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serial cleaned up

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This commit is contained in:
evilone79 2018-11-27 16:04:51 +02:00
parent 5a354eaab7
commit b7231f43a9
64 changed files with 3455 additions and 1954 deletions
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10
.travis.yml
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@ -1,10 +0,0 @@
os:
- linux
- osx
language: cpp
install:
- make install_deps
- source setup.bash
script:
- mkdir build && cd build && cmake .. -DPYTHON_EXECUTABLE=$(which python2) && make && make tests && make run_tests
- catkin_test_results .

85
CHANGELOG.rst
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@ -1,85 +0,0 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package serial
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.2.1 (2015-04-21)
------------------
* Removed the use of a C++11 feature for compatibility with older browsers.
* Fixed an issue with cross compiling with mingw on Windows.
* Restructured Visual Studio project layout.
* Added include of ``#include <AvailabilityMacros.h>`` on OS X (listing of ports).
* Fixed MXE for the listing of ports on Windows.
* Now closes file device if ``reconfigureDevice`` fails (Windows).
* Added the MARK/SPACE parity bit option, also made it optional.
Adding the enumeration values for MARK and SPACE was the only code change to an API header.
It should not affect ABI or API.
* Added support for 576000 baud on Linux.
* Now releases iterator properly in listing of ports code for OS X.
* Fixed the ability to open COM ports over COM10 on Windows.
* Fixed up some documentation about exceptions in ``serial.h``.
1.2.0 (2014-07-02)
------------------
* Removed vestigial ``read_cache_`` private member variable from Serial::Serial
* Fixed usage of scoped locks
Previously they were getting destroyed immediately because they were not stored in a temporary scope variable
* Added check of return value from close in Serial::SerialImpl::close () in unix.cc and win.cc
* Added ability to enumerate ports on linux and windows.
Updated serial_example.cc to show example of port enumeration.
* Fixed compile on VS2013
* Added functions ``waitReadable`` and ``waitByteTimes`` with implemenations for Unix to support high performance reading
* Contributors: Christopher Baker, Craig Lilley, Konstantina Kastanara, Mike Purvis, William Woodall
1.1.7 (2014-02-20)
------------------
* Improved support for mingw (mxe.cc)
* Fix compilation warning
See issue `#53 <https://github.com/wjwwood/serial/issues/53>`_
* Improved timer handling in unix implementation
* fix broken ifdef _WIN32
* Fix broken ioctl calls, add exception handling.
* Code guards for platform-specific implementations. (when not using cmake / catkin)
* Contributors: Christopher Baker, Mike Purvis, Nicolas Bigaouette, William Woodall, dawid
1.1.6 (2013-10-17)
------------------
* Move stopbits_one_point_five to the end of the enum, so that it doesn't alias with stopbits_two.
1.1.5 (2013-09-23)
------------------
* Fix license labeling, I put BSD, but the license has always been MIT...
* Added Microsoft Visual Studio 2010 project to make compiling on Windows easier.
* Implemented Serial::available() for Windows
* Update how custom baudrates are handled on OS X
This is taken from the example serial program on Apple's developer website, see:
http://free-pascal-general.1045716.n5.nabble.com/Non-standard-baud-rates-in-OS-X-IOSSIOSPEED-IOCTL-td4699923.html
* Timout settings are now applied by reconfigurePort
* Pass LPCWSTR to CreateFile in Windows impl
* Use wstring for ``port_`` type in Windows impl
1.1.4 (2013-06-12 00:13:18 -0600)
---------------------------------
* Timing calculation fix for read and write.
Fixes `#27 <https://github.com/wjwwood/serial/issues/27>`_
* Update list of exceptions thrown from constructor.
* fix, by Thomas Hoppe <thomas.hoppe@cesys.com>
For SerialException's:
* The name was misspelled...
* Use std::string's for error messages to prevent corruption of messages on some platforms
* alloca.h does not exist on OpenBSD either.
1.1.3 (2013-01-09 10:54:34 -0800)
---------------------------------
* Install headers
1.1.2 (2012-12-14 14:08:55 -0800)
---------------------------------
* Fix buildtool depends
1.1.1 (2012-12-03)
------------------
* Removed rt linking on OS X. Fixes `#24 <https://github.com/wjwwood/serial/issues/24>`_.
1.1.0 (2012-10-24)
------------------
* Previous history is unstructured and therefore has been truncated. See the commit messages for more info.

