From 81b93ee513375881d1142ff7257fc79a4395c8a0 Mon Sep 17 00:00:00 2001
From: William Woodall <wjwwood@gmail.com>
Date: Sat, 19 Mar 2011 14:08:34 -0500
Subject: [PATCH] Fixed the issue with reading on osx.  writing still needs to
 be tested, then I am going to remove the ROS dependency.

---
 serial/CMakeLists.txt      | 6 +++++-
 serial/include/serial.h    | 2 ++
 serial/src/test_serial.cpp | 2 +-
 3 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/serial/CMakeLists.txt b/serial/CMakeLists.txt
index 12148c7..d10392b 100644
--- a/serial/CMakeLists.txt
+++ b/serial/CMakeLists.txt
@@ -28,4 +28,8 @@ rosbuild_add_boost_directories()
 rosbuild_link_boost(${PROJECT_NAME} system filesystem thread)
 rosbuild_add_executable(test_serial src/test_serial.cpp)
 target_link_libraries(test_serial serial)
-# rosbuild_add_executable(boosttest src/boosttest.cpp)
\ No newline at end of file
+
+# 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)
diff --git a/serial/include/serial.h b/serial/include/serial.h
index 8847184..e176a16 100644
--- a/serial/include/serial.h
+++ b/serial/include/serial.h
@@ -40,6 +40,8 @@
 #include <sstream>
 #include <string>
 
+// #define BOOST_ASIO_DISABLE_KQUEUE
+
 #include <boost/asio.hpp>
 #include <boost/asio/serial_port.hpp>
 #include <boost/bind.hpp>
diff --git a/serial/src/test_serial.cpp b/serial/src/test_serial.cpp
index 5595425..186e255 100644
--- a/serial/src/test_serial.cpp
+++ b/serial/src/test_serial.cpp
@@ -30,7 +30,7 @@ int main(int argc, char **argv)
     
     ros::NodeHandle n;
     
-    std::string port("/dev/ttyUSB0");
+    std::string port("/dev/tty.usbserial-A900cfJA");
     // std::string port("/dev/tty.usbmodemfa141");
     
     serial = new Serial(port, 9600, 250);