Move License text to separate LICENSE file (#261)

Added search blob /dev/rfcomm*. rfcomm* is a commonly used naming
convention for bluetooth ports on linux

.gitignore

@@ -7,11 +7,11 @@
 *.pyc
 *.pyo
 *.zip
-*.cc
 */files/*
 */tmp/*
 *.hwm*
 *.cfg
+*.out
 .svn
 build
 bin
@@ -23,3 +23,12 @@ patched
 wiped
 msg_gen
 srv_gen
+doc/html
+*sublime-workspace
+*.user
+*.suo
+*.sdf
+*.opensdf
+ipch
+Debug
+Release

.travis.yml

@@ -0,0 +1,10 @@
+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 .

CHANGELOG.rst

@@ -0,0 +1,85 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+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.

CMakeLists.txt

@@ -1,17 +1,81 @@
-cmake_minimum_required(VERSION 2.4.6)
+cmake_minimum_required(VERSION 2.8.3)
+project(serial)
 
-set(ROS_ROOT $ENV{ROS_ROOT})
+# Find catkin
+find_package(catkin REQUIRED)
 
-option(SERIAL_BUILD_WIHOUT_ROS "Build without ROS?" OFF)
+if(APPLE)
+    find_library(IOKIT_LIBRARY IOKit)
+    find_library(FOUNDATION_LIBRARY Foundation)
+endif()
 
-if(DEFINED ROS_ROOT AND NOT SERIAL_BUILD_WIHOUT_ROS)
+if(UNIX AND NOT APPLE)
-  # Build with ROS
+    # If Linux, add rt and pthread
-  include(serial_ros.cmake)
+    set(rt_LIBRARIES rt)
-  message("Building with ROS")
+    set(pthread_LIBRARIES pthread)
-  build_serial()
+    catkin_package(
-else(DEFINED ROS_ROOT AND NOT SERIAL_BUILD_WIHOUT_ROS)
+        LIBRARIES ${PROJECT_NAME}
-  # Build normally
+        INCLUDE_DIRS include
-  include(serial.cmake)
+        DEPENDS rt pthread
-  message("Building stand alone")
+    )
-  build_serial()
+else()
-endif(DEFINED ROS_ROOT AND NOT SERIAL_BUILD_WIHOUT_ROS)
+    # Otherwise normal call
+    catkin_package(
+        LIBRARIES ${PROJECT_NAME}
+        INCLUDE_DIRS include
+    )
+endif()
+
+## Sources
+set(serial_SRCS
+    src/serial.cc
+    include/serial/serial.h
+    include/serial/v8stdint.h
+)
+if(APPLE)
+    # If OSX
+    list(APPEND serial_SRCS src/impl/unix.cc)
+    list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
+elseif(UNIX)
+    # If unix
+    list(APPEND serial_SRCS src/impl/unix.cc)
+    list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
+else()
+    # If windows
+    list(APPEND serial_SRCS src/impl/win.cc)
+    list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc)
+endif()
+
+## Add serial library
+add_library(${PROJECT_NAME} ${serial_SRCS})
+if(APPLE)
+    target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
+elseif(UNIX)
+    target_link_libraries(${PROJECT_NAME} rt pthread)
+else()
+    target_link_libraries(${PROJECT_NAME} setupapi)
+endif()
+
+## Uncomment for example
+add_executable(serial_example examples/serial_example.cc)
+add_dependencies(serial_example ${PROJECT_NAME})
+target_link_libraries(serial_example ${PROJECT_NAME})
+
+## Include headers
+include_directories(include)
+
+## Install executable
+install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_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()

Findserial.cmake

@@ -1,13 +0,0 @@
-find_path(serial_INCLUDE_DIRS serial.h /usr/include/serial "$ENV{NAMER_ROOT}")
-
-find_library(serial_LIBRARIES serial /usr/lib "$ENV{NAMER_ROOT}")
-
-set(serial_FOUND TRUE)
-
-if (NOT serial_INCLUDE_DIRS)
-    set(serial_FOUND FALSE)
-endif (NOT serial_INCLUDE_DIRS)
-
-if (NOT serial_LIBRARIES)
-    set(serial_FOUND FALSE)
-endif (NOT serial_LIBRARIES)

LICENSE

@@ -0,0 +1,7 @@
+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.

Makefile

@@ -1,5 +1,62 @@
-ifdef ROS_ROOT
+all: serial
-include $(shell rospack find mk)/cmake.mk
+
+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
-include serial.mk
+	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

README.md

@@ -1,92 +1,63 @@
 # Serial Communication Library
 
-## Documentation
+[![Build Status](https://travis-ci.org/wjwwood/serial.svg?branch=master)](https://travis-ci.org/wjwwood/serial)*(Linux and OS X)* [![Build Status](https://ci.appveyor.com/api/projects/status/github/wjwwood/serial)](https://ci.appveyor.com/project/wjwwood/serial)*(Windows)*
 
-Coming Soon!
+This is a cross-platform library for interfacing with rs-232 serial like ports written in C++. It provides a modern C++ interface with a workflow designed to look and feel like PySerial, but with the speed and control provided by C++. 
 
-## Dependencies
+This library is in use in several robotics related projects and can be built and installed to the OS like most unix libraries with make and then sudo make install, but because it is a catkin project it can also be built along side other catkin projects in a catkin workspace.
 
-* CMake, for the build system: http://www.cmake.org/
+Serial is a class that provides the basic interface common to serial libraries (open, close, read, write, etc..) and requires no extra dependencies. It also provides tight control over timeouts and control over handshaking lines. 
-* Boost, for threading: http://www.boost.org/
-* (Optional) ROS
 
-## Stand Alone Installation
+### Documentation
 
-Get the source:
+Website: http://wjwwood.github.io/serial/
 
-    git clone git://github.com/wjwwood/serial.git
+API Documentation: http://wjwwood.github.io/serial/doc/1.1.0/index.html
-    cd serial
 
-Compile the code:
+### Dependencies
+
+Required:
+* [catkin](http://www.ros.org/wiki/catkin) - cmake and Python based buildsystem
+* [cmake](http://www.cmake.org) - buildsystem
+* [Python](http://www.python.org) - scripting language
+  * [empy](http://www.alcyone.com/pyos/empy/) - Python templating library
+  * [catkin_pkg](http://pypi.python.org/pypi/catkin_pkg/) - Runtime Python library for catkin
+
+Optional (for documentation):
+* [Doxygen](http://www.doxygen.org/) - Documentation generation tool
+* [graphviz](http://www.graphviz.org/) - Graph visualization software
+
+### Install
+
+Get the code:
+
+    git clone https://github.com/wjwwood/serial.git
+
+Build:
 
     make
 
-Or run cmake youself:
+Build and run the tests:
 
-    mkdir build && cd build
+    make test
-    cmake ..
-    make
-
-Install the code (UNIX):
-
-    make
-    sudo make install
-
-Uninstall the code (UNIX):
-
-    make
-    sudo make uninstall
 
 Build the documentation:
 
-    Comming Soon!
+    make doc
 
-## Using within ROS workspace
+Install:
 
-Setup workspace (skip if you already have one):
+    make install
 
-    mkdir some_ros_workspace
+### License
-    rosws init some_ros_workspace
-    cd some_ros_workspace
-    source setup.bash
 
-Add the rosinstall entry for this stack:
+[The MIT License](LICENSE)
 
-    echo "- git: {local-name: serial, uri: 'https://github.com/wjwwood/serial.git', version: 'master'}" >> .rosinstall
+### Authors
 
-Rerun rosinstall (note this will change your $ROS_PACKAGE_PATH):
+William Woodall <wjwwood@gmail.com>
+John Harrison <ash.gti@gmail.com>
 
-    rosinstall .
+### Contact
-    source setup.bash
 
-Build the unary stack:
+William Woodall <william@osrfoundation.org>
-
-    rosmake serial --rosdep-install
-
-Run the example:
-
-    rosrun serial serial_example
-
-## License
-
-The BSD License
-
-Copyright (c) 2011 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.