62
CMakeLists.txt
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@ -1,59 +1,35 @@
cmake_minimum_required(VERSION 2.8.3)
project(serial)
# Find catkin
find_package(catkin REQUIRED)
if(APPLE)
find_library(IOKIT_LIBRARY IOKit)
find_library(FOUNDATION_LIBRARY Foundation)
find_library(IOKIT_LIBRARY IOKit)
find_library(FOUNDATION_LIBRARY Foundation)
endif()
if(UNIX AND NOT APPLE)
# If Linux, add rt and pthread
set(rt_LIBRARIES rt)
set(pthread_LIBRARIES pthread)
catkin_package(
LIBRARIES ${PROJECT_NAME}
INCLUDE_DIRS include
DEPENDS rt pthread
)
else()
# Otherwise normal call
catkin_package(
LIBRARIES ${PROJECT_NAME}
INCLUDE_DIRS include
)
endif()
## Sources
set(serial_SRCS
src/serial.cc
include/serial/serial.h
include/serial/v8stdint.h
)
src/serial.cc
include/serial/serial.h
)
if(APPLE)
# If OSX
list(APPEND serial_SRCS src/impl/unix.cc)
list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
# If OSX
list(APPEND serial_SRCS src/impl/unix.cc)
list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
elseif(UNIX)
# If unix
list(APPEND serial_SRCS src/impl/unix.cc)
list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
else()
# If windows
list(APPEND serial_SRCS src/impl/win.cc)
list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc)
endif()
## Add serial library
add_library(${PROJECT_NAME} ${serial_SRCS})
if(APPLE)
target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
elseif(UNIX)
target_link_libraries(${PROJECT_NAME} rt pthread)
else()
target_link_libraries(${PROJECT_NAME} setupapi)
target_link_libraries(${PROJECT_NAME} rt pthread)
endif()
## Uncomment for example
@ -65,16 +41,8 @@ target_link_libraries(serial_example ${PROJECT_NAME})
include_directories(include)
## Install executable
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
#install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# )
## Install headers
install(FILES include/serial/serial.h include/serial/v8stdint.h
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
## Tests
if(CATKIN_ENABLE_TESTING)
add_subdirectory(tests)
endif()

62
Makefile
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@ -1,62 +0,0 @@
all: serial
CMAKE_FLAGS := -DCMAKE_INSTALL_PREFIX=/tmp/usr/local
UNAME := $(shell uname -s)
install_deps:
ifeq ($(UNAME),Darwin)
brew tap ros/deps
brew update
brew outdated boost || brew upgrade boost || brew install boost
brew outdated python || brew upgrade python || brew install python
sudo -H python2 -m pip install -U pip setuptools
sudo -H python2 -m pip install --force-reinstall --no-deps -U pip
sudo -H python2 -m pip install rosinstall_generator wstool rosdep empy catkin_pkg
sudo -H rosdep init
rosdep update
mkdir catkin_ws
cd catkin_ws && rosinstall_generator catkin --rosdistro hydro --tar > catkin.rosinstall
cd catkin_ws && wstool init src catkin.rosinstall
cd catkin_ws && rosdep install --from-paths src --ignore-src -y
cd catkin_ws && python2 ./src/catkin/bin/catkin_make -DPYTHON_EXECUTABLE=`which python2` install
echo "source catkin_ws/install/setup.bash" > setup.bash
else
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-hydro-catkin libboost-dev
echo "source /opt/ros/hydro/setup.bash" > setup.bash
endif
install:
cd build && make install
serial:
@mkdir -p build
cd build && cmake $(CMAKE_FLAGS) ..
ifneq ($(MAKE),)
cd build && $(MAKE)
else
cd build && make
endif
.PHONY: clean
clean:
rm -rf build
.PHONY: doc
doc:
@doxygen doc/Doxyfile
ifeq ($(UNAME),Darwin)
@open doc/html/index.html
endif
.PHONY: test
test:
@mkdir -p build
cd build && cmake $(CMAKE_FLAGS) ..
ifneq ($(MAKE),)
cd build && $(MAKE) run_tests
else
cd build && make run_tests
endif

10
changes.txt
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@ -1,10 +0,0 @@
# 1.1.0 10-24-2012
* Converted the build system to catkin
# v1.0.1 8-27-2012
* Added baudrates: 1000000, 11520000, 2000000, 2500000, 3000000, 3500000, and 4000000
* Linking related bug fixes on Linux and OS X
* Custom baudrate bug fix. Closes issue #18.

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602
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<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
<Add directory="/usr/include/x86_64-linux-gnu"/>
<Add directory="/usr/include"/>
</Compiler>
<MakeCommands>
<Build command="/usr/bin/make -j8 -f &quot;/home/deth/repos/serial2/cmake-build-debug/Makefile&quot; VERBOSE=1 serial2/fast"/>
<CompileFile command="/usr/bin/make -j8 -f &quot;/home/deth/repos/serial2/cmake-build-debug/Makefile&quot; VERBOSE=1 &quot;$file&quot;"/>
<Clean command="/usr/bin/make -j8 -f &quot;/home/deth/repos/serial2/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
<DistClean command="/usr/bin/make -j8 -f &quot;/home/deth/repos/serial2/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
</MakeCommands>
</Target>
</Build>
<Unit filename="/home/deth/repos/serial2/library.cpp">
<Option target="serial2"/>
</Unit>
<Unit filename="/home/deth/repos/serial2/library.h">
<Option target="serial2"/>
</Unit>
<Unit filename="/home/deth/repos/serial2/CMakeLists.txt">
<Option virtualFolder="CMake Files\"/>
</Unit>
</Project>
</CodeBlocks_project_file>

