Fixed some issues I found while testing my code, also implemented the drain, flush, set/send Break, get {CTS, RI, CD, DSR}, set {RTS, DTR}

Makefile

@@ -1,5 +1,11 @@
-ifdef ROS_ROOT
+CXX=clang++
-include $(shell rospack find mk)/cmake.mk
+CXXFLAGS=-g -I./include
-else
+
-include serial.makefile
+test: tests/serial_tests.o src/serial.o src/impl/unix.o
-endif
+	$(CXX) -o test tests/serial_tests.o src/serial.o src/impl/unix.o
+
+# ifdef ROS_ROOT
+# include $(shell rospack find mk)/cmake.mk
+# else
+# include serial.makefile
+# endif

include/serial/impl/unix.h

@@ -66,14 +66,14 @@ public:
   void flushInput ();
   void flushOutput ();
 
-	void sendBreak();
+  void sendBreak(int duration);
-	void setBreak();
+  void setBreak(bool level);
-	void setRTS();
+  void setRTS(bool level);
-	void setDTR();
+  void setDTR(bool level);
-	void getCTS();
+  bool getCTS();
-	void getDSR();
+  bool getDSR();
-	void getRI();
+  bool getRI();
-	void getCD();
+  bool getCD();
 
   void setPort (const string &port);
   string getPort () const;

include/serial/serial.h

@@ -373,6 +373,18 @@ public:
   flowcontrol_t
   getFlowcontrol () const;
 
+  void flush();
+  void flushInput();
+  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:
   // Disable copy constructors
   Serial(const Serial&);

src/impl/unix.cc

@@ -33,7 +33,8 @@ Serial::SerialImpl::SerialImpl (const string &port, int baudrate,
   timeout_(timeout), bytesize_(bytesize), parity_(parity), stopbits_(stopbits),
   flowcontrol_(flowcontrol)
 {
-	if (port_.empty() == false) {
+  printf("Got port: %s\n", port.c_str());
+  if (!port_.empty()) {
     this->open();
   }
 }
@@ -44,18 +45,20 @@ Serial::SerialImpl::~SerialImpl () {
 
 void
 Serial::SerialImpl::open () {
-	if (port_.empty() == false) {
+  if (port_.empty()) {
+    printf("Port was empty\n");
     throw "error";
   }
-	if (isOpen_ == false) {
+  if (isOpen_ == true) {
+    printf("Port already opened\n");
     throw "error";
   }
   
   fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
 
   if (fd_ == -1) {
-//		printf("Error opening serial port %s - %s(%d).\n",
+    printf("Error opening serial port %s - %s(%d).\n",
-//		       port.c_str(), strerror(errno), errno);
+           port_.c_str(), strerror(errno), errno);
     throw "Error"; // Error
   }
 
@@ -213,7 +216,7 @@ Serial::SerialImpl::read (size_t size) {
     throw "PortNotOpenError()"; //
   }
   string message = "";
-	char buf[1024];
+  char buf[1024]; // TODO(ash_gti): Should this be 1024? or...?
   fd_set readfds;
   while (message.length() < size) {
     FD_ZERO(&readfds);
@@ -221,7 +224,7 @@ Serial::SerialImpl::read (size_t size) {
     struct timeval timeout;
     timeout.tv_sec = timeout_ / 1000;
     timeout.tv_usec = timeout_ % 1000;
-		int r = select(1, &readfds, NULL, NULL, &timeout);
+    int r = select(fd_ + 1, &readfds, NULL, NULL, &timeout);
 
     if (r == -1 && errno == EINTR)
       continue;
@@ -233,7 +236,7 @@ Serial::SerialImpl::read (size_t size) {
 
     if (FD_ISSET(fd_, &readfds)) {
       memset(buf, 0, 1024);
-			size_t bytes_read = ::read(fd_, buf, 1024);
+      size_t bytes_read = ::read(fd_, buf, size-strlen(buf));
       // read should always return some data as select reported it was
       // ready to read when we get to this point.
       if (bytes_read < 1) {
@@ -336,6 +339,96 @@ Serial::SerialImpl::getFlowcontrol () const {
 }
 
