Removed serial listener, reworking the example, completely removed boost. Builds on my laptop with boost uninstalled.

README.md

@@ -7,7 +7,6 @@ Coming Soon!
 ## Dependencies
 
 * CMake, for the build system: http://www.cmake.org/
-* Boost, for threading: http://www.boost.org/
 * (Optional) ROS
 
 ## Stand Alone Installation

examples/serial_example.cc

@@ -1,123 +1,79 @@
 #include <string>
 #include <iostream>
-#include <stdio.h>
-#include <time.h>
 
-#ifdef __MACH__
+// OS Specific sleep
-#include <mach/clock.h>
+#ifdef __WIN32__
-#include <mach/mach.h>
+#include <windows.h>
+#else
+#include <unistd.h>
 #endif
 
-#include <boost/thread.hpp>
-
 #include "serial/serial.h"
 
 using std::string;
+using std::exception;
 using std::cout;
+using std::cerr;
 using std::endl;
 
+void my_sleep(unsigned long milliseconds) {
+#ifdef __WIN32__
+      Sleep(milliseconds); // 100 ms
+#else
+      usleep(milliseconds*1000); // 100 ms
+#endif
+}
+
 int run(int argc, char **argv)
 {
     if(argc < 3) {
-        std::cerr << "Usage: test_serial <serial port address> <baudrate>" << std::endl;
+      cerr << "Usage: test_serial <serial port address> ";
-        return 0;
+      cerr << "<baudrate> [test string]" << endl;
+      return 0;
     }
-    std::string port(argv[1]);
+    // Argument 1 is the serial port
-    unsigned long baud = 0;
+    string port(argv[1]);
 
+    // Argument 2 is the baudrate
+    unsigned long baud = 0;
     sscanf(argv[2], "%lu", &baud);
 
     // port, baudrate, timeout in milliseconds
-    serial::Serial serial(port, baud, 10000);
+    serial::Serial serial(port, baud, 1000);
-    
+
-    std::cout << "Is the serial port open?";
+    cout << "Is the serial port open?";
     if(serial.isOpen())
-        std::cout << " Yes." << std::endl;
+        cout << " Yes." << endl;
     else
-        std::cout << " No." << std::endl;
+        cout << " No." << endl;
-    
+
     int count = 0;
-    while (count >= 0) {
+    string test_string;
-      struct timespec start, end;
+    if (argc == 4) {
-      double diff;
+      test_string = argv[3];
+    } else {
+      test_string = "Testing.";
+    }
+    while (true) {
+      size_t bytes_wrote = serial.write(test_string);
 
-      #ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
+      string result = serial.read(test_string.length());
-      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);
-      start.tv_sec = mts.tv_sec;
-      start.tv_nsec = mts.tv_nsec;
 
-      #else
+      cout << "Iteration: " << count << ", Bytes written: ";
-      clock_gettime(CLOCK_REALTIME, &start);
+      cout << bytes_wrote << ", Bytes read: ";
-      #endif
+      cout << result.length() << ", String read: " << result << endl;
 
-      size_t bytes_wrote = serial.write("Testing.\n");
-
-      #ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
-      host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
-      clock_get_time(cclock, &mts);
-      mach_port_deallocate(mach_task_self(), cclock);
-      end.tv_sec = mts.tv_sec;
-      end.tv_nsec = mts.tv_nsec;
-
-      #else
-      clock_gettime(CLOCK_REALTIME, &end);
-      #endif
-
-      end.tv_sec -= start.tv_sec;
-      end.tv_nsec -= start.tv_nsec;
-      printf("write: %05lu.%09lu\n", end.tv_sec, end.tv_nsec);
-
-      #ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
-      host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
-      clock_get_time(cclock, &mts);
-      mach_port_deallocate(mach_task_self(), cclock);
-      start.tv_sec = mts.tv_sec;
-      start.tv_nsec = mts.tv_nsec;
-
-      #else
-      clock_gettime(CLOCK_REALTIME, &start);
-      #endif
-
-      std::string result = serial.readline();
-      #ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
-      host_get_clock_service(mach_host_self(), CALENDAR_CLOCK, &cclock);
-      clock_get_time(cclock, &mts);
-      mach_port_deallocate(mach_task_self(), cclock);
-      end.tv_sec = mts.tv_sec;
-      end.tv_nsec = mts.tv_nsec;
-
-      #else
-      clock_gettime(CLOCK_REALTIME, &end);
-      #endif
-
-
-      end.tv_sec -= start.tv_sec;
-      end.tv_nsec -= start.tv_nsec;
-      printf("read: %05lu.%09lu\n", end.tv_sec, end.tv_nsec);
-      
-      if (result == string("Testing.\n")) {
-      }
-      else {
-        std::cout << ">" << count << ">" << bytes_wrote << ">";
-        std::cout << result.length() << "<" << result << std::endl;
-        cout << "No" << endl;
-      }
-        
       count += 1;
-      boost::this_thread::sleep(boost::posix_time::milliseconds(100));
+      my_sleep(10);
     }
     