BIN
cmake-build-debug/serial_example Executable file
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207
include/serial/impl/win.h
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@ -1,207 +0,0 @@
/*!
* \file serial/impl/windows.h
* \author William Woodall <wjwwood@gmail.com>
* \author John Harrison <ash@greaterthaninfinity.com>
* \version 0.1
*
* \section LICENSE
*
* The MIT License
*
* Copyright (c) 2012 William Woodall, John Harrison
*
* 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
*
* This provides a windows implementation of the Serial class interface.
*
*/
#if defined(_WIN32)
#ifndef SERIAL_IMPL_WINDOWS_H
#define SERIAL_IMPL_WINDOWS_H
#include "serial/serial.h"
#include "windows.h"
namespace serial {
using std::string;
using std::wstring;
using std::invalid_argument;
using serial::SerialException;
using serial::IOException;
class serial::Serial::SerialImpl {
public:
SerialImpl (const string &port,
unsigned long baudrate,
bytesize_t bytesize,
parity_t parity,
stopbits_t stopbits,
flowcontrol_t flowcontrol);
virtual ~SerialImpl ();
void
open ();
void
close ();
bool
isOpen () const;
size_t
available ();
bool
waitReadable (uint32_t timeout);
void
waitByteTimes (size_t count);
size_t
read (uint8_t *buf, size_t size = 1);
size_t
write (const uint8_t *data, size_t length);
void
flush ();
void
flushInput ();
void
flushOutput ();
void
sendBreak (int duration);
void
setBreak (bool level);
void
setRTS (bool level);
void
setDTR (bool level);
bool
waitForChange ();
bool
getCTS ();
bool
getDSR ();
bool
getRI ();
bool
getCD ();
void
setPort (const string &port);
string
getPort () const;
void
setTimeout (Timeout &timeout);
Timeout
getTimeout () const;
void
setBaudrate (unsigned long baudrate);
unsigned long
getBaudrate () const;
void
setBytesize (bytesize_t bytesize);
bytesize_t
getBytesize () const;
void
setParity (parity_t parity);
parity_t
getParity () const;
void
setStopbits (stopbits_t stopbits);
stopbits_t
getStopbits () const;
void
setFlowcontrol (flowcontrol_t flowcontrol);
flowcontrol_t
getFlowcontrol () const;
void
readLock ();
void
readUnlock ();
void
writeLock ();
void
writeUnlock ();
protected:
void reconfigurePort ();
private:
wstring port_; // Path to the file descriptor
HANDLE fd_;
bool is_open_;
Timeout timeout_; // Timeout for read operations
unsigned long baudrate_; // Baudrate
parity_t parity_; // Parity
bytesize_t bytesize_; // Size of the bytes
stopbits_t stopbits_; // Stop Bits
flowcontrol_t flowcontrol_; // Flow Control
// Mutex used to lock the read functions
HANDLE read_mutex;
// Mutex used to lock the write functions
HANDLE write_mutex;
};
}
#endif // SERIAL_IMPL_WINDOWS_H
#endif // if defined(_WIN32)

2
include/serial/serial.h
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@ -43,7 +43,7 @@
#include <sstream>
#include <exception>
#include <stdexcept>
#include <serial/v8stdint.h>
#include <cstdint>
#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
__LINE__, (message) )

57
include/serial/v8stdint.h
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@ -1,57 +0,0 @@
// This header is from the v8 google project:
// http://code.google.com/p/v8/source/browse/trunk/include/v8stdint.h
// Copyright 2012 the V8 project authors. All rights reserved.
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
// * Neither the name of Google Inc. nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// Load definitions of standard types.
#ifndef V8STDINT_H_
#define V8STDINT_H_
#include <stddef.h>
#include <stdio.h>
#if defined(_WIN32) && !defined(__MINGW32__)
typedef signed char int8_t;
typedef unsigned char uint8_t;
typedef short int16_t; // NOLINT
typedef unsigned short uint16_t; // NOLINT
typedef int int32_t;
typedef unsigned int uint32_t;
typedef __int64 int64_t;
typedef unsigned __int64 uint64_t;
// intptr_t and friends are defined in crtdefs.h through stdio.h.
#else
#include <stdint.h>
#endif
#endif // V8STDINT_H_

24
package.xml
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<?xml version="1.0"?>
<package>
<name>serial</name>
<version>1.2.1</version>
<description>
Serial is a cross-platform, simple to use library for using serial ports on computers. This library provides a C++, object oriented interface for interacting with RS-232 like devices on Linux and Windows.
</description>
<maintainer email="william@osrfoundation.org">William Woodall</maintainer>
<license>MIT</license>
<url type="website">http://wjwwood.github.com/serial/</url>
<url type="repository">https://github.com/wjwwood/serial</url>
<url type="bugtracker">https://github.com/wjwwood/serial/issues</url>
<author email="wjwwood@gmail.com">William Woodall</author>
<author email="ash.gti@gmail.com">John Harrison</author>
<buildtool_depend>catkin</buildtool_depend>
<test_depend>boost</test_depend>
</package>

22
serial.sublime-project
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@ -1,22 +0,0 @@
{
"word_wrap": "on",
"wrap_width": 80,
"folders":
[
{
"path": "./"
}
],
"settings":
{
"sublimeclang_options":
[
"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include/c++/v1",
"-I/usr/local/include",
"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/9.0.0/include",
"-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include",
"-I/usr/include",
"-I${folder:${project_path:serial.sublime-project}}/include",
]
}
}