changes.txt

@@ -0,0 +1,10 @@
+# 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.
+

doc/serial.dox

@@ -0,0 +1,58 @@
+/*!
+\mainpage Serial Library
+
+\author William Woodall <wjwwood@gmail.com>, John Harrison <ash@greaterthaninfinity.com>
+
+\section what_is What is serial?
+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.
+
+Want to use it with ROS(Robot Operating System)? No problem, it compiles as a unary stack.
+
+\section getting_started Getting Started
+
+Ready to jump in?
+- Checkout our examples: \ref serial_example.cc
+- Look at the main class documentation: \ref serial::Serial
+
+\section features Features
+- Linux, Mac OS X, and Windows Support
+- Easy to use interface (modeled after PySerial)
+- Minimal dependencies (cmake)
+- Complete timeout control \ref serial::Serial::setTimeout
+- Check and set handshaking lines (CTS, DSR, RI, CD and RTS, DTR)
+- Block for changes in handshaking lines (Linux and Windows)
+- Flush I/O separately and block until all writing done
+
+\section install Installation
+
+\subsection Dependencies
+
+- CMake:
+ - CMake is required for building the system and can be located here: http://www.cmake.org/
+
+\subsection building Compiling
+
+Once you have gathered the dependencies, you need to checkout the software from github.com: 
+
+<pre>
+    git clone git://github.com/wjwwood/serial.git
+</pre>
+
+Once you have checked out the source code from github.com you can enter the directory and build the software.
+
+<pre>
+    cd serial
+    make
+    make test # (optional) builds the example and tests, and runs the tests.
+    make doc  # (optional) builds _this_ documentation.
+</pre>
+
+\subsection installing Installing
+
+To install simply:
+
+<pre>
+    sudo make install
+</pre>
+
+ */

examples/serial_example.cc

@@ -0,0 +1,182 @@
+/***
+ * This example expects the serial port has a loopback on it.
+ *
+ * Alternatively, you could use an Arduino:
+ *
+ * <pre>
+ *  void setup() {
+ *    Serial.begin(<insert your baudrate here>);
+ *  }
+ *
+ *  void loop() {
+ *    if (Serial.available()) {
+ *      Serial.write(Serial.read());
+ *    }
+ *  }
+ * </pre>
+ */
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+
+// OS Specific sleep
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include "serial/serial.h"
+
+using std::string;
+using std::exception;
+using std::cout;
+using std::cerr;
+using std::endl;
+using std::vector;
+
+void my_sleep(unsigned long milliseconds) {
+#ifdef _WIN32
+      Sleep(milliseconds); // 100 ms
+#else
+      usleep(milliseconds*1000); // 100 ms
+#endif
+}
+
+void enumerate_ports()
+{
+	vector<serial::PortInfo> devices_found = serial::list_ports();
+
+	vector<serial::PortInfo>::iterator iter = devices_found.begin();
+
+	while( iter != devices_found.end() )
+	{
+		serial::PortInfo device = *iter++;
+
+		printf( "(%s, %s, %s)\n", device.port.c_str(), device.description.c_str(),
+     device.hardware_id.c_str() );
+	}
+}
+
+void print_usage()
+{
+	cerr << "Usage: test_serial {-e|<serial port address>} ";
+    cerr << "<baudrate> [test string]" << endl;
+}
+
+int run(int argc, char **argv)
+{
+  if(argc < 2) {
+	  print_usage();
+    return 0;
+  }
+
+  // Argument 1 is the serial port or enumerate flag
+  string port(argv[1]);
+
+  if( port == "-e" ) {
+	  enumerate_ports();
+	  return 0;
+  }
+  else if( argc < 3 ) {
+	  print_usage();
+	  return 1;
+  }
+
+  // Argument 2 is the baudrate
+  unsigned long baud = 0;
+#if defined(WIN32) && !defined(__MINGW32__)
+  sscanf_s(argv[2], "%lu", &baud);
+#else
+  sscanf(argv[2], "%lu", &baud);
+#endif
+
+  // port, baudrate, timeout in milliseconds
+  serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1000));
+
+  cout << "Is the serial port open?";
+  if(my_serial.isOpen())
+    cout << " Yes." << endl;
+  else
+    cout << " No." << endl;
+
+  // Get the Test string
+  int count = 0;
+  string test_string;
+  if (argc == 4) {
+    test_string = argv[3];
+  } else {
+    test_string = "Testing.";
+  }
+
+  // Test the timeout, there should be 1 second between prints
+  cout << "Timeout == 1000ms, asking for 1 more byte than written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length()+1);
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  // Test the timeout at 250ms
+  my_serial.setTimeout(serial::Timeout::max(), 250, 0, 250, 0);
+  count = 0;
+  cout << "Timeout == 250ms, asking for 1 more byte than written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length()+1);
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  // Test the timeout at 250ms, but asking exactly for what was written
+  count = 0;
+  cout << "Timeout == 250ms, asking for exactly what was written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length());
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  // Test the timeout at 250ms, but asking for 1 less than what was written
+  count = 0;
+  cout << "Timeout == 250ms, asking for 1 less than was written." << endl;
+  while (count < 10) {
+    size_t bytes_wrote = my_serial.write(test_string);
+
+    string result = my_serial.read(test_string.length()-1);
+
+    cout << "Iteration: " << count << ", Bytes written: ";
+    cout << bytes_wrote << ", Bytes read: ";
+    cout << result.length() << ", String read: " << result << endl;
+
+    count += 1;
+  }
+
+  return 0;
+}
+
+int main(int argc, char **argv) {
+  try {
+    return run(argc, argv);
+  } catch (exception &e) {
+    cerr << "Unhandled Exception: " << e.what() << endl;
+  }
+}

examples/serial_example.cpp

@@ -1,33 +0,0 @@
-#include <string>
-#include <iostream>
-
-#include "serial/serial.h"
-
-int main(int argc, char **argv)
-{
-    if(argc < 2) {
-        std::cerr << "Usage: test_serial <serial port address>" << std::endl;
-        return 0;
-    }
-    std::string port(argv[1]);
-    
-    serial::Serial serial(port, 115200, 250);
-    
-    std::cout << "Is the serial port open?";
-    if(serial.isOpen())
-        std::cout << " Yes." << std::endl;
-    else
-        std::cout << " No." << std::endl;
-    
-    int count = 0;
-    while (count >= 0) {
-        int bytes_wrote = serial.write("Testing.");
-        std::string result = serial.read(8);
-        if(count % 10 == 0)
-            std::cout << ">" << count << ">" << bytes_wrote << ">" << result << std::endl;
-        
-        count += 1;
-    }
-    
-    return 0;
-}

include/serial/impl/unix.h

@@ -0,0 +1,221 @@
+/*!
+ * \file serial/impl/unix.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 unix based pimpl for the Serial class. This implementation is
+ * based off termios.h and uses select for multiplexing the IO ports.
+ *
+ */
+
+#if !defined(_WIN32)
+
+#ifndef SERIAL_IMPL_UNIX_H
+#define SERIAL_IMPL_UNIX_H
+
+#include "serial/serial.h"
+
+#include <pthread.h>
+
+namespace serial {
+
+using std::size_t;
+using std::string;
+using std::invalid_argument;
+
+using serial::SerialException;
+using serial::IOException;
+
+class MillisecondTimer {
+public:
+  MillisecondTimer(const uint32_t millis);         
+  int64_t remaining();
+
+private:
+  static timespec timespec_now();
+  timespec expiry;
+};
+
+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:
+  string port_;               // Path to the file descriptor
+  int fd_;                    // The current file descriptor
+
+  bool is_open_;
+  bool xonxoff_;
+  bool rtscts_;
+
+  Timeout timeout_;           // Timeout for read operations
+  unsigned long baudrate_;    // Baudrate
+  uint32_t byte_time_ns_;     // Nanoseconds to transmit/receive a single byte
+
+  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
+  pthread_mutex_t read_mutex;
+  // Mutex used to lock the write functions
+  pthread_mutex_t write_mutex;
+};
+
+}
+
+#endif // SERIAL_IMPL_UNIX_H
+
+#endif // !defined(_WIN32)

