port->is_open()) { - throw(SerialPortAlreadyOpenException(this->port.c_str())); - } - - // Try to open the serial port - try { - this->serial_port.reset(new boost::asio::serial_port(this->io_service, this->port)); - - this->serial_port->set_option(this->baudrate); - this->serial_port->set_option(this->flowcontrol); - this->serial_port->set_option(this->parity); - this->serial_port->set_option(this->stopbits); - this->serial_port->set_option(this->bytesize); - } catch(std::exception &e) { - this->serial_port.reset(); - throw(SerialPortFailedToOpenException(e.what())); - } -} - -bool Serial::isOpen() { - if(this->serial_port != NULL) - return this->serial_port->is_open(); - return false; -} - -void Serial::close() { - // Cancel the current timeout timer and async reads - this->timeout_timer.cancel(); - if(this->serial_port != NULL) { - this->serial_port->cancel(); - this->serial_port->close(); - this->serial_port.reset(); - } -} - -static const boost::posix_time::time_duration timeout_zero_comparison(boost::posix_time::milliseconds(0)); - -int Serial::read(char* buffer, int size) { - this->reading = true; - if(this->nonblocking) {// Do not wait for data - this->serial_port->async_read_some(boost::asio::buffer(buffer, size), - boost::bind(&Serial::read_complete, this, - boost::asio::placeholders::error, - boost::asio::placeholders::bytes_transferred)); - } else { // Wait for data until size is read or timeout occurs - boost::asio::async_read(*this->serial_port, boost::asio::buffer(buffer, size), transfer_at_least_ignore_invalid_argument(size), - boost::bind(&Serial::read_complete, this, - boost::asio::placeholders::error, - boost::asio::placeholders::bytes_transferred)); - } - if(this->timeout > timeout_zero_comparison) { // Only set a timeout_timer if there is a valid timeout - this->timeout_timer.expires_from_now(this->timeout); - this->timeout_timer.async_wait(boost::bind(&Serial::timeout_callback, this, - boost::asio::placeholders::error)); - } else if(this->nonblocking) { - this->timeout_timer.expires_from_now(boost::posix_time::milliseconds(1)); - this->timeout_timer.async_wait(boost::bind(&Serial::timeout_callback, this, - boost::asio::placeholders::error)); - } - - while(this->reading) - this->io_service.run_one(); - - this->bytes_to_read = size; - - return this->bytes_read; -} - -std::string Serial::read(int size) { - char *serial_buffer = new char[size]; - int bytes_read_ = this->read(serial_buffer, size); - std::string return_str(serial_buffer, (std::size_t)bytes_read_); - delete[] serial_buffer; - return return_str; -} - -std::string -Serial::read_until(char delim, size_t size) { - using namespace std; - string r = ""; - - while (r.find(delim) == string::npos) { - string s = read(1); - if (s.length() > 0) - r += s; - } - - return r; -} - -std::string -Serial::read_until(std::string delim, size_t size) { - using namespace std; - string r = ""; - - while (r.find(delim) == string::npos) { - string s = read(1); - if (s.length() > 0) - r += s; - } - - return r; -} - -void Serial::read_complete(const boost::system::error_code& error, std::size_t bytes_transferred) { - if(!error || error != boost::asio::error::operation_aborted) { // If there was no error OR the error wasn't operation aborted (canceled), Cancel the timer - this->timeout_timer.cancel(); // will cause timeout_callback to fire with an error - } - - this->bytes_read = bytes_transferred; - - this->reading = false; -} - -void Serial::timeout_callback(const boost::system::error_code& error) { - if (!error) { - // The timeout wasn't canceled, so cancel the async read - this->serial_port->cancel(); - } -} - -int Serial::write(char data[], int length) { - return boost::asio::write(*this->serial_port, boost::asio::buffer(data, length), boost::asio::transfer_all()); -} - -int Serial::write(std::string data) { - char *cstr = new char[data.size()+1]; - std::strcpy(cstr, data.c_str()); - int bytes_wrote = this->write(cstr, data.length()); - delete[] cstr; - return bytes_wrote; -} - -void Serial::setRTS(bool level) { - this->serial_port->set_option(RTSControl(level)); -} - -void Serial::setDTR(bool level) { - this->serial_port->set_option(DTRControl(level)); -} - -bool Serial::getCTS() const { - throw(boost::asio::error::operation_not_supported); - return