Myth/serial
1
0
Fork 0
mirror of https://github.com/wjwwood/serial.git synced 2026-01-23 04:04:54 +08:00
Code Issues Projects Releases Wiki Activity

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}

Browse Source
This commit is contained in:
John Harrison 2012-01-12 12:46:08 -06:00
parent 99bf74faae
commit 11807e407b
6 changed files with 316 additions and 144 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Makefile
View File

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

50
include/serial/impl/unix.h
View File

@ -58,22 +58,22 @@ public:
void close ();
bool isOpen ();
size_t available ();
size_t available ();
string read (size_t size = 1);
size_t write (const string &data);
void flush ();
void flushInput ();
void flushOutput ();
void flush ();
void flushInput ();
void flushOutput ();
void sendBreak();
void setBreak();
void setRTS();
void setDTR();
void getCTS();
void getDSR();
void getRI();
void getCD();
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;
@ -97,25 +97,25 @@ public:
flowcontrol_t getFlowcontrol () const;
protected:
void reconfigurePort ();
void reconfigurePort ();
private:
int fd_; // The current file descriptor.
bool isOpen_;
bool isOpen_;
int interCharTimeout_;
int writeTimeout_;
int xonxoff_;
int rtscts_;
int interCharTimeout_;
int writeTimeout_;
int xonxoff_;
int rtscts_;
string port_; // Path to the file descriptor
int baudrate_; // Baudrate
long timeout_; // Timeout for read operations
bytesize_t bytesize_; // Size of the bytes
parity_t parity_; // Parity
stopbits_t stopbits_; // Stop Bits
flowcontrol_t flowcontrol_; // Flow Control
string port_; // Path to the file descriptor
int baudrate_; // Baudrate
long timeout_; // Timeout for read operations
bytesize_t bytesize_; // Size of the bytes
parity_t parity_; // Parity
stopbits_t stopbits_; // Stop Bits
flowcontrol_t flowcontrol_; // Flow Control
};
}

12
include/serial/serial.h
View File

@ -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&);