     return 0;
 }
 
 int main(int argc, char **argv) {
-  // try {
+  try {
     return run(argc, argv);
-  // } catch (std::exception &e) {
+  } catch (exception &e) {
-  //   std::cerr << "Unhandled Exception: " << e.what() << std::endl;
+    cerr << "Unhandled Exception: " << e.what() << endl;
-  // }
+  }
 }

include/serial/impl/unix.h

@@ -40,6 +40,8 @@
 
 #include "serial/serial.h"
 
+#include <pthread.h>
+
 namespace serial {
 
 using std::string;
@@ -98,40 +100,40 @@ public:
 
   void
   setDTR(bool level);
-  
+
   bool
   getCTS();
-  
+
   bool
   getDSR();
-  
+
   bool
   getRI();
-  
+
   bool
   getCD();
 
   void
   setPort (const string &port);
-  
+
   string
   getPort () const;
 
   void
   setTimeout (long timeout);
-  
+
   long
   getTimeout () const;
 
   void
   setBaudrate (unsigned long baudrate);
-  
+
   unsigned long
   getBaudrate () const;
 
   void
   setBytesize (bytesize_t bytesize);
-  
+
   bytesize_t
   getBytesize () const;
 
@@ -153,6 +155,18 @@ public:
   flowcontrol_t
   getFlowcontrol () const;
 
+  void
+  readLock();
+
+  void
+  readUnlock();
+
+  void
+  writeLock();
+
+  void
+  writeUnlock();
+
 protected:
   void reconfigurePort ();
 
@@ -171,6 +185,11 @@ private:
   bytesize_t bytesize_;       // Size of the bytes
   stopbits_t stopbits_;       // Stop Bits
   flowcontrol_t flowcontrol_; // Flow Control
+
+  // Mutex used to lock the read functions
+  pthread_mutex_t read_mutex;
+  // Mutex used to lock the write functions
+  pthread_mutex_t write_mutex;
 };
 
 }

include/serial/impl/windows.h

@@ -0,0 +1,177 @@
+/*!
+ * \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) 2011 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.
+ *
+ */
+
+#ifndef SERIAL_IMPL_WINDOWS_H
+#define SERIAL_IMPL_WINDOWS_H
+
+#include "serial/serial.h"
+
+namespace serial {
+
+using std::string;
+using std::invalid_argument;
+
+using serial::SerialExecption;
+using serial::IOException;
+
+class serial::Serial::SerialImpl {
+public:
+  SerialImpl (const string &port,
+              unsigned long baudrate,
+              long timeout,
+              bytesize_t bytesize,
+              parity_t parity,
+              stopbits_t stopbits,
+              flowcontrol_t flowcontrol);
+
+  virtual ~SerialImpl ();
+
+  void
+  open ();
+
+  void
+  close ();
+
+  bool
+  isOpen () const;
+
+  size_t
+  available ();
+
+  size_t
+  read (char* buf, size_t size = 1);
+
+  size_t
+  write (const string &data);
+
+  void
+  flush ();
+
+  void
+  flushInput ();
+
+  void
+  flushOutput ();
+
+  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;
+
+  void
+  setTimeout (long timeout);
+  
+  long
+  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;
+
+protected:
+  void reconfigurePort ();
+
+private:
+  string port_;               // Path to the file descriptor
+  int fd_;                    // The current file descriptor
+
+  bool isOpen_;
+  bool xonxoff_;
+  bool rtscts_;
+
+  long 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
+};
+
+}
+
+#endif // SERIAL_IMPL_WINDOWS_H