false; -} - -bool Serial::getDSR() const { - throw(boost::asio::error::operation_not_supported); - return false; -} - -void Serial::setPort(std::string port) { - this->port = port; -} - -std::string Serial::getPort() const { - return this->port; -} - -void Serial::setTimeoutMilliseconds(long timeout) { - // If timeout > 0 then read until size or timeout occurs - // If timeout == 0 then read nonblocking, return data available immediately up to size - // If timeout < 0 then read blocking, until size is read, period. - if(timeout > 0) { - this->timeout = boost::posix_time::time_duration(boost::posix_time::milliseconds(timeout)); - } else { - this->timeout = boost::posix_time::time_duration(boost::posix_time::milliseconds(0)); - } - - if(timeout == 0) - this->nonblocking = true; - else // Must be negative - this->nonblocking = false; -} - -long Serial::getTimeoutMilliseconds() const { - return this->timeout.total_milliseconds(); -} - -void Serial::setBaudrate(int baudrate) { - this->baudrate = boost::asio::serial_port_base::baud_rate(baudrate); -} - -int Serial::getBaudrate() const { - return this->baudrate.value(); -} - -void Serial::setBytesize(bytesize_t bytesize) { - switch(bytesize) { - case FIVEBITS: - this->bytesize = boost::asio::serial_port_base::character_size(5); - break; - case SIXBITS: - this->bytesize = boost::asio::serial_port_base::character_size(6); - break; - case SEVENBITS: - this->bytesize = boost::asio::serial_port_base::character_size(7); - break; - case EIGHTBITS: - this->bytesize = boost::asio::serial_port_base::character_size(8); - break; - default: - throw(InvalidBytesizeException(bytesize)); - break; - } -} - -bytesize_t Serial::getBytesize() const { - return bytesize_t(this->bytesize.value()); -} - -void Serial::setParity(parity_t parity) { - switch(parity) { - case PARITY_NONE: - this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none); - break; - case PARITY_ODD: - this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::odd); - break; - case PARITY_EVEN: - this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::even); - break; - default: - throw(InvalidParityException(parity)); - break; - } -} - -parity_t Serial::getParity() const { - switch(this->parity.value()) { - case boost::asio::serial_port_base::parity::none: - return parity_t(PARITY_NONE); - case boost::asio::serial_port_base::parity::odd: - return parity_t(PARITY_ODD); - case boost::asio::serial_port_base::parity::even: - return parity_t(PARITY_EVEN); - default: - throw(InvalidParityException(this->parity.value())); - } -} - -void Serial::setStopbits(stopbits_t stopbits) { - switch(stopbits) { - case STOPBITS_ONE: - this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one); - break; - case STOPBITS_ONE_POINT_FIVE: - this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::onepointfive); - break; - case STOPBITS_TWO: - this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::two); - break; - default: - throw(InvalidStopbitsException(stopbits)); - break; - } -} - -stopbits_t Serial::getStopbits() const { - switch(this->stopbits.value()) { - case boost::asio::serial_port_base::stop_bits::one: - return stopbits_t(STOPBITS_ONE); - case boost::asio::serial_port_base::stop_bits::onepointfive: - return stopbits_t(STOPBITS_ONE_POINT_FIVE); - case boost::asio::serial_port_base::stop_bits::two: - return stopbits_t(STOPBITS_TWO); - default: - throw(InvalidStopbitsException(this->stopbits.value())); - } -} - -void Serial::setFlowcontrol(flowcontrol_t flowcontrol) { - switch(flowcontrol) { - case FLOWCONTROL_NONE: - this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::none); - break; - case FLOWCONTROL_SOFTWARE: - this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::software); - break; - case FLOWCONTROL_HARDWARE: - this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::hardware); - break; - default: - throw(InvalidFlowcontrolException(flowcontrol)); - break; - } -} - -flowcontrol_t Serial::getFlowcontrol() const { - switch(this->flowcontrol.value()) { - case boost::asio::serial_port_base::flow_control::none: - return flowcontrol_t(FLOWCONTROL_NONE); - case boost::asio::serial_port_base::flow_control::software: - return flowcontrol_t(FLOWCONTROL_SOFTWARE); - case boost::asio::serial_port_base::flow_control::hardware: - return flowcontrol_t(FLOWCONTROL_HARDWARE); - default: - throw(InvalidFlowcontrolException(this->flowcontrol.value())); - } -} diff --git a/tests/proof_of_concepts/mdc2250.cc b/tests/proof_of_concepts/mdc2250.cc new file mode 100644 index 0000000..ff7ec1b --- /dev/null +++ b/tests/proof_of_concepts/mdc2250.cc @@ -0,0 +1 @@ +#include "" \ No newline at end of file diff --git a/tests/proof_of_concepts/python_serial_test.py b/tests/proof_of_concepts/python_serial_test.py new file mode 100644 index 0000000..6f92b84 --- /dev/null +++ b/tests/proof_of_concepts/python_serial_test.