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Merge pull request #1 from wjwwood/clearpathrobotics-timespec-refactor

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Changes from William to the timespec work
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Mike Purvis 2013-10-15 12:10:25 -07:00
commit 82f1d8d294
2 changed files with 112 additions and 133 deletions
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131
include/serial/impl/unix-timespec.h
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@ -1,131 +0,0 @@
/*!
* \file serial/impl/unit-timespec.h
* \author Mike Purvis <mpurvis@clearpathrobotics.com>
* \version 0.1
*
* \section LICENSE
*
* The MIT License
*
* Copyright (c) 2013 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:
*
* 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
*
* Provides helper and operator functions for concisely and reliably handling
* timespec instances on unix platforms.
*/
#ifndef SERIAL_IMPL_UNIX_TIMESPEC_H
#define SERIAL_IMPL_UNIX_TIMESPEC_H
#include <time.h>
/*! Smooth over platform variances in getting an accurate timespec
* representing the present moment. */
static inline struct timespec
timespec_now ()
{
struct timespec ts;
# 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);
ts.tv_sec = mts.tv_sec;
ts.tv_nsec = mts.tv_nsec;
# else
clock_gettime(CLOCK_REALTIME, &ts);
# endif
return ts;
}
/*! Simple function to normalize the tv_nsec field to [0..1e9), carrying
* the remainder into the tv_sec field. This will not protect against the
* possibility of an overflow in the nsec field--proceed with caution. */
static inline void
normalize(struct timespec* ts) {
while (ts->tv_nsec < 0) {
ts->tv_nsec += 1e9;
ts->tv_sec -= 1;
}
while (ts->tv_nsec >= 1e9) {
ts->tv_nsec -= 1e9;
ts->tv_sec += 1;
}
}
/*! Return a timespec which is the sum of two other timespecs. This
* operator only makes logical sense when one or both of the arguments
* represents a duration. */
static inline timespec
operator+ (const struct timespec &a, const struct timespec &b) {
struct timespec result = { a.tv_sec + b.tv_sec,
a.tv_nsec + b.tv_nsec };
normalize(&result);
return result;
}
/*! Return a timespec which is the difference of two other timespecs.
* This operator only makes logical sense when one or both of the arguments
* represents a duration. */
static inline timespec
operator- (const struct timespec &a, const struct timespec &b) {
struct timespec result = { a.tv_sec - b.tv_sec,
a.tv_nsec - b.tv_nsec };
normalize(&result);
return result;
}
/*! Return a timespec which is a multiplication of a timespec and a positive
* integer. No overflow protection-- not suitable for multiplications with
* large carries, eg a <1s timespec multiplied by a large enough integer
* that the result is muliple seconds. Only makes sense when the timespec
* argument is a duration. */
static inline timespec
operator* (const struct timespec &ts, const size_t mul) {
struct timespec result = { ts.tv_sec * mul,
ts.tv_nsec * mul };
normalize(&result);
return result;
}
/*! Return whichever of two timespec durations represents the shortest or most
* negative period. */
static inline struct timespec
min (const struct timespec &a, const struct timespec &b) {
if (a.tv_sec < b.tv_sec
|| (a.tv_sec == b.tv_sec && a.tv_nsec < b.tv_nsec)) {
return a;
} else {
return b;
}
}
/*! Return a timespec duration set from a provided number of milliseconds. */
static struct timespec
timespec_from_millis(const size_t millis) {
struct timespec result = { 0, millis * 1000000 };
normalize(&result);
return result;
}
#endif

114
src/impl/unix.cc
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@ -1,4 +1,8 @@
/* Copyright 2012 William Woodall and John Harrison */ /* Copyright 2012 William Woodall and John Harrison
*
* Additional authors:
* - Mike Purvis, Clearpath Robotics, @mikepurvis
*/
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
@ -27,7 +31,6 @@
#endif #endif
#include "serial/impl/unix.h" #include "serial/impl/unix.h"
#include "serial/impl/unix-timespec.h"
#ifndef TIOCINQ #ifndef TIOCINQ
#ifdef FIONREAD #ifdef FIONREAD
@ -49,6 +52,113 @@ using serial::SerialException;
using serial::PortNotOpenedException; using serial::PortNotOpenedException;
using serial::IOException; using serial::IOException;
/* Timespec related functions provided by @mikepurvis of Clearpath Robotics */
/* Smooth over platform variances in getting an accurate timespec
* representing the present moment. */
static inline struct timespec
timespec_now ()
{
struct timespec ts;
#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);
ts.tv_sec = mts.tv_sec;
ts.tv_nsec = mts.tv_nsec;
#else
clock_gettime(CLOCK_REALTIME, &ts);
#endif
return ts;
}
/* Simple function to normalize the tv_nsec field to [0..1e9), carrying
* the remainder into the tv_sec field. This will not protect against the
* possibility of an overflow in the nsec field--proceed with caution. */
inline void
normalize (struct timespec &ts)
{
while (ts.tv_nsec < 0)
{
ts.tv_nsec += 1e9;
ts.tv_sec -= 1;
}
while (ts.tv_nsec >= 1e9)
{
ts.tv_nsec -= 1e9;
ts.tv_sec += 1;
}
}
/* Return a timespec which is the sum of two other timespecs. This
* operator only makes logical sense when one or both of the arguments
* represents a duration. */
inline timespec
operator+ (const struct timespec &a, const struct timespec &b)
{
struct timespec result = {
a.tv_sec + b.tv_sec,
a.tv_nsec + b.tv_nsec
};
normalize(result);
return result;
}
/* Return a timespec which is the difference of two other timespecs.
* This operator only makes logical sense when one or both of the arguments
* represents a duration. */
inline timespec
operator- (const struct timespec &a, const struct timespec &b)
{
struct timespec result = {
a.tv_sec - b.tv_sec,
a.tv_nsec - b.tv_nsec
};
normalize(result);
return result;
}
/* Return a timespec which is a multiplication of a timespec and a positive
* integer. No overflow protection-- not suitable for multiplications with
* large carries, eg a <1s timespec multiplied by a large enough integer
* that the result is muliple seconds. Only makes sense when the timespec
* argument is a duration. */
inline timespec
operator* (const struct timespec &ts, const size_t &mul)
{
struct timespec result = {
ts.tv_sec * mul,
ts.tv_nsec * mul
};
normalize(result);
return result;
}
/* Return whichever of two timespec durations represents the shortest or most
* negative period. */
inline struct timespec
min (const struct timespec &a, const struct timespec &b)
{
if (a.tv_sec < b.tv_sec || (a.tv_sec == b.tv_sec && a.tv_nsec < b.tv_nsec))
{
return a;
}
return b;
}
/* Return a timespec duration set from a provided number of milliseconds. */
inline struct timespec
timespec_from_millis (const size_t millis)
{
struct timespec result = {0, millis * 1000000};
normalize(result);
return result;
}
/* End timespec related functions */
Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
bytesize_t bytesize, bytesize_t bytesize,