include/serial/serial.h

@@ -36,16 +36,12 @@
 #ifndef SERIAL_H
 #define SERIAL_H
 
-#include <stdexcept>
-#include <string>
-#if defined(__linux__)
-#include <string.h>
-#endif
-#include <sstream>
-#include <vector>
 #include <limits>
-
+#include <vector>
-#include <boost/thread/mutex.hpp>
+#include <string.h>
+#include <sstream>
+#include <exception>
+#include <stdexcept>
 
 namespace serial {
 
@@ -86,58 +82,6 @@ typedef enum {
   FLOWCONTROL_HARDWARE
 } flowcontrol_t;
 
-class SerialExecption : public std::exception
-{
-  const char* e_what_;
-public:
-  SerialExecption (const char *description) : e_what_ (description) {}
-
-  virtual const char* what () const throw ()
-  {
-    std::stringstream ss;
-    ss << "SerialException " << e_what_ << " failed.";
-    return ss.str ().c_str ();
-  }
-};
-
-class IOException : public std::exception
-{
-  const char* e_what_;
-  int errno_;
-public:
-  explicit IOException (int errnum)
-  : e_what_ (strerror (errnum)), errno_(errnum) {}
-  explicit IOException (const char * description)
-  : e_what_ (description), errno_(0) {}
-
-  int getErrorNumber () { return errno_; }
-
-  virtual const char* what () const throw ()
-  {
-    std::stringstream ss;
-    if (errno_ == 0)
-      ss << "IO Exception " << e_what_ << " failed.";
-    else
-      ss << "IO Exception (" << errno_ << "): " << e_what_ << " failed.";
-    return ss.str ().c_str ();
-  }
-};
-
-class PortNotOpenedException : public std::exception
-{
-  const char * e_what_;
-public:
-  PortNotOpenedException (const char * description) : e_what_ (description) {}
-
-  virtual const char* what () const throw ()
-  {
-    std::stringstream ss;
-    ss << e_what_ << " called before port was opened.";
-    return ss.str ().c_str ();
-  }
-};
-
-
 /*!
  * Class that provides a portable serial port interface.
  */
@@ -462,7 +406,61 @@ private:
   class SerialImpl;
   SerialImpl *pimpl_;
 
-  boost::mutex mut;
+  // Scoped Lock Classes
+  class ScopedReadLock;
+  class ScopedWriteLock;
+
+};
+
+class SerialExecption : public std::exception
+{
+  const char* e_what_;
+public:
+  SerialExecption (const char *description) : e_what_ (description) {}
+
+  virtual const char* what () const throw ()
+  {
+    std::stringstream ss;
+    ss << "SerialException " << e_what_ << " failed.";
+    return ss.str ().c_str ();
+  }
+};
+
+class IOException : public std::exception
+{
+  const char* e_what_;
+  int errno_;
+public:
+  explicit IOException (int errnum)
+  : e_what_ (strerror (errnum)), errno_(errnum) {}
+  explicit IOException (const char * description)
+  : e_what_ (description), errno_(0) {}
+
+  int getErrorNumber () { return errno_; }
+
+  virtual const char* what () const throw ()
+  {
+    std::stringstream ss;
+    if (errno_ == 0)
+      ss << "IO Exception " << e_what_ << " failed.";
+    else
+      ss << "IO Exception (" << errno_ << "): " << e_what_ << " failed.";
+    return ss.str ().c_str ();
+  }
+};
+
+class PortNotOpenedException : public std::exception
+{
+  const char * e_what_;
+public:
+  PortNotOpenedException (const char * description) : e_what_ (description) {}
+
+  virtual const char* what () const throw ()
+  {
+    std::stringstream ss;
+    ss << e_what_ << " called before port was opened.";
+    return ss.str ().c_str ();
+  }
 };
 
 } // namespace serial

serial_ros.cmake

@@ -19,6 +19,7 @@ macro(build_serial)
   set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
   include_directories(include)
+  include_directories(vendor)
 
   set(SERIAL_SRCS src/serial.cc)
   if(UNIX)

src/impl/unix.cc

@@ -13,6 +13,7 @@
 #include <sys/select.h>
 #include <sys/time.h>
 #include <time.h>
+#include <pthread.h>
 
