mirror of
https://github.com/wjwwood/serial.git
synced 2026-01-23 04:04:54 +08:00
Merge pull request #1 from wjwwood/clearpathrobotics-timespec-refactor
Changes from William to the timespec work
This commit is contained in:
Mike Purvis
commit
82f1d8d294
@ -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
114
src/impl/unix.cc
@ -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 <string.h>
|
||||
@ -27,7 +31,6 @@
|
||||
#endif
|
||||
|
||||
#include "serial/impl/unix.h"
|
||||
#include "serial/impl/unix-timespec.h"
|
||||
|
||||
#ifndef TIOCINQ
|
||||
#ifdef FIONREAD
|
||||
@ -49,6 +52,113 @@ using serial::SerialException;
|
||||
using serial::PortNotOpenedException;
|
||||
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,
|
||||
bytesize_t bytesize,
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user