include/serial/impl/win.h

@@ -0,0 +1,207 @@
+/*!
+ * \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)

include/serial/v8stdint.h

@@ -0,0 +1,57 @@
+// 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_

mainpage.dox

@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b serial is ... 
-
-<!-- 
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/

manifest.xml

@@ -1,18 +0,0 @@
-<package>
-  <description brief="serial">
-
-     serial
-
-  </description>
-  <author>William Woodall</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/serial</url>
-  
-  <export>
-    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -lserial"/>
-  </export>
-
-</package>
-
-

package.xml

@@ -0,0 +1,24 @@
+<?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>
+
+</package>

serial.cmake

@@ -1,122 +0,0 @@
-macro(build_serial)
-## Project Setup
-cmake_minimum_required(VERSION 2.4.6)
-
-if(COMMAND cmake_policy)
-    cmake_policy(SET CMP0003 NEW)
-endif(COMMAND cmake_policy)
-
-project(Serial)
-
-## Configurations
-
-option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF)
-option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF)
-
-# Allow for building shared libs override
-IF(NOT BUILD_SHARED_LIBS)
-    set(BUILD_SHARED_LIBS OFF)
-ENDIF(NOT BUILD_SHARED_LIBS)
-
-# Set the default path for built executables to the "bin" directory
-IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
-    set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
-# set the default path for built libraries to the "lib" directory
-IF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
-    set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
-
-## Configure the build system
-
-# Add the include folder to the include path
-include_directories(${PROJECT_SOURCE_DIR}/include)
-
-# Add default source files
-set(SERIAL_SRCS src/serial.cpp)
-# Add default header files
-set(SERIAL_HEADERS include/serial/serial.h)
-
-# Find Boost, if it hasn't already been found
-IF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
-    find_package(Boost COMPONENTS system filesystem thread REQUIRED)
-ENDIF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
-
-link_directories(${Boost_LIBRARY_DIRS})
-include_directories(${Boost_INCLUDE_DIRS})
-
-set(SERIAL_LINK_LIBS ${Boost_SYSTEM_LIBRARY}
-                     ${Boost_FILESYSTEM_LIBRARY}
-                     ${Boost_THREAD_LIBRARY})
-
-## Build the Serial Library
-
-# Compile the Library
-add_library(serial ${SERIAL_SRCS} ${SERIAL_HEADERS})
-target_link_libraries(serial ${SERIAL_LINK_LIBS})
-IF( WIN32 )
-	target_link_libraries(serial wsock32)
-ENDIF( )
-
-# Check for OS X and if so disable kqueue support in asio
-IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
-ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-
-## Build Examples
-
-# If asked to
-IF(SERIAL_BUILD_EXAMPLES)
-    # Compile the Test program
-    add_executable(serial_example examples/serial_example.cpp)
-    # Link the Test program to the Serial library
-    target_link_libraries(serial_example serial)
-ENDIF(SERIAL_BUILD_EXAMPLES)
-
-## Build tests
-
-# If asked to
-IF(SERIAL_BUILD_TESTS)
-    # none yet...
-ENDIF(SERIAL_BUILD_TESTS)
-
-## Setup install and uninstall
-
-# Unless asked not to...
-IF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
-    # Configure make install
-    IF(NOT CMAKE_INSTALL_PREFIX)
-        SET(CMAKE_INSTALL_PREFIX /usr/local)
-    ENDIF(NOT CMAKE_INSTALL_PREFIX)
-    
-    INSTALL(TARGETS serial
-      RUNTIME DESTINATION bin
-      LIBRARY DESTINATION lib
-      ARCHIVE DESTINATION lib
-    )
-    
-    INSTALL(FILES include/serial/serial.h DESTINATION include/serial)
-    
-    IF(NOT CMAKE_FIND_INSTALL_PATH)
-        set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT})
-    ENDIF(NOT CMAKE_FIND_INSTALL_PATH)
-    
-    INSTALL(FILES Findserial.cmake DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/)
-    
-    ADD_CUSTOM_TARGET(uninstall @echo uninstall package)
-    
-    IF (UNIX)
-      ADD_CUSTOM_COMMAND(
-        COMMENT "uninstall package"
-        COMMAND xargs ARGS rm < install_manifest.txt
-        
-        TARGET  uninstall
-      )
-    ELSE(UNIX)
-      ADD_CUSTOM_COMMAND(
-        COMMENT "uninstall only implemented in unix"
-        TARGET  uninstall
-      )
-    ENDIF(UNIX)
-ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
-endmacro(build_serial)

serial.mk

@@ -1,33 +0,0 @@
-all: serial
-
-install:
-	cd build && make install
-
-uninstall:
-	cd build && make uninstall
-
-serial:
-	@mkdir -p build
-	-mkdir -p bin
-	cd build && cmake $(CMAKE_FLAGS) ..
-ifneq ($(MAKE),)
-	cd build && $(MAKE)
-else
-	cd build && make
-endif
-
-clean:
-	-cd build && make clean
-	rm -rf build bin lib
-
-.PHONY: test
-test:
-	@mkdir -p build
-	@mkdir -p bin
-	cd build && cmake $(CMAKE_FLAGS) -DSERIAL_BUILD_TESTS=1 -DSERIAL_BUILD_EXAMPLES=1 ..
-ifneq ($(MAKE),)
-	cd build && $(MAKE)
-else
-	cd build && make
-endif
-    # cd bin && ./serial_tests

serial.sublime-project

@@ -0,0 +1,22 @@
+{
+	"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",
+		]
+	}
+}

serial_ros.cmake

@@ -1,36 +0,0 @@
-macro(build_serial)
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-# Check for OS X and if so disable kqueue support in asio
-IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
-ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-
-# Build the serial library
-rosbuild_add_library(serial src/serial.cpp include/serial/serial.h)
-
-# Add boost dependencies
-rosbuild_add_boost_directories()
-rosbuild_link_boost(serial system filesystem thread)
-
-# Build example
-rosbuild_add_executable(serial_example examples/serial_example.cpp)
-target_link_libraries(serial_example serial)
-
-endmacro(build_serial)