 #if defined(__linux__)
 #include <linux/serial.h>
@@ -41,9 +42,11 @@ Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
                                 parity_t parity, stopbits_t stopbits,
                                 flowcontrol_t flowcontrol)
 : port_ (port), fd_ (-1), isOpen_ (false), xonxoff_ (true), rtscts_ (false),
-  timeout_ (timeout), baudrate_ (baudrate), parity_ (parity), bytesize_ (bytesize),
+  timeout_ (timeout), baudrate_ (baudrate), parity_ (parity),
-  stopbits_ (stopbits), flowcontrol_ (flowcontrol)
+  bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol)
 {
+  pthread_mutex_init(&this->read_mutex, NULL);
+  pthread_mutex_init(&this->write_mutex, NULL);
   if (port_.empty () == false)
     open ();
 }
@@ -51,6 +54,8 @@ Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
 Serial::SerialImpl::~SerialImpl ()
 {
   close();
+  pthread_mutex_destroy(&this->read_mutex);
+  pthread_mutex_destroy(&this->write_mutex);
 }
 
 void
@@ -695,3 +700,34 @@ Serial::SerialImpl::getCD()
   return (s & TIOCM_CD) != 0;
 }
 
+void
+Serial::SerialImpl::readLock() {
+  int result = pthread_mutex_lock(&this->read_mutex);
+  if (result) {
+    throw (IOException (result));
+  }
+}
+
+void
+Serial::SerialImpl::readUnlock() {
+  int result = pthread_mutex_unlock(&this->read_mutex);
+  if (result) {
+    throw (IOException (result));
+  }
+}
+
+void
+Serial::SerialImpl::writeLock() {
+  int result = pthread_mutex_lock(&this->write_mutex);
+  if (result) {
+    throw (IOException (result));
+  }
+}
+
+void
+Serial::SerialImpl::writeUnlock() {
+  int result = pthread_mutex_unlock(&this->write_mutex);
+  if (result) {
+    throw (IOException (result));
+  }
+}