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src/impl/list_ports/list_ports_win.cc
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@ -1,152 +0,0 @@
#if defined(_WIN32)
/*
* Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
* This software is made available under the terms of the MIT licence.
* A copy of the licence can be obtained from:
* http://opensource.org/licenses/MIT
*/
#include "serial/serial.h"
#include <tchar.h>
#include <windows.h>
#include <setupapi.h>
#include <initguid.h>
#include <devguid.h>
#include <cstring>
using serial::PortInfo;
using std::vector;
using std::string;
static const DWORD port_name_max_length = 256;
static const DWORD friendly_name_max_length = 256;
static const DWORD hardware_id_max_length = 256;
// Convert a wide Unicode string to an UTF8 string
std::string utf8_encode(const std::wstring &wstr)
{
int size_needed = WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), NULL, 0, NULL, NULL);
std::string strTo( size_needed, 0 );
WideCharToMultiByte (CP_UTF8, 0, &wstr[0], (int)wstr.size(), &strTo[0], size_needed, NULL, NULL);
return strTo;
}
vector<PortInfo>
serial::list_ports()
{
vector<PortInfo> devices_found;
HDEVINFO device_info_set = SetupDiGetClassDevs(
(const GUID *) &GUID_DEVCLASS_PORTS,
NULL,
NULL,
DIGCF_PRESENT);
unsigned int device_info_set_index = 0;
SP_DEVINFO_DATA device_info_data;
device_info_data.cbSize = sizeof(SP_DEVINFO_DATA);
while(SetupDiEnumDeviceInfo(device_info_set, device_info_set_index, &device_info_data))
{
device_info_set_index++;
// Get port name
HKEY hkey = SetupDiOpenDevRegKey(
device_info_set,
&device_info_data,
DICS_FLAG_GLOBAL,
0,
DIREG_DEV,
KEY_READ);
TCHAR port_name[port_name_max_length];
DWORD port_name_length = port_name_max_length;
LONG return_code = RegQueryValueEx(
hkey,
_T("PortName"),
NULL,
NULL,
(LPBYTE)port_name,
&port_name_length);
RegCloseKey(hkey);
if(return_code != EXIT_SUCCESS)
continue;
if(port_name_length > 0 && port_name_length <= port_name_max_length)
port_name[port_name_length-1] = '\0';
else
port_name[0] = '\0';
// Ignore parallel ports
if(_tcsstr(port_name, _T("LPT")) != NULL)
continue;
// Get port friendly name
TCHAR friendly_name[friendly_name_max_length];
DWORD friendly_name_actual_length = 0;
BOOL got_friendly_name = SetupDiGetDeviceRegistryProperty(
device_info_set,
&device_info_data,
SPDRP_FRIENDLYNAME,
NULL,
(PBYTE)friendly_name,
friendly_name_max_length,
&friendly_name_actual_length);
if(got_friendly_name == TRUE && friendly_name_actual_length > 0)
friendly_name[friendly_name_actual_length-1] = '\0';
else
friendly_name[0] = '\0';
// Get hardware ID
TCHAR hardware_id[hardware_id_max_length];
DWORD hardware_id_actual_length = 0;
BOOL got_hardware_id = SetupDiGetDeviceRegistryProperty(
device_info_set,
&device_info_data,
SPDRP_HARDWAREID,
NULL,
(PBYTE)hardware_id,
hardware_id_max_length,
&hardware_id_actual_length);
if(got_hardware_id == TRUE && hardware_id_actual_length > 0)
hardware_id[hardware_id_actual_length-1] = '\0';
else
hardware_id[0] = '\0';
#ifdef UNICODE
std::string portName = utf8_encode(port_name);
std::string friendlyName = utf8_encode(friendly_name);
std::string hardwareId = utf8_encode(hardware_id);
#else
std::string portName = port_name;
std::string friendlyName = friendly_name;
std::string hardwareId = hardware_id;
#endif
PortInfo port_entry;
port_entry.port = portName;
port_entry.description = friendlyName;
port_entry.hardware_id = hardwareId;
devices_found.push_back(port_entry);
}
SetupDiDestroyDeviceInfoList(device_info_set);
return devices_found;
}
#endif // #if defined(_WIN32)