src/impl/list_ports/list_ports_linux.cc

@@ -0,0 +1,336 @@
+#if defined(__linux__)
+
+/*
+ * 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 <vector>
+#include <string>
+#include <sstream>
+#include <stdexcept>
+#include <iostream>
+#include <fstream>
+#include <cstdio>
+#include <cstdarg>
+#include <cstdlib>
+
+#include <glob.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "serial/serial.h"
+
+using serial::PortInfo;
+using std::istringstream;
+using std::ifstream;
+using std::getline;
+using std::vector;
+using std::string;
+using std::cout;
+using std::endl;
+
+static vector<string> glob(const vector<string>& patterns);
+static string basename(const string& path);
+static string dirname(const string& path);
+static bool path_exists(const string& path);
+static string realpath(const string& path);
+static string usb_sysfs_friendly_name(const string& sys_usb_path);
+static vector<string> get_sysfs_info(const string& device_path);
+static string read_line(const string& file);
+static string usb_sysfs_hw_string(const string& sysfs_path);
+static string format(const char* format, ...);
+
+vector<string>
+glob(const vector<string>& patterns)
+{
+    vector<string> paths_found;
+
+	if(patterns.size() == 0)
+	    return paths_found;
+
+    glob_t glob_results;
+
+    int glob_retval = glob(patterns[0].c_str(), 0, NULL, &glob_results);
+
+    vector<string>::const_iterator iter = patterns.begin();
+
+    while(++iter != patterns.end())
+    {
+        glob_retval = glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results);
+    }
+
+    for(int path_index = 0; path_index < glob_results.gl_pathc; path_index++)
+    {
+        paths_found.push_back(glob_results.gl_pathv[path_index]);
+    }
+
+    globfree(&glob_results);
+
+    return paths_found;
+}
+
+string
+basename(const string& path)
+{
+    size_t pos = path.rfind("/");
+
+    if(pos == std::string::npos)
+        return path;
+
+    return string(path, pos+1, string::npos);
+}
+
+string
+dirname(const string& path)
+{
+    size_t pos = path.rfind("/");
+
+    if(pos == std::string::npos)
+        return path;
+    else if(pos == 0)
+        return "/";
+
+    return string(path, 0, pos);
+}
+
+bool
+path_exists(const string& path)
+{
+    struct stat sb;
+
+    if( stat(path.c_str(), &sb ) == 0 )
+        return true;
+
+    return false;
+}
+
+string
+realpath(const string& path)
+{
+    char* real_path = realpath(path.c_str(), NULL);
+
+    string result;
+
+    if(real_path != NULL)
+    {
+        result = real_path;
+
+        free(real_path);
+    }
+
+    return result;
+}
+
+string
+usb_sysfs_friendly_name(const string& sys_usb_path)
+{
+    unsigned int device_number = 0;
+
+    istringstream( read_line(sys_usb_path + "/devnum") ) >> device_number;
+
+    string manufacturer = read_line( sys_usb_path + "/manufacturer" );
+
+    string product = read_line( sys_usb_path + "/product" );
+
+    string serial = read_line( sys_usb_path + "/serial" );
+
+    if( manufacturer.empty() && product.empty() && serial.empty() )
+        return "";
+
+    return format("%s %s %s", manufacturer.c_str(), product.c_str(), serial.c_str() );
+}
+
+vector<string>
+get_sysfs_info(const string& device_path)
+{
+    string device_name = basename( device_path );
+
+    string friendly_name;
+
+    string hardware_id;
+
+    string sys_device_path = format( "/sys/class/tty/%s/device", device_name.c_str() );
+
+    if( device_name.compare(0,6,"ttyUSB") == 0 )
+    {
+        sys_device_path = dirname( dirname( realpath( sys_device_path ) ) );
+
+        if( path_exists( sys_device_path ) )
+        {
+            friendly_name = usb_sysfs_friendly_name( sys_device_path );
+
+            hardware_id = usb_sysfs_hw_string( sys_device_path );
+        }
+    }
+    else if( device_name.compare(0,6,"ttyACM") == 0 )
+    {
+        sys_device_path = dirname( realpath( sys_device_path ) );
+
+        if( path_exists( sys_device_path ) )
+        {
+            friendly_name = usb_sysfs_friendly_name( sys_device_path );
+
+            hardware_id = usb_sysfs_hw_string( sys_device_path );
+        }
+    }
+    else
+    {
+        // Try to read ID string of PCI device
+
+        string sys_id_path = sys_device_path + "/id";
+
+        if( path_exists( sys_id_path ) )
+            hardware_id = read_line( sys_id_path );
+    }
+
+    if( friendly_name.empty() )
+        friendly_name = device_name;
+
+    if( hardware_id.empty() )
+        hardware_id = "n/a";
+
+    vector<string> result;
+    result.push_back(friendly_name);
+    result.push_back(hardware_id);
+
+    return result;
+}
+
+string
+read_line(const string& file)
+{
+    ifstream ifs(file.c_str(), ifstream::in);
+
+    string line;
+
+    if(ifs)
+    {
+        getline(ifs, line);
+    }
+
+    return line;
+}
+
+string
+format(const char* format, ...)
+{
+    va_list ap;
+
+    size_t buffer_size_bytes = 256;
+
+    string result;
+
+    char* buffer = (char*)malloc(buffer_size_bytes);
+
+    if( buffer == NULL )
+        return result;
+
+    bool done = false;
+
+    unsigned int loop_count = 0;
+
+    while(!done)
+    {
+        va_start(ap, format);
+
+        int return_value = vsnprintf(buffer, buffer_size_bytes, format, ap);
+
+        if( return_value < 0 )
+        {
+            done = true;
+        }
+        else if( return_value >= buffer_size_bytes )
+        {
+            // Realloc and try again.
+
+            buffer_size_bytes = return_value + 1;
+
+            char* new_buffer_ptr = (char*)realloc(buffer, buffer_size_bytes);
+
+            if( new_buffer_ptr == NULL )
+            {
+                done = true;
+            }
+            else
+            {
+                buffer = new_buffer_ptr;
+            }
+        }
+        else
+        {
+            result = buffer;
+            done = true;
+        }
+
+        va_end(ap);
+
+        if( ++loop_count > 5 )
+            done = true;
+    }
+
+    free(buffer);
+
+    return result;
+}
+
+string
+usb_sysfs_hw_string(const string& sysfs_path)
+{
+    string serial_number = read_line( sysfs_path + "/serial" );
+
+    if( serial_number.length() > 0 )
+    {
+        serial_number = format( "SNR=%s", serial_number.c_str() );
+    }
+
+    string vid = read_line( sysfs_path + "/idVendor" );
+
+    string pid = read_line( sysfs_path + "/idProduct" );
+
+    return format("USB VID:PID=%s:%s %s", vid.c_str(), pid.c_str(), serial_number.c_str() );
+}
+
+vector<PortInfo>
+serial::list_ports()
+{
+    vector<PortInfo> results;
+
+    vector<string> search_globs;
+    search_globs.push_back("/dev/ttyACM*");
+    search_globs.push_back("/dev/ttyS*");
+    search_globs.push_back("/dev/ttyUSB*");
+    search_globs.push_back("/dev/tty.*");
+    search_globs.push_back("/dev/cu.*");
+    search_globs.push_back("/dev/rfcomm*");
+
+    vector<string> devices_found = glob( search_globs );
+
+    vector<string>::iterator iter = devices_found.begin();
+
+    while( iter != devices_found.end() )
+    {
+        string device = *iter++;
+
+        vector<string> sysfs_info = get_sysfs_info( device );
+
+        string friendly_name = sysfs_info[0];
+
+        string hardware_id = sysfs_info[1];
+
+        PortInfo device_entry;
+        device_entry.port = device;
+        device_entry.description = friendly_name;
+        device_entry.hardware_id = hardware_id;
+
+        results.push_back( device_entry );
+
+    }
+
+    return results;
+}
+
+#endif // defined(__linux__)