src/impl/windows.cc

@@ -0,0 +1,671 @@
+/* Copyright 2012 William Woodall and John Harrison */
+
+#include "serial/impl/windows.h"
+
+using std::string;
+using std::invalid_argument;
+using serial::Serial;
+using serial::SerialExecption;
+using serial::PortNotOpenedException;
+using serial::IOException;
+
+
+Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
+                                long timeout, bytesize_t bytesize,
+                                parity_t parity, stopbits_t stopbits,
+                                flowcontrol_t flowcontrol)
+: port_ (port), fd_ (-1), isOpen_ (false), xonxoff_ (true), rtscts_ (false),
+  timeout_ (timeout), baudrate_ (baudrate), parity_ (parity), bytesize_ (bytesize),
+  stopbits_ (stopbits), flowcontrol_ (flowcontrol)
+{
+  if (port_.empty () == false)
+    open ();
+}
+
+Serial::SerialImpl::~SerialImpl ()
+{
+  close();
+}
+
+void
+Serial::SerialImpl::open ()
+{
+  if (port_.empty())
+  {
+    throw invalid_argument ("bad port specified");
+  }
+  if (isOpen_ == true)
+  {
+    throw SerialExecption ("port already open");
+  }
+
+  fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+  if (fd_ == -1)
+  {
+    switch (errno)
+    {
+      case EINTR:
+        // Recurse because this is a recoverable error.
+        open ();
+        return;
+      case ENFILE:
+      case EMFILE:
+        throw IOException ("to many file handles open");
+        break;
+      default:
+        throw IOException (errno);
+    }
+  }
+
+  reconfigurePort();
+  isOpen_ = true;
+}
+
+void
+Serial::SerialImpl::reconfigurePort ()
+{
+  if (fd_ == -1)
+  {
+    // Can only operate on a valid file descriptor
+    throw IOException ("invalid file descriptor");
+  }
+
+  struct termios options; // The options for the file descriptor
+
+  if (tcgetattr(fd_, &options) == -1)
+  {
+    throw IOException ("::tcgetattr");
+  }
+
+  // set up raw mode / no echo / binary
+  options.c_cflag |= (unsigned long)  (CLOCAL|CREAD);
+  options.c_lflag &= (unsigned long) ~(ICANON|ECHO|ECHOE|ECHOK|ECHONL|
+                                       ISIG|IEXTEN); //|ECHOPRT
+
+  options.c_oflag &= (unsigned long) ~(OPOST);
+  options.c_iflag &= (unsigned long) ~(INLCR|IGNCR|ICRNL|IGNBRK);
+#ifdef IUCLC
+  options.c_iflag &= (unsigned long) ~IUCLC;
+#endif
+#ifdef PARMRK
+  options.c_iflag &= (unsigned long) ~PARMRK;
+#endif
+
+  // setup baud rate
+  bool custom_baud = false;
+  speed_t baud;
+  switch (baudrate_)
+  {
+#ifdef B0
+    case 0: baud = B0; break;
+#endif
+#ifdef B50
+    case 50: baud = B50; break;
+#endif
+#ifdef B75
+    case 75: baud = B75; break;
+#endif
+#ifdef B110
+    case 110: baud = B110; break;
+#endif
+#ifdef B134
+    case 134: baud = B134; break;
+#endif
+#ifdef B150
+    case 150: baud = B150; break;
+#endif
+#ifdef B200
+    case 200: baud = B200; break;
+#endif
+#ifdef B300
+    case 300: baud = B300; break;
+#endif
+#ifdef B600
+    case 600: baud = B600; break;
+#endif
+#ifdef B1200
+    case 1200: baud = B1200; break;
+#endif
+#ifdef B1800
+    case 1800: baud = B1800; break;
+#endif
+#ifdef B2400
+    case 2400: baud = B2400; break;
+#endif
+#ifdef B4800
+    case 4800: baud = B4800; break;
+#endif
+#ifdef B7200
+    case 7200: baud = B7200; break;
+#endif
+#ifdef B9600
+    case 9600: baud = B9600; break;
+#endif
+#ifdef B14400
+    case 14400: baud = B14400; break;
+#endif
+#ifdef B19200
+    case 19200: baud = B19200; break;
+#endif
+#ifdef B28800
+    case 28800: baud = B28800; break;
+#endif
+#ifdef B57600
+    case 57600: baud = B57600; break;
+#endif
+#ifdef B76800
+    case 76800: baud = B76800; break;
+#endif
+#ifdef B38400
+    case 38400: baud = B38400; break;
+#endif
+#ifdef B115200
+    case 115200: baud = B115200; break;
+#endif
+#ifdef B128000
+    case 128000: baud = B128000; break;
+#endif
+#ifdef B153600
+    case 153600: baud = B153600; break;
+#endif
+#ifdef B230400
+    case 230400: baud = B230400; break;
+#endif
+#ifdef B256000
+    case 256000: baud = B256000; break;
+#endif
+#ifdef B460800
+    case 460800: baud = B460800; break;
+#endif
+#ifdef B921600
+    case 921600: baud = B921600; break;
+#endif
+    default:
+      custom_baud = true;
+// Mac OS X 10.x Support
+#if defined(__APPLE__) && defined(__MACH__)
+#define IOSSIOSPEED _IOW('T', 2, speed_t)
+      int new_baud = static_cast<int> (baudrate_);
+      if (ioctl (fd_, IOSSIOSPEED, &new_baud, 1) < 0)
+      {
+        throw IOException (errno);
+      }
+// Linux Support
+#elif defined(__linux__)
+      struct serial_struct ser;
+      ioctl(fd_, TIOCGSERIAL, &ser);