646
src/impl/win.cc
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@ -1,646 +0,0 @@
#if defined(_WIN32)
/* Copyright 2012 William Woodall and John Harrison */
#include <sstream>
#include "serial/impl/win.h"
using std::string;
using std::wstring;
using std::stringstream;
using std::invalid_argument;
using serial::Serial;
using serial::Timeout;
using serial::bytesize_t;
using serial::parity_t;
using serial::stopbits_t;
using serial::flowcontrol_t;
using serial::SerialException;
using serial::PortNotOpenedException;
using serial::IOException;
inline wstring
_prefix_port_if_needed(const wstring &input)
{
static wstring windows_com_port_prefix = L"\\\\.\\";
if (input.compare(windows_com_port_prefix) != 0)
{
return windows_com_port_prefix + input;
}
return input;
}
Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
bytesize_t bytesize,
parity_t parity, stopbits_t stopbits,
flowcontrol_t flowcontrol)
: port_ (port.begin(), port.end()), fd_ (INVALID_HANDLE_VALUE), is_open_ (false),
baudrate_ (baudrate), parity_ (parity),
bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol)
{
if (port_.empty () == false)
open ();
read_mutex = CreateMutex(NULL, false, NULL);
write_mutex = CreateMutex(NULL, false, NULL);
}
Serial::SerialImpl::~SerialImpl ()
{
this->close();
CloseHandle(read_mutex);
CloseHandle(write_mutex);
}
void
Serial::SerialImpl::open ()
{
if (port_.empty ()) {
throw invalid_argument ("Empty port is invalid.");
}
if (is_open_ == true) {
throw SerialException ("Serial port already open.");
}
// See: https://github.com/wjwwood/serial/issues/84
wstring port_with_prefix = _prefix_port_if_needed(port_);
LPCWSTR lp_port = port_with_prefix.c_str();
fd_ = CreateFileW(lp_port,
GENERIC_READ | GENERIC_WRITE,
0,
0,
OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL,
0);
if (fd_ == INVALID_HANDLE_VALUE) {
DWORD create_file_err = GetLastError();
stringstream ss;
switch (create_file_err) {
case ERROR_FILE_NOT_FOUND:
// Use this->getPort to convert to a std::string
ss << "Specified port, " << this->getPort() << ", does not exist.";
THROW (IOException, ss.str().c_str());
default:
ss << "Unknown error opening the serial port: " << create_file_err;
THROW (IOException, ss.str().c_str());
}
}
reconfigurePort();
is_open_ = true;
}
void
Serial::SerialImpl::reconfigurePort ()
{
if (fd_ == INVALID_HANDLE_VALUE) {
// Can only operate on a valid file descriptor
THROW (IOException, "Invalid file descriptor, is the serial port open?");
}
DCB dcbSerialParams = {0};
dcbSerialParams.DCBlength=sizeof(dcbSerialParams);
if (!GetCommState(fd_, &dcbSerialParams)) {
//error getting state
THROW (IOException, "Error getting the serial port state.");
}
// setup baud rate
switch (baudrate_) {
#ifdef CBR_0
case 0: dcbSerialParams.BaudRate = CBR_0; break;
#endif
#ifdef CBR_50
case 50: dcbSerialParams.BaudRate = CBR_50; break;
#endif
#ifdef CBR_75
case 75: dcbSerialParams.BaudRate = CBR_75; break;
#endif
#ifdef CBR_110
case 110: dcbSerialParams.BaudRate = CBR_110; break;
#endif
#ifdef CBR_134
case 134: dcbSerialParams.BaudRate = CBR_134; break;
#endif
#ifdef CBR_150
case 150: dcbSerialParams.BaudRate = CBR_150; break;
#endif
#ifdef CBR_200
case 200: dcbSerialParams.BaudRate = CBR_200; break;
#endif
#ifdef CBR_300
case 300: dcbSerialParams.BaudRate = CBR_300; break;
#endif
#ifdef CBR_600
case 600: dcbSerialParams.BaudRate = CBR_600; break;
#endif
#ifdef CBR_1200
case 1200: dcbSerialParams.BaudRate = CBR_1200; break;
#endif
#ifdef CBR_1800
case 1800: dcbSerialParams.BaudRate = CBR_1800; break;
#endif
#ifdef CBR_2400
case 2400: dcbSerialParams.BaudRate = CBR_2400; break;
#endif
#ifdef CBR_4800
case 4800: dcbSerialParams.BaudRate = CBR_4800; break;
#endif
#ifdef CBR_7200
case 7200: dcbSerialParams.BaudRate = CBR_7200; break;
#endif
#ifdef CBR_9600
case 9600: dcbSerialParams.BaudRate = CBR_9600; break;
#endif
#ifdef CBR_14400
case 14400: dcbSerialParams.BaudRate = CBR_14400; break;
#endif
#ifdef CBR_19200
case 19200: dcbSerialParams.BaudRate = CBR_19200; break;
#endif
#ifdef CBR_28800
case 28800: dcbSerialParams.BaudRate = CBR_28800; break;
#endif
#ifdef CBR_57600
case 57600: dcbSerialParams.BaudRate = CBR_57600; break;
#endif
#ifdef CBR_76800
case 76800: dcbSerialParams.BaudRate = CBR_76800; break;
#endif
#ifdef CBR_38400
case 38400: dcbSerialParams.BaudRate = CBR_38400; break;
#endif
#ifdef CBR_115200
case 115200: dcbSerialParams.BaudRate = CBR_115200; break;
#endif
#ifdef CBR_128000
case 128000: dcbSerialParams.BaudRate = CBR_128000; break;
#endif
#ifdef CBR_153600
case 153600: dcbSerialParams.BaudRate = CBR_153600; break;
#endif
#ifdef CBR_230400