src/impl/list_ports/list_ports_osx.cc

@@ -0,0 +1,286 @@
+#if defined(__APPLE__)
+
+#include <sys/param.h>
+#include <stdint.h>
+
+#include <CoreFoundation/CoreFoundation.h>
+#include <IOKit/IOKitLib.h>
+#include <IOKit/serial/IOSerialKeys.h>
+#include <IOKit/IOBSD.h>
+
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include "serial/serial.h"
+
+using serial::PortInfo;
+using std::string;
+using std::vector;
+
+#define HARDWARE_ID_STRING_LENGTH 128
+
+string cfstring_to_string( CFStringRef cfstring );
+string get_device_path( io_object_t& serial_port );
+string get_class_name( io_object_t& obj );
+io_registry_entry_t get_parent_iousb_device( io_object_t& serial_port );
+string get_string_property( io_object_t& device, const char* property );
+uint16_t get_int_property( io_object_t& device, const char* property );
+string rtrim(const string& str);
+
+string
+cfstring_to_string( CFStringRef cfstring )
+{
+    char cstring[MAXPATHLEN];
+    string result;
+
+    if( cfstring )
+    {
+        Boolean success = CFStringGetCString( cfstring,
+            cstring,
+            sizeof(cstring),
+            kCFStringEncodingASCII );
+
+        if( success )
+            result = cstring;
+    }
+
+    return result;
+}
+
+string
+get_device_path( io_object_t& serial_port )
+{
+    CFTypeRef callout_path;
+    string device_path;
+
+    callout_path = IORegistryEntryCreateCFProperty( serial_port,
+        CFSTR(kIOCalloutDeviceKey),
+        kCFAllocatorDefault,
+        0 );
+
+    if (callout_path)
+    {
+        if( CFGetTypeID(callout_path) == CFStringGetTypeID() )
+            device_path = cfstring_to_string( static_cast<CFStringRef>(callout_path) );
+
+        CFRelease(callout_path);
+    }
+
+    return device_path;
+}
+
+string
+get_class_name( io_object_t& obj )
+{
+    string result;
+    io_name_t class_name;
+    kern_return_t kern_result;
+
+    kern_result = IOObjectGetClass( obj, class_name );
+
+    if( kern_result == KERN_SUCCESS )
+        result = class_name;
+
+    return result;
+}
+
+io_registry_entry_t
+get_parent_iousb_device( io_object_t& serial_port )
+{
+    io_object_t device = serial_port;
+    io_registry_entry_t parent = 0;
+    io_registry_entry_t result = 0;
+    kern_return_t kern_result = KERN_FAILURE;
+    string name = get_class_name(device);
+
+    // Walk the IO Registry tree looking for this devices parent IOUSBDevice.
+    while( name != "IOUSBDevice" )
+    {
+        kern_result = IORegistryEntryGetParentEntry( device,
+        kIOServicePlane,
+        &parent );
+
+        if(kern_result != KERN_SUCCESS)
+        {
+            result = 0;
+            break;
+        }
+
+        device = parent;
+
+        name = get_class_name(device);
+    }
+
+    if(kern_result == KERN_SUCCESS)
+        result = device;
+
+    return result;
+}
+
+string
+get_string_property( io_object_t& device, const char* property )
+{
+    string property_name;
+
+    if( device )
+    {
+        CFStringRef property_as_cfstring = CFStringCreateWithCString (
+            kCFAllocatorDefault,
+            property,
+            kCFStringEncodingASCII );
+
+        CFTypeRef name_as_cfstring = IORegistryEntryCreateCFProperty(
+            device,
+            property_as_cfstring,
+            kCFAllocatorDefault,
+            0 );
+
+        if( name_as_cfstring )
+        {
+            if( CFGetTypeID(name_as_cfstring) == CFStringGetTypeID() )
+                property_name = cfstring_to_string( static_cast<CFStringRef>(name_as_cfstring) );
+
+            CFRelease(name_as_cfstring);
+        }
+
+        if(property_as_cfstring)
+            CFRelease(property_as_cfstring);
+    }
+
+    return property_name;
+}
+
+uint16_t
+get_int_property( io_object_t& device, const char* property )
+{
+    uint16_t result = 0;
+
+    if( device )
+    {
+        CFStringRef property_as_cfstring = CFStringCreateWithCString (
+            kCFAllocatorDefault,
+            property,
+            kCFStringEncodingASCII );
+
+        CFTypeRef number = IORegistryEntryCreateCFProperty( device,
+            property_as_cfstring,
+            kCFAllocatorDefault,
+            0 );
+
+        if(property_as_cfstring)
+            CFRelease(property_as_cfstring);
+
+        if( number )
+        {
+            if( CFGetTypeID(number) == CFNumberGetTypeID() )
+            {
+                bool success = CFNumberGetValue( static_cast<CFNumberRef>(number),
+                    kCFNumberSInt16Type,
+                    &result );
+
+                if( !success )
+                    result = 0;
+            }
+
+            CFRelease(number);
+        }
+
+    }
+
+    return result;
+}
+
+string rtrim(const string& str)
+{
+    string result = str;
+
+    string whitespace = " \t\f\v\n\r";
+
+    std::size_t found = result.find_last_not_of(whitespace);
+
+    if (found != std::string::npos)
+        result.erase(found+1);
+    else
+        result.clear();
+
+    return result;
+}
+
+vector<PortInfo>
+serial::list_ports(void)
+{
+    vector<PortInfo> devices_found;
+    CFMutableDictionaryRef classes_to_match;
+    io_iterator_t serial_port_iterator;
+    io_object_t serial_port;
+    mach_port_t master_port;
+    kern_return_t kern_result;
+
+    kern_result = IOMasterPort(MACH_PORT_NULL, &master_port);
+
+    if(kern_result != KERN_SUCCESS)
+        return devices_found;
+
+    classes_to_match = IOServiceMatching(kIOSerialBSDServiceValue);
+
+    if (classes_to_match == NULL)
+        return devices_found;
+
+    CFDictionarySetValue( classes_to_match,
+        CFSTR(kIOSerialBSDTypeKey),
+        CFSTR(kIOSerialBSDAllTypes) );
+
+    kern_result = IOServiceGetMatchingServices(master_port, classes_to_match, &serial_port_iterator);
+
+    if (KERN_SUCCESS != kern_result)
+        return devices_found;
+
+    while ( (serial_port = IOIteratorNext(serial_port_iterator)) )
+    {
+        string device_path = get_device_path( serial_port );
+        io_registry_entry_t parent = get_parent_iousb_device( serial_port );
+        IOObjectRelease(serial_port);
+
+        if( device_path.empty() )
+            continue;
+
+        PortInfo port_info;
+        port_info.port = device_path;
+        port_info.description = "n/a";
+        port_info.hardware_id = "n/a";
+
+        string device_name = rtrim( get_string_property( parent, "USB Product Name" ) );
+        string vendor_name = rtrim( get_string_property( parent, "USB Vendor Name") );
+        string description = rtrim( vendor_name + " " + device_name );
+        if( !description.empty() )
+            port_info.description = description;
+
+        string serial_number = rtrim(get_string_property( parent, "USB Serial Number" ) );
+        uint16_t vendor_id = get_int_property( parent, "idVendor" );
+        uint16_t product_id = get_int_property( parent, "idProduct" );
+
+        if( vendor_id && product_id )
+        {
+            char cstring[HARDWARE_ID_STRING_LENGTH];
+
+            if(serial_number.empty())
+                serial_number = "None";
+
+            int ret = snprintf( cstring, HARDWARE_ID_STRING_LENGTH, "USB VID:PID=%04x:%04x SNR=%s",
+                vendor_id,
+                product_id,
+                serial_number.c_str() );
+
+            if( (ret >= 0) && (ret < HARDWARE_ID_STRING_LENGTH) )
+                port_info.hardware_id = cstring;
+        }
+
+        devices_found.push_back(port_info);
+    }
+
+    IOObjectRelease(serial_port_iterator);
+    return devices_found;
+}
+
+#endif // defined(__APPLE__)

src/impl/list_ports/list_ports_win.cc

@@ -0,0 +1,152 @@
+#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)

src/impl/win.cc

@@ -0,0 +1,646 @@
+#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(0, windows_com_port_prefix.size(), 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)
+