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +import serial, sys + +if len(sys.argv) != 2: + print "python: Usage_serial_test " + sys.exit(1) + +sio = serial.Serial(sys.argv[1], 115200) +sio.timeout = 250 + +while True: + sio.write("Testing.") + print sio.read(8) + diff --git a/tests/proof_of_concepts/tokenizer.cc b/tests/proof_of_concepts/tokenizer.cc new file mode 100644 index 0000000..da15a09 --- /dev/null +++ b/tests/proof_of_concepts/tokenizer.cc @@ -0,0 +1,31 @@ +#include +#include +#include + +#include +#include +#include +#include + +void +_delimeter_tokenizer (std::string &data, std::vector &tokens, + std::string delimeter) +{ + boost::split(tokens, data, boost::is_any_of(delimeter)); +} + +typedef boost::function&)> TokenizerType; + +int main(void) { + std::string data = "a\rb\rc\r"; + std::vector tokens; + std::string delimeter = "\r"; + + TokenizerType f = boost::bind(_delimeter_tokenizer, _1, _2, delimeter); + f(data, tokens); + + BOOST_FOREACH(std::string token, tokens) + std::cout << token << std::endl; + + return 0; +} \ No newline at end of file diff --git a/tests/serial_tests.cc b/tests/serial_tests.cc new file mode 100644 index 0000000..a416f49 --- /dev/null +++ b/tests/serial_tests.cc @@ -0,0 +1,118 @@ +/* To run these tests you need to change the define below to the serial port + * with a loop back device attached. + * + * Alternatively you could use an Arduino: + +void setup() +{ + Serial.begin(115200); +} + +void loop() +{ + while (Serial.available() > 0) { + Serial.write(Serial.read()); + } +} + +*/ + +#include +#include "gtest/gtest.h" + +#include + +// Use FRIEND_TEST... its not as nasty, thats what friends are for +// // OMG this is so nasty... +// #define private public +// #define protected public + +#include "serial/serial.h" + +#ifdef __linux__ +#include +#else +#include +#endif + +using namespace serial; + +using std::string; + +namespace { + +class SerialTests : public ::testing::Test { +protected: + virtual void SetUp() { + if (openpty(&master_fd, &slave_fd, name, NULL, NULL) == -1) { + perror("openpty"); + exit(127); + } + + ASSERT_TRUE(master_fd > 0); + ASSERT_TRUE(slave_fd > 0); + ASSERT_TRUE(string(name).length() > 0); + + port1 = new Serial(string(name), 115200, 250); + } + + virtual void TearDown() { + port1->close(); + delete port1; + } + + Serial * port1; + int master_fd; + int slave_fd; + char name[100]; +}; + +TEST_F(SerialTests, readWorks) { + write(master_fd, "abc\n", 4); + string r = port1->read(4); + EXPECT_EQ(r, string("abc\n")); +} + +TEST_F(SerialTests, writeWorks) { + char buf[5] = ""; + port1->write("abc\n"); + read(master_fd, buf, 4); + EXPECT_EQ(string(buf, 4), string("abc\n")); +} + +TEST_F(SerialTests, timeoutWorks) { + // Timeout a read, returns an empty string + string empty = port1->read(); + EXPECT_EQ(empty, string("")); + + // Ensure that writing/reading still works after a timeout. + write(master_fd, "abc\n", 4); + string r = port1->read(4); + EXPECT_EQ(r, string("abc\n")); +} + +TEST_F(SerialTests, partialRead) { + // Write some data, but request more than was written. + write(master_fd, "abc\n", 4); + + // Should timeout, but return what was in the buffer. + string empty = port1->read(10); + EXPECT_EQ(empty, string("abc\n")); + + // Ensure that writing/reading still works after a timeout. + write(master_fd, "abc\n", 4); + string r = port1->read(4); + EXPECT_EQ(r, string("abc\n")); +} + +} // namespace + +int main(int argc, char **argv) { + try { + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); + } catch (std::exception &e) { + std::cerr << "Unhandled Exception: " << e.what() << std::endl; + } + return 1; +}