case 230400: dcbSerialParams.BaudRate = CBR_230400; break;
#endif
#ifdef CBR_256000
case 256000: dcbSerialParams.BaudRate = CBR_256000; break;
#endif
#ifdef CBR_460800
case 460800: dcbSerialParams.BaudRate = CBR_460800; break;
#endif
#ifdef CBR_921600
case 921600: dcbSerialParams.BaudRate = CBR_921600; break;
#endif
default:
// Try to blindly assign it
dcbSerialParams.BaudRate = baudrate_;
}
// setup char len
if (bytesize_ == eightbits)
dcbSerialParams.ByteSize = 8;
else if (bytesize_ == sevenbits)
dcbSerialParams.ByteSize = 7;
else if (bytesize_ == sixbits)
dcbSerialParams.ByteSize = 6;
else if (bytesize_ == fivebits)
dcbSerialParams.ByteSize = 5;
else
throw invalid_argument ("invalid char len");
// setup stopbits
if (stopbits_ == stopbits_one)
dcbSerialParams.StopBits = ONESTOPBIT;
else if (stopbits_ == stopbits_one_point_five)
dcbSerialParams.StopBits = ONE5STOPBITS;
else if (stopbits_ == stopbits_two)
dcbSerialParams.StopBits = TWOSTOPBITS;
else
throw invalid_argument ("invalid stop bit");
// setup parity
if (parity_ == parity_none) {
dcbSerialParams.Parity = NOPARITY;
} else if (parity_ == parity_even) {
dcbSerialParams.Parity = EVENPARITY;
} else if (parity_ == parity_odd) {
dcbSerialParams.Parity = ODDPARITY;
} else if (parity_ == parity_mark) {
dcbSerialParams.Parity = MARKPARITY;
} else if (parity_ == parity_space) {
dcbSerialParams.Parity = SPACEPARITY;
} else {
throw invalid_argument ("invalid parity");
}
// setup flowcontrol
if (flowcontrol_ == flowcontrol_none) {
dcbSerialParams.fOutxCtsFlow = false;
dcbSerialParams.fRtsControl = RTS_CONTROL_DISABLE;
dcbSerialParams.fOutX = false;
dcbSerialParams.fInX = false;
}
if (flowcontrol_ == flowcontrol_software) {
dcbSerialParams.fOutxCtsFlow = false;
dcbSerialParams.fRtsControl = RTS_CONTROL_DISABLE;
dcbSerialParams.fOutX = true;
dcbSerialParams.fInX = true;
}
if (flowcontrol_ == flowcontrol_hardware) {
dcbSerialParams.fOutxCtsFlow = true;
dcbSerialParams.fRtsControl = RTS_CONTROL_HANDSHAKE;
dcbSerialParams.fOutX = false;
dcbSerialParams.fInX = false;
}
// activate settings
if (!SetCommState(fd_, &dcbSerialParams)){
CloseHandle(fd_);
THROW (IOException, "Error setting serial port settings.");
}
// Setup timeouts
COMMTIMEOUTS timeouts = {0};
timeouts.ReadIntervalTimeout = timeout_.inter_byte_timeout;
timeouts.ReadTotalTimeoutConstant = timeout_.read_timeout_constant;
timeouts.ReadTotalTimeoutMultiplier = timeout_.read_timeout_multiplier;
timeouts.WriteTotalTimeoutConstant = timeout_.write_timeout_constant;
timeouts.WriteTotalTimeoutMultiplier = timeout_.write_timeout_multiplier;
if (!SetCommTimeouts(fd_, &timeouts)) {
THROW (IOException, "Error setting timeouts.");
}
}
void
Serial::SerialImpl::close ()
{
if (is_open_ == true) {
if (fd_ != INVALID_HANDLE_VALUE) {
int ret;
ret = CloseHandle(fd_);
if (ret == 0) {
stringstream ss;
ss << "Error while closing serial port: " << GetLastError();
THROW (IOException, ss.str().c_str());
} else {
fd_ = INVALID_HANDLE_VALUE;
}
}
is_open_ = false;
}
}
bool
Serial::SerialImpl::isOpen () const
{
return is_open_;
}
size_t
Serial::SerialImpl::available ()
{
if (!is_open_) {
return 0;
}
COMSTAT cs;
if (!ClearCommError(fd_, NULL, &cs)) {
stringstream ss;
ss << "Error while checking status of the serial port: " << GetLastError();
THROW (IOException, ss.str().c_str());
}
return static_cast<size_t>(cs.cbInQue);
}
bool
Serial::SerialImpl::waitReadable (uint32_t /*timeout*/)
{
THROW (IOException, "waitReadable is not implemented on Windows.");
return false;
}
void
Serial::SerialImpl::waitByteTimes (size_t /*count*/)
{
THROW (IOException, "waitByteTimes is not implemented on Windows.");
}
size_t
Serial::SerialImpl::read (uint8_t *buf, size_t size)
{
if (!is_open_) {
throw PortNotOpenedException ("Serial::read");
}
DWORD bytes_read;
if (!ReadFile(fd_, buf, static_cast<DWORD>(size), &bytes_read, NULL)) {
stringstream ss;
ss << "Error while reading from the serial port: " << GetLastError();
THROW (IOException, ss.str().c_str());
}
return (size_t) (bytes_read);
}
size_t
Serial::SerialImpl::write (const uint8_t *data, size_t length)
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::write");
}
DWORD bytes_written;
if (!WriteFile(fd_, data, static_cast<DWORD>(length), &bytes_written, NULL)) {
stringstream ss;
ss << "Error while writing to the serial port: " << GetLastError();
THROW (IOException, ss.str().c_str());
}
return (size_t) (bytes_written);
}
void
Serial::SerialImpl::setPort (const string &port)
{
port_ = wstring(port.begin(), port.end());
}
string
Serial::SerialImpl::getPort () const
{
return string(port_.begin(), port_.end());