src/serial.cc

@@ -0,0 +1,432 @@
+/* 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;
+using std::numeric_limits;
+using std::vector;
+using std::size_t;
+using std::string;
+
+using serial::Serial;
+using serial::SerialException;
+using serial::IOException;
+using serial::bytesize_t;
+using serial::parity_t;
+using serial::stopbits_t;
+using serial::flowcontrol_t;
+
+class Serial::ScopedReadLock {
+public:
+  ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->readLock();
+  }
+  ~ScopedReadLock() {
+    this->pimpl_->readUnlock();
+  }
+private:
+  // Disable copy constructors
+  ScopedReadLock(const ScopedReadLock&);
+  const ScopedReadLock& operator=(ScopedReadLock);
+
+  SerialImpl *pimpl_;
+};
+
+class Serial::ScopedWriteLock {
+public:
+  ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->writeLock();
+  }
+  ~ScopedWriteLock() {
+    this->pimpl_->writeUnlock();
+  }
+private:
+  // Disable copy constructors
+  ScopedWriteLock(const ScopedWriteLock&);
+  const ScopedWriteLock& operator=(ScopedWriteLock);
+  SerialImpl *pimpl_;
+};
+
+Serial::Serial (const string &port, uint32_t baudrate, serial::Timeout timeout,
+                bytesize_t bytesize, parity_t parity, stopbits_t stopbits,
+                flowcontrol_t flowcontrol)
+ : pimpl_(new SerialImpl (port, baudrate, bytesize, parity,
+                                           stopbits, flowcontrol))
+{
+  pimpl_->setTimeout(timeout);
+}
+
+Serial::~Serial ()
+{
+  delete pimpl_;
+}
+
+void
+Serial::open ()
+{
+  pimpl_->open ();
+}
+
+void
+Serial::close ()
+{
+  pimpl_->close ();
+}
+
+bool
+Serial::isOpen () const
+{
+  return pimpl_->isOpen ();
+}
+
+size_t
+Serial::available ()
+{
+  return pimpl_->available ();
+}
+
+bool
+Serial::waitReadable ()
+{
+  serial::Timeout timeout(pimpl_->getTimeout ());
+  return pimpl_->waitReadable(timeout.read_timeout_constant);
+}
+
+void
+Serial::waitByteTimes (size_t count)
+{
+  pimpl_->waitByteTimes(count);
+}
+
+size_t
+Serial::read_ (uint8_t *buffer, size_t size)
+{
+  return this->pimpl_->read (buffer, size);
+}
+
+size_t
+Serial::read (uint8_t *buffer, size_t size)
+{
+  ScopedReadLock lock(this->pimpl_);
+  return this->pimpl_->read (buffer, size);
+}
+
+size_t
+Serial::read (std::vector<uint8_t> &buffer, size_t size)
+{
+  ScopedReadLock lock(this->pimpl_);
+  uint8_t *buffer_ = new uint8_t[size];
+  size_t bytes_read = 0;
+
+  try {
+    bytes_read = this->pimpl_->read (buffer_, size);
+  }
+  catch (const std::exception &e) {
+    delete[] buffer_;
+    throw;
+  }
+
+  buffer.insert (buffer.end (), buffer_, buffer_+bytes_read);
+  delete[] buffer_;
+  return bytes_read;
+}
+
+size_t
+Serial::read (std::string &buffer, size_t size)
+{
+  ScopedReadLock lock(this->pimpl_);
+  uint8_t *buffer_ = new uint8_t[size];
+  size_t bytes_read = 0;
+  try {
+    bytes_read = this->pimpl_->read (buffer_, size);
+  }
+  catch (const std::exception &e) {
+    delete[] buffer_;
+    throw;
+  }
+  buffer.append (reinterpret_cast<const char*>(buffer_), bytes_read);
+  delete[] buffer_;
+  return bytes_read;
+}
+
+string
+Serial::read (size_t size)
+{
+  std::string buffer;
+  this->read (buffer, size);
+  return buffer;
+}
+
+size_t
+Serial::readline (string &buffer, size_t size, string eol)
+{
+  ScopedReadLock lock(this->pimpl_);
+  size_t eol_len = eol.length ();
+  uint8_t *buffer_ = static_cast<uint8_t*>
+                              (alloca (size * sizeof (uint8_t)));
+  size_t read_so_far = 0;
+  while (true)
+  {
+    size_t bytes_read = this->read_ (buffer_ + read_so_far, 1);
+    read_so_far += bytes_read;
+    if (bytes_read == 0) {
+      break; // Timeout occured on reading 1 byte
+    }
+    if(read_so_far < eol_len) continue;
+    if (string (reinterpret_cast<const char*>
+         (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+      break; // EOL found
+    }
+    if (read_so_far == size) {
+      break; // Reached the maximum read length
+    }
+  }
+  buffer.append(reinterpret_cast<const char*> (buffer_), read_so_far);
+  return read_so_far;
+}
+
+string
+Serial::readline (size_t size, string eol)
+{
+  std::string buffer;
+  this->readline (buffer, size, eol);
+  return buffer;
+}
+
+vector<string>
+Serial::readlines (size_t size, string eol)
+{
+  ScopedReadLock lock(this->pimpl_);
+  std::vector<std::string> lines;
+  size_t eol_len = eol.length ();
+  uint8_t *buffer_ = static_cast<uint8_t*>
+    (alloca (size * sizeof (uint8_t)));
+  size_t read_so_far = 0;
+  size_t start_of_line = 0;
+  while (read_so_far < size) {
+    size_t bytes_read = this->read_ (buffer_+read_so_far, 1);
+    read_so_far += bytes_read;
+    if (bytes_read == 0) {
+      if (start_of_line != read_so_far) {
+        lines.push_back (
+          string (reinterpret_cast<const char*> (buffer_ + start_of_line),
+            read_so_far - start_of_line));
+      }
+      break; // Timeout occured on reading 1 byte
+    }
+    if(read_so_far < eol_len) continue;
+    if (string (reinterpret_cast<const char*>
+         (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+      // EOL found
+      lines.push_back(
+        string(reinterpret_cast<const char*> (buffer_ + start_of_line),
+          read_so_far - start_of_line));
+      start_of_line = read_so_far;
+    }
+    if (read_so_far == size) {
+      if (start_of_line != read_so_far) {
+        lines.push_back(
+          string(reinterpret_cast<const char*> (buffer_ + start_of_line),
+            read_so_far - start_of_line));
+      }
+      break; // Reached the maximum read length
+    }
+  }
+  return lines;
+}
+
+size_t
+Serial::write (const string &data)
+{
+  ScopedWriteLock lock(this->pimpl_);
+  return this->write_ (reinterpret_cast<const uint8_t*>(data.c_str()),
+                       data.length());
+}
+
+size_t
+Serial::write (const std::vector<uint8_t> &data)
+{
+  ScopedWriteLock lock(this->pimpl_);
+  return this->write_ (&data[0], data.size());
+}
+
+size_t
+Serial::write (const uint8_t *data, size_t size)
+{
+  ScopedWriteLock lock(this->pimpl_);
+  return this->write_(data, size);
+}
+
+size_t
+Serial::write_ (const uint8_t *data, size_t length)
+{
+  return pimpl_->write (data, length);
+}
+
+void
+Serial::setPort (const string &port)
+{
+  ScopedReadLock rlock(this->pimpl_);
+  ScopedWriteLock wlock(this->pimpl_);
+  bool was_open = pimpl_->isOpen ();
+  if (was_open) close();
+  pimpl_->setPort (port);
+  if (was_open) open ();
+}
+
+string
+Serial::getPort () const
+{
+  return pimpl_->getPort ();
+}
+
+void
+Serial::setTimeout (serial::Timeout &timeout)
+{
+  pimpl_->setTimeout (timeout);
+}
+
+serial::Timeout
+Serial::getTimeout () const {
+  return pimpl_->getTimeout ();
+}
+
+void
+Serial::setBaudrate (uint32_t baudrate)
+{
+  pimpl_->setBaudrate (baudrate);
+}
+
+uint32_t
+Serial::getBaudrate () const
+{
+  return uint32_t(pimpl_->getBaudrate ());
+}
+
+void
+Serial::setBytesize (bytesize_t bytesize)
+{
+  pimpl_->setBytesize (bytesize);
+}
+
+bytesize_t
+Serial::getBytesize () const
+{
+  return pimpl_->getBytesize ();
+}
+
+void
+Serial::setParity (parity_t parity)
+{
+  pimpl_->setParity (parity);
+}
+
+parity_t
+Serial::getParity () const
+{
+  return pimpl_->getParity ();
+}
+
+void
+Serial::setStopbits (stopbits_t stopbits)
+{
+  pimpl_->setStopbits (stopbits);
+}
+
+stopbits_t
+Serial::getStopbits () const
+{
+  return pimpl_->getStopbits ();
+}
+
+void
+Serial::setFlowcontrol (flowcontrol_t flowcontrol)
+{
+  pimpl_->setFlowcontrol (flowcontrol);
+}
+
+flowcontrol_t
+Serial::getFlowcontrol () const
+{
+  return pimpl_->getFlowcontrol ();
+}
+
+void Serial::flush ()
+{
+  ScopedReadLock rlock(this->pimpl_);
+  ScopedWriteLock wlock(this->pimpl_);
+  pimpl_->flush ();
+}
+
+void Serial::flushInput ()
+{
+  ScopedReadLock lock(this->pimpl_);
+  pimpl_->flushInput ();
+}
+
+void Serial::flushOutput ()
+{
+  ScopedWriteLock lock(this->pimpl_);
+  pimpl_->flushOutput ();
+}
+
+void Serial::sendBreak (int duration)
+{
+  pimpl_->sendBreak (duration);
+}
+
+void Serial::setBreak (bool level)
+{
+  pimpl_->setBreak (level);
+}
+
+void Serial::setRTS (bool level)
+{
+  pimpl_->setRTS (level);
+}
+
+void Serial::setDTR (bool level)
+{
+  pimpl_->setDTR (level);
+}
+
+bool Serial::waitForChange()
+{
+  return pimpl_->waitForChange();
+}
+
+bool Serial::getCTS ()
+{
+  return pimpl_->getCTS ();
+}
+
+bool Serial::getDSR ()
+{
+  return pimpl_->getDSR ();
+}
+
+bool Serial::getRI ()
+{
+  return pimpl_->getRI ();
+}
+
+bool Serial::getCD ()
+{
+  return pimpl_->getCD ();
+}