 
+void Serial::SerialImpl::flush () {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  tcdrain(fd_);
+}
+void Serial::SerialImpl::flushInput () {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  tcflush(fd_, TCIFLUSH);
+}
+void Serial::SerialImpl::flushOutput () {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  tcflush(fd_, TCOFLUSH);
+}
+
+void Serial::SerialImpl::sendBreak(int duration) {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  tcsendbreak(fd_, int(duration/4));
+}
+void Serial::SerialImpl::setBreak(bool level) {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  if (level) {
+    ioctl(fd_, TIOCSBRK);
+  }
+  else {
+    ioctl(fd_, TIOCCBRK);
+  }
+}
+void Serial::SerialImpl::setRTS(bool level) {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  if (level) {
+    ioctl(fd_, TIOCMBIS, TIOCM_RTS);
+  }
+  else {
+    ioctl(fd_, TIOCMBIC, TIOCM_RTS);
+  }
+}
+void Serial::SerialImpl::setDTR(bool level) {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  if (level) {
+    ioctl(fd_, TIOCMBIS, TIOCM_DTR);
+  }
+  else {
+    ioctl(fd_, TIOCMBIC, TIOCM_DTR);
+  }
+
+}
+bool Serial::SerialImpl::getCTS() {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  int s = ioctl(fd_, TIOCMGET, 0);
+  return (s & TIOCM_CTS) != 0;
+}
+bool Serial::SerialImpl::getDSR() {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  int s = ioctl(fd_, TIOCMGET, 0);
+  return (s & TIOCM_DSR) != 0;
+}
+bool Serial::SerialImpl::getRI() {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  int s = ioctl(fd_, TIOCMGET, 0);
+  return (s & TIOCM_RI) != 0;
+}
+bool Serial::SerialImpl::getCD() {
+  if (isOpen_ == false) {
+    throw "portNotOpen";
+  }
+  int s = ioctl(fd_, TIOCMGET, 0);
+  return (s & TIOCM_CD) != 0;
+}
+
+
+
 
 
 

src/serial.cc

@@ -23,7 +23,6 @@ Serial::Serial (const string &port, int baudrate,
 : pimpl(new SerialImpl(port,baudrate,timeout,bytesize,parity,stopbits,
                         flowcontrol))
 {
-  
 }
 
 Serial::~Serial () {
@@ -62,12 +61,12 @@ Serial::read (size_t size) {
 string
 Serial::readline(size_t size, string eol) {
   size_t leneol = eol.length();
-  string line;
+  string line = "";
   while (true) {
-    string c = read(1);
+    string c = pimpl->read(1);
-    if (c.empty()) {
+    if (!c.empty()) {
-      line += c;
+      line.append(c);
-      if (line.substr(line.length() - leneol, leneol) == eol) {
+      if (line.length() > leneol && line.substr(line.length() - leneol, leneol) == eol) {
         break;
       }
       if (line.length() >= size) {
@@ -186,6 +185,39 @@ Serial::getFlowcontrol () const {
   return this->pimpl->getFlowcontrol ();
 }
 
+void Serial::flush() {
+  this->pimpl->flush();
+}
+void Serial::flushInput() {
+  this->pimpl->flushInput();
+}
+void Serial::flushOutput() {
+  this->pimpl->flushOutput();
+}
+void Serial::sendBreak(int duration) {
+  this->pimpl->sendBreak(duration);
+}
+void Serial::setBreak(bool level) {
+  this->pimpl->setBreak(level);
+}
+void Serial::setRTS(bool level) {
+  this->pimpl->setRTS(level);
+}
+void Serial::setDTR(bool level) {
+  this->pimpl->setDTR(level);
+}
+bool Serial::getCTS() {
+  return this->pimpl->getCTS();
+}
+bool Serial::getDSR() {
+  return this->pimpl->getDSR();
+}
+bool Serial::getRI() {
+  return this->pimpl->getRI();
+}
+bool Serial::getCD() {
+  return this->pimpl->getCD();
+}
 
 
 

tests/serial_tests.cc

@@ -0,0 +1,29 @@
+#include "gtest/gtest.h"
+
+#include <boost/bind.hpp>
+
+// OMG this is so nasty...
+// #define private public
+// #define protected public
+#include <string>
+#include <iostream>
+
+#include "serial/serial.h"
+
+using std::string;
+using std::cout;
+using std::endl;
+using serial::Serial;
+
+int main(int argc, char **argv) {
+  Serial s("/dev/tty.usbserial-A900adHq", 9600, 2000);
+  s.flush();
+  int count = 0;
+  while (count < 10) {
+    size_t available = s.available();
+    cout << "avialable: " << available << endl;
+    string line = s.readline();
+    cout << count << ": " << line;
+    count++;
+  }
+}