}
void
Serial::SerialImpl::setTimeout (serial::Timeout &timeout)
{
timeout_ = timeout;
if (is_open_) {
reconfigurePort ();
}
}
serial::Timeout
Serial::SerialImpl::getTimeout () const
{
return timeout_;
}
void
Serial::SerialImpl::setBaudrate (unsigned long baudrate)
{
baudrate_ = baudrate;
if (is_open_) {
reconfigurePort ();
}
}
unsigned long
Serial::SerialImpl::getBaudrate () const
{
return baudrate_;
}
void
Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
{
bytesize_ = bytesize;
if (is_open_) {
reconfigurePort ();
}
}
serial::bytesize_t
Serial::SerialImpl::getBytesize () const
{
return bytesize_;
}
void
Serial::SerialImpl::setParity (serial::parity_t parity)
{
parity_ = parity;
if (is_open_) {
reconfigurePort ();
}
}
serial::parity_t
Serial::SerialImpl::getParity () const
{
return parity_;
}
void
Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
{
stopbits_ = stopbits;
if (is_open_) {
reconfigurePort ();
}
}
serial::stopbits_t
Serial::SerialImpl::getStopbits () const
{
return stopbits_;
}
void
Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
{
flowcontrol_ = flowcontrol;
if (is_open_) {
reconfigurePort ();
}
}
serial::flowcontrol_t
Serial::SerialImpl::getFlowcontrol () const
{
return flowcontrol_;
}
void
Serial::SerialImpl::flush ()
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::flush");
}
FlushFileBuffers (fd_);
}
void
Serial::SerialImpl::flushInput ()
{
if (is_open_ == false) {
throw PortNotOpenedException("Serial::flushInput");
}
PurgeComm(fd_, PURGE_RXCLEAR);
}
void
Serial::SerialImpl::flushOutput ()
{
if (is_open_ == false) {
throw PortNotOpenedException("Serial::flushOutput");
}
PurgeComm(fd_, PURGE_TXCLEAR);
}
void
Serial::SerialImpl::sendBreak (int /*duration*/)
{
THROW (IOException, "sendBreak is not supported on Windows.");
}
void
Serial::SerialImpl::setBreak (bool level)
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::setBreak");
}
if (level) {
EscapeCommFunction (fd_, SETBREAK);
} else {
EscapeCommFunction (fd_, CLRBREAK);
}
}
void
Serial::SerialImpl::setRTS (bool level)
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::setRTS");
}
if (level) {
EscapeCommFunction (fd_, SETRTS);
} else {
EscapeCommFunction (fd_, CLRRTS);
}
}
void
Serial::SerialImpl::setDTR (bool level)
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::setDTR");
}
if (level) {
EscapeCommFunction (fd_, SETDTR);
} else {
EscapeCommFunction (fd_, CLRDTR);
}
}
bool
Serial::SerialImpl::waitForChange ()
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::waitForChange");
}
DWORD dwCommEvent;
if (!SetCommMask(fd_, EV_CTS | EV_DSR | EV_RING | EV_RLSD)) {
// Error setting communications mask
return false;
}
if (!WaitCommEvent(fd_, &dwCommEvent, NULL)) {
// An error occurred waiting for the event.
return false;
} else {
// Event has occurred.
return true;
}
}
bool
Serial::SerialImpl::getCTS ()
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::getCTS");
}
DWORD dwModemStatus;
if (!GetCommModemStatus(fd_, &dwModemStatus)) {
THROW (IOException, "Error getting the status of the CTS line.");
}
return (MS_CTS_ON & dwModemStatus) != 0;
}
bool
Serial::SerialImpl::getDSR ()
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::getDSR");
}
DWORD dwModemStatus;
if (!GetCommModemStatus(fd_, &dwModemStatus)) {
THROW (IOException, "Error getting the status of the DSR line.");
}
return (MS_DSR_ON & dwModemStatus) != 0;
}
bool
Serial::SerialImpl::getRI()
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::getRI");
}
DWORD dwModemStatus;
if (!GetCommModemStatus(fd_, &dwModemStatus)) {
THROW (IOException, "Error getting the status of the RI line.");
}
return (MS_RING_ON & dwModemStatus) != 0;
}
bool
Serial::SerialImpl::getCD()
{
if (is_open_ == false) {
throw PortNotOpenedException ("Serial::getCD");
}
DWORD dwModemStatus;
if (!GetCommModemStatus(fd_, &dwModemStatus)) {
// Error in GetCommModemStatus;
THROW (IOException, "Error getting the status of the CD line.");
}
return (MS_RLSD_ON & dwModemStatus) != 0;
}
void
Serial::SerialImpl::readLock()
{
if (WaitForSingleObject(read_mutex, INFINITE) != WAIT_OBJECT_0) {
THROW (IOException, "Error claiming read mutex.");
}
}
void
Serial::SerialImpl::readUnlock()
{
if (!ReleaseMutex(read_mutex)) {
THROW (IOException, "Error releasing read mutex.");
}
}
void
Serial::SerialImpl::writeLock()
{
if (WaitForSingleObject(write_mutex, INFINITE) != WAIT_OBJECT_0) {
THROW (IOException, "Error claiming write mutex.");
}
}
void
Serial::SerialImpl::writeUnlock()
{
if (!ReleaseMutex(write_mutex)) {
THROW (IOException, "Error releasing write mutex.");
}
}
#endif // #if defined(_WIN32)