src/serial.cpp

@@ -1,466 +0,0 @@
-#include "serial/serial.h"
-#include <iostream>
-
-using namespace serial;
-
-/** Completion Conditions **/
-
-class transfer_at_least_ignore_invalid_argument {
-public:
-    typedef bool result_type;
-    
-    explicit transfer_at_least_ignore_invalid_argument(std::size_t minimum) : minimum_(minimum) {}
-    
-    template <typename Error>
-    bool operator()(const Error& err, std::size_t bytes_transferred) {
-        if(err) {// There is an Error
-            if(err == boost::asio::error::invalid_argument)
-                std::cout << "Invalid Argument Error" << std::endl;
-            if(err == boost::asio::error::operation_aborted) {
-                return 1;
-            }
-            if(err != boost::asio::error::invalid_argument) {// The Error is not invalid argument
-                return 1; // Stop reading
-            }
-        }
-        if(bytes_transferred >= minimum_) {// We have all the bytes we need
-            return 1; // Stop
-        } else {
-            return 0; // Continue
-        }
-    }
-    
-private:
-    std::size_t minimum_;
-};
-
-/** Classes for Handshaking control **/
-
-#if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-# define BOOST_ASIO_OPTION_STORAGE DCB
-#else
-# define BOOST_ASIO_OPTION_STORAGE termios
-#endif
-
-class DTRControl {
-public:
-    explicit DTRControl(bool enable = false) : m_enable(enable) {};
-    
-    boost::system::error_code store(BOOST_ASIO_OPTION_STORAGE& storage,
-                                    boost::system::error_code& ec) const
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(m_enable)
-                storage.fDtrControl = DTR_CONTROL_ENABLE;
-            else
-                storage.fDtrControl = DTR_CONTROL_DISABLE;
-        #else
-            ec = boost::asio::error::operation_not_supported;
-            ec = boost::system::error_code();
-        #endif
-        return ec;
-    };
-    
-    boost::system::error_code load(const BOOST_ASIO_OPTION_STORAGE& storage,
-                                   boost::system::error_code& ec)
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(storage.fDtrControl == DTR_CONTROL_ENABLE)
-                m_enable = true;
-            else
-                m_enable = true;
-        #else
-        #endif
-        return ec;
-    };
-private:
-    bool m_enable;
-};
-
-class RTSControl {
-public:
-    explicit RTSControl(bool enable = false) : m_enable(enable) {};
-    boost::system::error_code store(BOOST_ASIO_OPTION_STORAGE& storage,
-                                    boost::system::error_code& ec) const
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(m_enable)
-                storage.fRtsControl = RTS_CONTROL_ENABLE;
-            else
-                storage.fRtsControl = RTS_CONTROL_DISABLE;
-        #else
-            ec = boost::asio::error::operation_not_supported;
-            ec = boost::system::error_code();
-        #endif
-        return ec;
-    };
-    
-    boost::system::error_code load(const BOOST_ASIO_OPTION_STORAGE& storage,
-                                   boost::system::error_code& ec)
-    {
-        #if defined(BOOST_WINDOWS) || defined(__CYGWIN__)
-            if(storage.fRtsControl == RTS_CONTROL_ENABLE)
-                m_enable = true;
-            else
-                m_enable = true;
-        #else
-        #endif
-        return ec;
-    };
-private:
-    bool m_enable;
-};
-
-/** Serial Class Implementation **/
-
-Serial::Serial() : io_service(), work(io_service), timeout_timer(io_service) {
-    this->init();
-}
-
-Serial::Serial(std::string port,
-               int baudrate,
-               long timeout,
-               bytesize_t bytesize,
-               parity_t parity,
-               stopbits_t stopbits,
-               flowcontrol_t flowcontrol)
-               : io_service(), work(io_service), timeout_timer(io_service)
-{
-    // Call default constructor to initialize variables
-    this->init();
-    
-    // Write provided settings
-    this->port = port;
-    this->setBaudrate(baudrate);
-    this->setTimeoutMilliseconds(timeout);
-    this->setBytesize(bytesize);
-    this->setParity(parity);
-    this->setStopbits(stopbits);
-    this->setFlowcontrol(flowcontrol);
-    
-    // Open the serial port
-    this->open();
-}
-
-void Serial::init() {
-    // Boost asio variables
-    this->serial_port.reset();
-    
-    // Serial Port settings
-    this->port = "";
-    this->setBaudrate(DEFAULT_BAUDRATE);
-    this->setTimeoutMilliseconds(DEFAULT_TIMEOUT);
-    
-    // Private variables
-    this->bytes_read = 0;
-    this->bytes_to_read = 0;
-    this->reading = false;
-    this->nonblocking = false;
-}
-
-Serial::~Serial() {
-    this->close();
-}
-
-void Serial::open() {
-    // Make sure the Serial port is not already open.
-    if(this->serial_port != NULL && this->serial_port->is_open()) {
-        throw(SerialPortAlreadyOpenException(this->port.c_str()));
-    }
-    
-    // Try to open the serial port
-    try {
-        this->serial_port.reset(new boost::asio::serial_port(this->io_service, this->port));
-        
-        this->serial_port->set_option(this->baudrate);
-        this->serial_port->set_option(this->flowcontrol);
-        this->serial_port->set_option(this->parity);
-        this->serial_port->set_option(this->stopbits);
-        this->serial_port->set_option(this->bytesize);
-    } catch(std::exception &e) {
-        this->serial_port.reset();
-        throw(SerialPortFailedToOpenException(e.what()));
-    }
-}
-
-bool Serial::isOpen() {
-    if(this->serial_port != NULL)
-        return this->serial_port->is_open();
-    return false;
-}
-
-void Serial::close() {
-    // Cancel the current timeout timer and async reads
-    this->timeout_timer.cancel();
-    if(this->serial_port != NULL) {
-        this->serial_port->cancel();
-        this->serial_port->close();
-        this->serial_port.reset();
-    }
-}
-
-static const boost::posix_time::time_duration timeout_zero_comparison(boost::posix_time::milliseconds(0));
-
-int Serial::read(char* buffer, int size) {
-    this->reading = true;
-    if(this->nonblocking) {// Do not wait for data
-        this->serial_port->async_read_some(boost::asio::buffer(buffer, size),
-                                boost::bind(&Serial::read_complete, this,
-                                boost::asio::placeholders::error,
-                                boost::asio::placeholders::bytes_transferred));
-    } else {               // Wait for data until size is read or timeout occurs
-        boost::asio::async_read(*this->serial_port, boost::asio::buffer(buffer, size), transfer_at_least_ignore_invalid_argument(size),
-                                boost::bind(&Serial::read_complete, this,
-                                boost::asio::placeholders::error,
-                                boost::asio::placeholders::bytes_transferred));
-    }
-    if(this->timeout > timeout_zero_comparison) { // Only set a timeout_timer if there is a valid timeout
-        this->timeout_timer.expires_from_now(this->timeout);
-        this->timeout_timer.async_wait(boost::bind(&Serial::timeout_callback, this,
-                                 boost::asio::placeholders::error));
-    } else if(this->nonblocking) {
-        this->timeout_timer.expires_from_now(boost::posix_time::milliseconds(1));
-        this->timeout_timer.async_wait(boost::bind(&Serial::timeout_callback, this,
-                                 boost::asio::placeholders::error));
-    }
-    
-    while(this->reading)
-        this->io_service.run_one();
-    
-    this->bytes_to_read = size;
-    
-    return this->bytes_read;
-}
-
-std::string Serial::read(int size) {
-    char *serial_buffer = new char[size];
-    int bytes_read_ = this->read(serial_buffer, size);
-    std::string return_str(serial_buffer, (std::size_t)bytes_read_);
-    delete[] serial_buffer;
-    return return_str;
-}
-
-std::string 