+      // set custom divisor
+      ser.custom_divisor = ser.baud_base / baudrate_;
+      // update flags
+      ser.flags &= ~ASYNC_SPD_MASK;
+      ser.flags |= ASYNC_SPD_CUST;
+
+      if (ioctl(fd_, TIOCSSERIAL, ser) < 0)
+      {
+        throw IOException (errno);
+      }
+#else
+      throw invalid_argument ("OS does not currently support custom bauds");
+#endif
+  }
+  if (custom_baud == false)
+  {
+#ifdef _BSD_SOURCE
+    ::cfsetspeed(&options, baud);
+#else
+    ::cfsetispeed(&options, baud);
+    ::cfsetospeed(&options, baud);
+#endif
+  }
+
+  // setup char len
+  options.c_cflag &= (unsigned long) ~CSIZE;
+  if (bytesize_ == EIGHTBITS)
+      options.c_cflag |= CS8;
+  else if (bytesize_ == SEVENBITS)
+      options.c_cflag |= CS7;
+  else if (bytesize_ == SIXBITS)
+      options.c_cflag |= CS6;
+  else if (bytesize_ == FIVEBITS)
+      options.c_cflag |= CS5;
+  else
+      throw invalid_argument ("invalid char len");
+  // setup stopbits
+  if (stopbits_ == STOPBITS_ONE)
+      options.c_cflag &= (unsigned long) ~(CSTOPB);
+  else if (stopbits_ == STOPBITS_ONE_POINT_FIVE)
+      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
+      throw invalid_argument ("invalid stop bit");
+  // setup parity
+  options.c_iflag &= (unsigned long) ~(INPCK|ISTRIP);
+  if (parity_ == PARITY_NONE)
+  {
+    options.c_cflag &= (unsigned long) ~(PARENB|PARODD);
+  }
+  else if (parity_ == PARITY_EVEN)
+  {
+    options.c_cflag &= (unsigned long) ~(PARODD);
+    options.c_cflag |=  (PARENB);
+  }
+  else if (parity_ == PARITY_ODD)
+  {
+    options.c_cflag |=  (PARENB|PARODD);
+  }
+  else
+  {
+    throw invalid_argument ("invalid parity");
+  }
+  // setup flow control
+  // xonxoff
+#ifdef IXANY
+  if (xonxoff_)
+    options.c_iflag |=  (IXON|IXOFF); //|IXANY)
+  else
+    options.c_iflag &= (unsigned long) ~(IXON|IXOFF|IXANY);
+#else
+  if (xonxoff_)
+    options.c_iflag |=  (IXON|IXOFF);
+  else
+    options.c_iflag &= (unsigned long) ~(IXON|IXOFF);
+#endif
+  // rtscts
+#ifdef CRTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CRTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CRTSCTS);
+#elif defined CNEW_RTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CNEW_RTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS);
+#else
+#error "OS Support seems wrong."
+#endif
+
+  options.c_cc[VMIN] = 1; // Minimum of 1 character in the buffer
+  options.c_cc[VTIME] = 0; // timeout on waiting for new data
+
+  // activate settings
+  ::tcsetattr (fd_, TCSANOW, &options);
+}
+
+void
+Serial::SerialImpl::close ()
+{
+  if (isOpen_ == true)
+  {
+    if (fd_ != -1)
+    {
+      ::close (fd_); // Ignoring the outcome
+      fd_ = -1;
+    }
+    isOpen_ = false;
+  }
+}
+
+bool
+Serial::SerialImpl::isOpen () const
+{
+  return isOpen_;
+}
+
+size_t
+Serial::SerialImpl::available ()
+{
+  if (!isOpen_)
+  {
+    return 0;
+  }
+  int count = 0;
+  int result = ioctl (fd_, TIOCINQ, &count);
+  if (result == 0)
+  {
+    return static_cast<size_t> (count);
+  }
+  else
+  {
+    throw IOException (errno);
+  }
+}
+
+size_t
+Serial::SerialImpl::read (char* buf, size_t size)
+{
+  if (!isOpen_)
+  {
+    throw PortNotOpenedException ("Serial::read");
+  }
+  fd_set readfds;
+  ssize_t bytes_read = 0;
+  int count = 0;
+  while (true)
+  {
+    count++;
+    // printf("Counting: %u\n", count);
+    if (timeout_ != -1)
+    {
+      FD_ZERO (&readfds);
+      FD_SET (fd_, &readfds);
+      struct timeval timeout;
+      timeout.tv_sec =                    timeout_ / 1000;
+      timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
+      int r = select (fd_ + 1, &readfds, NULL, NULL, &timeout);
+
+      if (r == -1 && errno == EINTR)
+        continue;
+
+      if (r == -1)
+      {
+        throw IOException (errno);
+      }
+    }
+
+    if (timeout_ == -1 || FD_ISSET (fd_, &readfds))
+    {
+      bytes_read = ::read (fd_, buf, size);
+      // 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 SerialExecption ("device reports readiness to read but "
+                               "returned no data (device disconnected?)");
+      }
+      break;
+    }
+    else
+    {
+      break;
+    }
+  }
+  return static_cast<size_t> (bytes_read);
+}
+
+size_t
+Serial::SerialImpl::write (const string &data)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::write");
+  }
+  
+  fd_set writefds;
+  ssize_t bytes_written = 0;
+  while (true)
+  {
+    if (timeout_ != -1)
+    {
+      FD_ZERO (&writefds);
+      FD_SET (fd_, &writefds);