15
src/serial.cc
View File

@ -1,21 +1,8 @@
/* Copyright 2012 William Woodall and John Harrison */
#include <algorithm>
#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
# include <alloca.h>
#endif
#if defined (__MINGW32__)
# define alloca __builtin_alloca
#endif
#include "serial/serial.h"
#ifdef _WIN32
#include "serial/impl/win.h"
#else
#include "serial/impl/unix.h"
#endif
using std::invalid_argument;
using std::min;

12
tests/CMakeLists.txt
View File

@ -1,12 +0,0 @@
if(UNIX)
catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${Boost_LIBRARIES})
if(NOT APPLE)
target_link_libraries(${PROJECT_NAME}-test util)
endif()
if(NOT APPLE) # these tests are unreliable on macOS
catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
endif()
endif()

1
tests/proof_of_concepts/mdc2250.cc
View File

@ -1 +0,0 @@
#include ""

15
tests/proof_of_concepts/python_serial_test.py
View File

@ -1,15 +0,0 @@
#!/usr/bin/env python
import serial, sys
if len(sys.argv) != 2:
print "python: Usage_serial_test <port name like: /dev/ttyUSB0>"
sys.exit(1)
sio = serial.Serial(sys.argv[1], 115200)
sio.timeout = 250
while True:
sio.write("Testing.")
print sio.read(8)

31
tests/proof_of_concepts/tokenizer.cc
View File

@ -1,31 +0,0 @@
#include <iostream>
#include <string>
#include <vector>
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/foreach.hpp>
void
_delimeter_tokenizer (std::string &data, std::vector<std::string> &tokens,
std::string delimeter)
{
boost::split(tokens, data, boost::is_any_of(delimeter));
}
typedef boost::function<void(std::string&,std::vector<std::string>&)> TokenizerType;
int main(void) {
std::string data = "a\rb\rc\r";
std::vector<std::string> tokens;
std::string delimeter = "\r";
TokenizerType f = boost::bind(_delimeter_tokenizer, _1, _2, delimeter);
f(data, tokens);
BOOST_FOREACH(std::string token, tokens)
std::cout << token << std::endl;
return 0;
}

63
tests/unit/unix_timer_tests.cc
View File

@ -1,63 +0,0 @@
#include "gtest/gtest.h"
#include "serial/impl/unix.h"
#include <unistd.h>
#include <stdlib.h>
using serial::MillisecondTimer;
namespace {
/**
* Do 100 trials of timing gaps between 0 and 19 milliseconds.
* Expect accuracy within one millisecond.
*/
TEST(timer_tests, short_intervals) {
for (int trial = 0; trial < 100; trial++)
{
uint32_t ms = rand() % 20;
MillisecondTimer mt(ms);
usleep(1000 * ms);
int32_t r = mt.remaining();
// 1ms slush, for the cost of calling usleep.
EXPECT_NEAR(r+1, 0, 1);
}
}
TEST(timer_tests, overlapping_long_intervals) {
MillisecondTimer* timers[10];
// Experimentally determined. Corresponds to the extra time taken by the loops,
// the big usleep, and the test infrastructure itself.
const int slush_factor = 14;
// Set up the timers to each time one second, 1ms apart.
for (int t = 0; t < 10; t++)
{
timers[t] = new MillisecondTimer(1000);
usleep(1000);
}
// Check in on them after 500ms.
usleep(500000);
for (int t = 0; t < 10; t++)
{
EXPECT_NEAR(timers[t]->remaining(), 500 - slush_factor + t, 5);
}
// Check in on them again after another 500ms and free them.
usleep(500000);
for (int t = 0; t < 10; t++)
{
EXPECT_NEAR(timers[t]->remaining(), -slush_factor + t, 5);
delete timers[t];
}
}
} // namespace
int main(int argc, char **argv) {
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

118
tests/unix_serial_tests.cc
View File

@ -1,118 +0,0 @@
/* To run these tests you need to change the define below to the serial port
* with a loop back device attached.
*
* Alternatively you could use an Arduino:
void setup()
{
Serial.begin(115200);
}
void loop()
{
while (Serial.available() > 0) {
Serial.write(Serial.read());
}
}
*/
#include <string>
#include "gtest/gtest.h"
#include <boost/bind.hpp>
// Use FRIEND_TEST... its not as nasty, thats what friends are for
// // OMG this is so nasty...
// #define private public
// #define protected public
#include "serial/serial.h"
#if defined(__linux__)
#include <pty.h>
#else
#include <util.h>
#endif
using namespace serial;
using std::string;
namespace {
class SerialTests : public ::testing::Test {
protected:
virtual void SetUp() {
if (openpty(&master_fd, &slave_fd, name, NULL, NULL) == -1) {
perror("openpty");
exit(127);
}
ASSERT_TRUE(master_fd > 0);
ASSERT_TRUE(slave_fd > 0);
ASSERT_TRUE(string(name).length() > 0);
port1 = new Serial(string(name), 115200, Timeout::simpleTimeout(250));
}
virtual void TearDown() {
port1->close();
delete port1;
}
Serial * port1;
int master_fd;
int slave_fd;
char name[100];
};
TEST_F(SerialTests, readWorks) {
write(master_fd, "abc\n", 4);
string r = port1->read(4);
EXPECT_EQ(r, string("abc\n"));
}
TEST_F(SerialTests, writeWorks) {
char buf[5] = "";
port1->write("abc\n");
read(master_fd, buf, 4);
EXPECT_EQ(string(buf, 4), string("abc\n"));
}
TEST_F(SerialTests, timeoutWorks) {
// Timeout a read, returns an empty string
string empty = port1->read();
EXPECT_EQ(empty, string(""));
// Ensure that writing/reading still works after a timeout.
write(master_fd, "abc\n", 4);
string r = port1->read(4);
EXPECT_EQ(r, string("abc\n"));
}
TEST_F(SerialTests, partialRead) {
// Write some data, but request more than was written.
write(master_fd, "abc\n", 4);
// Should timeout, but return what was in the buffer.
string empty = port1->read(10);
EXPECT_EQ(empty, string("abc\n"));
// Ensure that writing/reading still works after a timeout.
write(master_fd, "abc\n", 4);
string r = port1->read(4);
EXPECT_EQ(r, string("abc\n"));
}
} // namespace
int main(int argc, char **argv) {
try {
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
} catch (std::exception &e) {
std::cerr << "Unhandled Exception: " << e.what() << std::endl;
}
return 1;
}

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