287
src/impl/unix.cc
View File

@ -28,14 +28,15 @@ using std::string;
Serial::SerialImpl::SerialImpl (const string &port, int baudrate,
long timeout, bytesize_t bytesize,
parity_t parity, stopbits_t stopbits,
flowcontrol_t flowcontrol)
flowcontrol_t flowcontrol)
: fd_(-1), isOpen_(false), interCharTimeout_(-1), port_(port), baudrate_(baudrate),
timeout_(timeout), bytesize_(bytesize), parity_(parity), stopbits_(stopbits),
flowcontrol_(flowcontrol)
flowcontrol_(flowcontrol)
{
if (port_.empty() == false) {
this->open();
}
printf("Got port: %s\n", port.c_str());
if (!port_.empty()) {
this->open();
}
}
Serial::SerialImpl::~SerialImpl () {
@ -44,45 +45,47 @@ Serial::SerialImpl::~SerialImpl () {
void
Serial::SerialImpl::open () {
if (port_.empty() == false) {
throw "error";
}
if (isOpen_ == false) {
throw "error";
}
if (port_.empty()) {
printf("Port was empty\n");
throw "error";
}
if (isOpen_ == true) {
printf("Port already opened\n");
throw "error";
}
fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
if (fd_ == -1) {
// printf("Error opening serial port %s - %s(%d).\n",
// port.c_str(), strerror(errno), errno);
throw "Error"; // Error
}
if (fd_ == -1) {
printf("Error opening serial port %s - %s(%d).\n",
port_.c_str(), strerror(errno), errno);
throw "Error"; // Error
}
reconfigurePort();
isOpen_ = true;
reconfigurePort();
isOpen_ = true;
}
void
Serial::SerialImpl::reconfigurePort () {
if (fd_ == -1) {
throw "Error"; // Can only operate on a valid file descriptor
}
if (fd_ == -1) {
throw "Error"; // Can only operate on a valid file descriptor
}
struct termios options; // The current options for the file descriptor
struct termios originalTTYAttrs; // The orignal file descriptor options
struct termios options; // The current options for the file descriptor
struct termios originalTTYAttrs; // The orignal file descriptor options
uint8_t vmin = 0, vtime = 0; // timeout is done via select
if (interCharTimeout_ == -1) {
vmin = 1;
vtime = int(interCharTimeout_ * 10);
}
vmin = 1;
vtime = int(interCharTimeout_ * 10);
}
if (tcgetattr(fd_, &originalTTYAttrs) == -1) {
throw "Error";
}
if (tcgetattr(fd_, &originalTTYAttrs) == -1) {
throw "Error";
}
options = originalTTYAttrs;
options = originalTTYAttrs;
// set up raw mode / no echo / binary
options.c_cflag |= (CLOCAL|CREAD);
@ -95,12 +98,12 @@ Serial::SerialImpl::reconfigurePort () {
options.c_iflag &= ~IUCLC;
#endif
#ifdef PARMRK
options.c_iflag &= ~PARMRK;
options.c_iflag &= ~PARMRK;
#endif
// setup baud rate
// TODO(ash_git): validate baud rate
cfsetspeed(&options, baudrate_);
// TODO(ash_git): validate baud rate
cfsetspeed(&options, baudrate_);
// setup char len
options.c_cflag &= ~CSIZE;
@ -121,23 +124,23 @@ Serial::SerialImpl::reconfigurePort () {
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
else
throw "ValueError(Invalid stop bit specification:)";
// setup parity
options.c_iflag &= ~(INPCK|ISTRIP);
if (parity_ == PARITY_NONE) {
options.c_cflag &= ~(PARENB|PARODD);
}
else if (parity_ == PARITY_EVEN) {
else if (parity_ == PARITY_EVEN) {
options.c_cflag &= ~(PARODD);
options.c_cflag |= (PARENB);
}
else if (parity_ == PARITY_ODD) {
else if (parity_ == PARITY_ODD) {
options.c_cflag |= (PARENB|PARODD);
}
else {
else {
throw "ValueError(Invalid parity:";
}
}
// setup flow control
// xonxoff
#ifdef IXANY
@ -159,7 +162,7 @@ Serial::SerialImpl::reconfigurePort () {
options.c_cflag &= ~(CRTSCTS);
#elif defined CNEW_RTSCTS
if (rtscts_)
options.c_cflag |= (CNEW_RTSCTS);
options.c_cflag |= (CNEW_RTSCTS);
else
options.c_cflag &= ~(CNEW_RTSCTS);
#else
@ -173,18 +176,18 @@ Serial::SerialImpl::reconfigurePort () {
options.c_cc[VTIME] = vtime;
// activate settings
::tcsetattr(fd_, TCSANOW, &options);
::tcsetattr(fd_, TCSANOW, &options);
}
void
Serial::SerialImpl::close () {
if (isOpen_ == true) {
if (fd_ != -1) {
::close(fd_);
fd_ = -1;
}
isOpen_ = false;
}
if (isOpen_ == true) {
if (fd_ != -1) {
::close(fd_);
fd_ = -1;
}
isOpen_ = false;
}
}
bool
@ -194,73 +197,73 @@ Serial::SerialImpl::isOpen () {
size_t
Serial::SerialImpl::available () {
if (!isOpen_) {
return 0;
}
int count = 0;
int result = ioctl(fd_, TIOCINQ, &count);
if (result == 0) {
return count;
}
else {
throw "Error";
}
if (!isOpen_) {
return 0;
}
int count = 0;
int result = ioctl(fd_, TIOCINQ, &count);
if (result == 0) {
return count;
}
else {
throw "Error";
}
}
string
Serial::SerialImpl::read (size_t size) {
if (!isOpen_) {
throw "PortNotOpenError()"; //
throw "PortNotOpenError()"; //
}
string message = "";
char buf[1024];
fd_set readfds;
string message = "";
char buf[1024]; // TODO(ash_gti): Should this be 1024? or...?
fd_set readfds;
while (message.length() < size) {
FD_ZERO(&readfds);
FD_SET(fd_, &readfds);
struct timeval timeout;
timeout.tv_sec = timeout_ / 1000;
timeout.tv_usec = timeout_ % 1000;
int r = select(1, &readfds, NULL, NULL, &timeout);
FD_ZERO(&readfds);
FD_SET(fd_, &readfds);
struct timeval timeout;
timeout.tv_sec = timeout_ / 1000;
timeout.tv_usec = timeout_ % 1000;
int r = select(fd_ + 1, &readfds, NULL, NULL, &timeout);
if (r == -1 && errno == EINTR)
continue;
if (r == -1 && errno == EINTR)
continue;
if (r == -1) {
if (r == -1) {
perror("select()");
exit(EXIT_FAILURE);
}
if (FD_ISSET(fd_, &readfds)) {
memset(buf, 0, 1024);
size_t bytes_read = ::read(fd_, buf, 1024);
// 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 "SerialException('device reports readiness to read but returned no data (device disconnected?)')";
}
message.append(buf, bytes_read);
}
else {
break; // Timeout
}
}
memset(buf, 0, 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) {
// Disconnected devices, at least on Linux, show the
// behavior that they are always ready to read immediately
// but reading returns nothing.
throw "SerialException('device reports readiness to read but returned no data (device disconnected?)')";
}
message.append(buf, bytes_read);
}
else {
break; // Timeout
}
}
return message;
}
size_t
Serial::SerialImpl::write (const string &data) {
if (isOpen_ == false) {
throw "portNotOpenError";
}
throw "portNotOpenError";
}
size_t t = data.length();
size_t n = ::write(fd_, data.c_str(), data.length());
if (n == -1) {
throw "Write error";
}
size_t n = ::write(fd_, data.c_str(), data.length());
if (n == -1) {
throw "Write error";
}
return n;
}
@ -286,8 +289,8 @@ Serial::SerialImpl::getTimeout () const {
void
Serial::SerialImpl::setBaudrate (int baudrate) {
baudrate_ = baudrate;
reconfigurePort();
baudrate_ = baudrate;
reconfigurePort();
}
int
@ -297,7 +300,7 @@ Serial::SerialImpl::getBaudrate () const {
void
Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) {
bytesize_ = bytesize;
bytesize_ = bytesize;
}
serial::bytesize_t
@ -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;
}

44
src/serial.cc
View File

@ -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);
if (c.empty()) {
line += c;
if (line.substr(line.length() - leneol, leneol) == eol) {
string c = pimpl->read(1);
if (!c.empty()) {
line.append(c);
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();
}

29
tests/serial_tests.cc Normal file
View File

@ -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++;
}
}