+      struct timeval timeout;
+      timeout.tv_sec =                    timeout_ / 1000;
+      timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
+      int r = select (fd_ + 1, NULL, &writefds, NULL, &timeout);
+
+      if (r == -1 && errno == EINTR)
+        continue;
+
+      if (r == -1)
+      {
+        throw IOException (errno);
+      }
+    }
+
+    if (timeout_ == -1 || FD_ISSET (fd_, &writefds))
+    {
+      bytes_written = ::write (fd_, data.c_str (), data.length ());
+      // read should always return some data as select reported it was
+      // ready to read when we get to this point.
+      if (bytes_written < 1)
+      {
+        // Disconnected devices, at least on Linux, show the
+        // behavior that they are always ready to read immediately
+        // but reading returns nothing.
+        throw SerialExecption ("device reports readiness to read but "
+                               "returned no data (device disconnected?)");
+      }
+      break;
+    }
+    else
+    {
+      break;
+    }
+  }
+
+  return static_cast<size_t> (bytes_written);
+}
+
+void
+Serial::SerialImpl::setPort (const string &port)
+{
+  port_ = port;
+}
+
+string
+Serial::SerialImpl::getPort () const
+{
+  return port_;
+}
+
+void
+Serial::SerialImpl::setTimeout (long timeout)
+{
+  timeout_ = timeout;
+}
+
+long
+Serial::SerialImpl::getTimeout () const
+{
+  return timeout_;
+}
+
+void
+Serial::SerialImpl::setBaudrate (unsigned long baudrate)
+{
+  baudrate_ = baudrate;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+unsigned long
+Serial::SerialImpl::getBaudrate () const
+{
+  return baudrate_;
+}
+
+void
+Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
+{
+  bytesize_ = bytesize;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::bytesize_t
+Serial::SerialImpl::getBytesize () const
+{
+  return bytesize_;
+}
+
+void
+Serial::SerialImpl::setParity (serial::parity_t parity)
+{
+  parity_ = parity;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::parity_t
+Serial::SerialImpl::getParity () const
+{
+  return parity_;
+}
+
+void
+Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
+{
+  stopbits_ = stopbits;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::stopbits_t
+Serial::SerialImpl::getStopbits () const
+{
+  return stopbits_;
+}
+
+void
+Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
+{
+  flowcontrol_ = flowcontrol;
+  if (isOpen_)
+    reconfigurePort ();
+}
+
+serial::flowcontrol_t
+Serial::SerialImpl::getFlowcontrol () const
+{
+  return flowcontrol_;
+}
+
+void
+Serial::SerialImpl::flush ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flush");
+  }
+  tcdrain (fd_);
+}
+
+void
+Serial::SerialImpl::flushInput ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flushInput");
+  }
+  tcflush (fd_, TCIFLUSH);
+}
+
+void
+Serial::SerialImpl::flushOutput ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::flushOutput");
+  }
+  tcflush (fd_, TCOFLUSH);
+}
+
+void
+Serial::SerialImpl::sendBreak (int duration)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::sendBreak");
+  }
+  tcsendbreak (fd_, static_cast<int> (duration/4));
+}
+
+void
+Serial::SerialImpl::setBreak (bool level)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setBreak");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCSBRK);
+  }
+  else {
+    ioctl (fd_, TIOCCBRK);
+  }
+}
+
+void
+Serial::SerialImpl::setRTS (bool level)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setRTS");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCMBIS, TIOCM_RTS);
+  }
+  else {
+    ioctl (fd_, TIOCMBIC, TIOCM_RTS);
+  }
+}
+
+void
+Serial::SerialImpl::setDTR (bool level)
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::setDTR");
+  }
+  if (level)
+  {
+    ioctl (fd_, TIOCMBIS, TIOCM_DTR);
+  }
+  else
+  {
+    ioctl (fd_, TIOCMBIC, TIOCM_DTR);
+  }
+}
+
+bool
+Serial::SerialImpl::getCTS ()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getCTS");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_CTS) != 0;
+}
+
+bool
+Serial::SerialImpl::getDSR()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getDSR");
+  }
+  int s = ioctl(fd_, TIOCMGET, 0);
+  return (s & TIOCM_DSR) != 0;
+}
+
+bool
+Serial::SerialImpl::getRI()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getRI");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_RI) != 0;
+}
+
+bool
+Serial::SerialImpl::getCD()
+{
+  if (isOpen_ == false)
+  {
+    throw PortNotOpenedException ("Serial::getCD");
+  }
+  int s = ioctl (fd_, TIOCMGET, 0);
+  return (s & TIOCM_CD) != 0;
+}
+

src/serial.cc

@@ -1,12 +1,5 @@
 /* Copyright 2012 William Woodall and John Harrison */
 
-#include <alloca.h>
-
-#include <cstring>
-#include <algorithm>
-
-#include <boost/thread/mutex.hpp>
-
 #include "serial/serial.h"
 
 #ifdef _WIN32
@@ -31,14 +24,35 @@ using serial::parity_t;
 using serial::stopbits_t;
 using serial::flowcontrol_t;
 
-using boost::mutex;
+class Serial::ScopedReadLock {
+public:
+  ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->readLock();
+  }
+  ~ScopedReadLock() {
+    this->pimpl_->readUnlock();
+  }
+private:
+  SerialImpl *pimpl_;
+};
+
+class Serial::ScopedWriteLock {
+public:
+  ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->writeLock();
+  }
+  ~ScopedWriteLock() {
+    this->pimpl_->writeUnlock();
+  }
+private:
+  SerialImpl *pimpl_;
+};
 
 Serial::Serial (const string &port, unsigned long baudrate, long timeout,
                 bytesize_t bytesize, parity_t parity, stopbits_t stopbits,
                 flowcontrol_t flowcontrol)
  : read_cache_("")
 {
-  mutex::scoped_lock scoped_lock(mut);
   pimpl_ = new SerialImpl (port, baudrate, timeout, bytesize, parity,
                            stopbits, flowcontrol);
 }
@@ -75,7 +89,7 @@ Serial::available ()
 string
 Serial::read (size_t size)
 {
-  mutex::scoped_lock scoped_lock (mut);
+  ScopedReadLock(this->pimpl_);
   if (read_cache_.size() >= size)
   {
     // Don't need to do a new read.
@@ -89,10 +103,8 @@ Serial::read (size_t size)
     string result (read_cache_.substr (0, size));
     read_cache_.clear ();
 
-	int count = 0;
     while (true)
     {
-	  // printf("%u\n", count++);
       char buf[256];
       size_t chars_read = pimpl_->read (buf, 256);
       if (chars_read > 0)
@@ -173,14 +185,15 @@ Serial::readlines(string eol)
 size_t
 Serial::write (const string &data)
 {
-  mutex::scoped_lock scoped_lock(mut);
+  ScopedWriteLock(this->pimpl_);
   return pimpl_->write (data);
 }
 
 void
 Serial::setPort (const string &port)
 {
-  mutex::scoped_lock scoped_lock(mut);
+  ScopedReadLock(this->pimpl_);
+  ScopedWriteLock(this->pimpl_);
   bool was_open = pimpl_->isOpen();
   if (was_open) close();
   pimpl_->setPort (port);
@@ -266,19 +279,21 @@ Serial::getFlowcontrol () const
 
 void Serial::flush ()
 {
-  mutex::scoped_lock scoped_lock (mut);
+  ScopedReadLock(this->pimpl_);
+  ScopedWriteLock(this->pimpl_);
   pimpl_->flush ();
   read_cache_.clear ();
 }
 
 void Serial::flushInput ()
 {
+  ScopedReadLock(this->pimpl_);
   pimpl_->flushInput ();
 }
 
 void Serial::flushOutput ()
 {
-  mutex::scoped_lock scoped_lock (mut);
+  ScopedWriteLock(this->pimpl_);
   pimpl_->flushOutput ();
   read_cache_.clear ();
 }
@@ -322,4 +337,3 @@ bool Serial::getCD ()
 {
   return pimpl_->getCD ();
 }
-