-Serial::read_until(char delim, size_t size) {
-    using namespace std;
-    string r = "";
-    
-    while (r.find(delim) == string::npos) {
-        string s = read(1);
-        if (s.length() > 0) 
-            r += s;
-    }
-    
-    return r;
-}
-
-std::string 
-Serial::read_until(std::string delim, size_t size) {
-    using namespace std;
-    string r = "";
-    
-    while (r.find(delim) == string::npos) {
-        string s = read(1);
-        if (s.length() > 0) 
-            r += s;
-    }
-    
-    return r;
-}
-
-void Serial::read_complete(const boost::system::error_code& error, std::size_t bytes_transferred) {
-    if(!error || error != boost::asio::error::operation_aborted) { // If there was no error OR the error wasn't operation aborted (canceled), Cancel the timer
-        this->timeout_timer.cancel();  // will cause timeout_callback to fire with an error
-    }
-    
-    this->bytes_read = bytes_transferred;
-    
-    this->reading = false;
-}
-
-void Serial::timeout_callback(const boost::system::error_code& error) {
-    if (!error) {
-        // The timeout wasn't canceled, so cancel the async read
-        this->serial_port->cancel();
-    }
-}
-
-int Serial::write(char data[], int length) {
-    return boost::asio::write(*this->serial_port, boost::asio::buffer(data, length), boost::asio::transfer_all());
-}
-
-int Serial::write(std::string data) {
-    char *cstr = new char[data.size()+1];
-    std::strcpy(cstr, data.c_str());
-    int bytes_wrote = this->write(cstr, data.length());
-    delete[] cstr;
-    return bytes_wrote;
-}
-
-void Serial::setRTS(bool level) {
-    this->serial_port->set_option(RTSControl(level));
-}
-
-void Serial::setDTR(bool level) {
-    this->serial_port->set_option(DTRControl(level));
-}
-
-bool Serial::getCTS() const {
-    throw(boost::asio::error::operation_not_supported);
-    return false;
-}
-
-bool Serial::getDSR() const {
-    throw(boost::asio::error::operation_not_supported);
-    return false;
-}
-
-void Serial::setPort(std::string port) {
-    this->port = port;
-}
-
-std::string Serial::getPort() const {
-    return this->port;
-}
-
-void Serial::setTimeoutMilliseconds(long timeout) {
-    // If timeout > 0 then read until size or timeout occurs
-    // If timeout == 0 then read nonblocking, return data available immediately up to size
-    // If timeout < 0 then read blocking, until size is read, period.
-    if(timeout > 0) {
-        this->timeout = boost::posix_time::time_duration(boost::posix_time::milliseconds(timeout));
-    } else {
-        this->timeout = boost::posix_time::time_duration(boost::posix_time::milliseconds(0));
-    }
-    
-    if(timeout == 0)
-        this->nonblocking = true;
-    else // Must be negative
-        this->nonblocking = false;
-}
-
-long Serial::getTimeoutMilliseconds() const {
-    return this->timeout.total_milliseconds();
-}
-
-void Serial::setBaudrate(int baudrate) {
-    this->baudrate = boost::asio::serial_port_base::baud_rate(baudrate);
-}
-
-int Serial::getBaudrate() const {
-    return this->baudrate.value();
-}
-
-void Serial::setBytesize(bytesize_t bytesize) {
-    switch(bytesize) {
-        case FIVEBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(5);
-            break;
-        case SIXBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(6);
-            break;
-        case SEVENBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(7);
-            break;
-        case EIGHTBITS:
-            this->bytesize = boost::asio::serial_port_base::character_size(8);
-            break;
-        default:
-            throw(InvalidBytesizeException(bytesize));
-            break;
-    }
-}
-
-bytesize_t Serial::getBytesize() const {
-    return bytesize_t(this->bytesize.value());
-}
-
-void Serial::setParity(parity_t parity) {
-    switch(parity) {
-        case PARITY_NONE:
-            this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none);
-            break;
-        case PARITY_ODD:
-            this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::odd);
-            break;
-        case PARITY_EVEN:
-            this->parity = boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::even);
-            break;
-        default:
-            throw(InvalidParityException(parity));
-            break;
-    }
-}
-
-parity_t Serial::getParity() const {
-    switch(this->parity.value()) {
-        case boost::asio::serial_port_base::parity::none:
-            return parity_t(PARITY_NONE);
-        case boost::asio::serial_port_base::parity::odd:
-            return parity_t(PARITY_ODD);
-        case boost::asio::serial_port_base::parity::even:
-            return parity_t(PARITY_EVEN);
-        default:
-            throw(InvalidParityException(this->parity.value()));
-    }
-}
-
-void Serial::setStopbits(stopbits_t stopbits) {
-    switch(stopbits) {
-        case STOPBITS_ONE:
-            this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one);
-            break;
-        case STOPBITS_ONE_POINT_FIVE:
-            this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::onepointfive);
-            break;
-        case STOPBITS_TWO:
-            this->stopbits = boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::two);
-            break;
-        default:
-            throw(InvalidStopbitsException(stopbits));
-            break;
-    }
-}
-
-stopbits_t Serial::getStopbits() const {
-    switch(this->stopbits.value()) {
-        case boost::asio::serial_port_base::stop_bits::one:
-            return stopbits_t(STOPBITS_ONE);
-        case boost::asio::serial_port_base::stop_bits::onepointfive:
-            return stopbits_t(STOPBITS_ONE_POINT_FIVE);
-        case boost::asio::serial_port_base::stop_bits::two:
-            return stopbits_t(STOPBITS_TWO);
-        default:
-            throw(InvalidStopbitsException(this->stopbits.value()));
-    }
-}
-
-void Serial::setFlowcontrol(flowcontrol_t flowcontrol) {
-    switch(flowcontrol) {
-        case FLOWCONTROL_NONE:
-            this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::none);
-            break;
-        case FLOWCONTROL_SOFTWARE:
-            this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::software);
-            break;
-        case FLOWCONTROL_HARDWARE:
-            this->flowcontrol = boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::hardware);
-            break;
-        default:
-            throw(InvalidFlowcontrolException(flowcontrol));
-            break;
-    }
-}
-
-flowcontrol_t Serial::getFlowcontrol() const {
-    switch(this->flowcontrol.value()) {
-        case boost::asio::serial_port_base::flow_control::none:
-            return flowcontrol_t(FLOWCONTROL_NONE);
-        case boost::asio::serial_port_base::flow_control::software:
-            return flowcontrol_t(FLOWCONTROL_SOFTWARE);
-        case boost::asio::serial_port_base::flow_control::hardware:
-            return flowcontrol_t(FLOWCONTROL_HARDWARE);
-        default:
-            throw(InvalidFlowcontrolException(this->flowcontrol.value()));
-    }
-}

stack.xml

@@ -1,9 +0,0 @@
-<stack>
-  <description brief="serial">serial</description>
-  <author>Maintained by William Woodall</author>
-  <license>BSD</license>  
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/serial</url>
-  <depend stack="ros" />
-
-</stack>

tests/CMakeLists.txt

@@ -0,0 +1,12 @@
+if(UNIX)
+    catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
+    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+    if(NOT APPLE)
+        target_link_libraries(${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()

tests/proof_of_concepts/mdc2250.cc

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

tests/proof_of_concepts/python_serial_test.py

@@ -0,0 +1,15 @@
+#!/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)
+

tests/proof_of_concepts/tokenizer.cc

@@ -0,0 +1,31 @@
+#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;
+}

tests/unit/unix_timer_tests.cc

@@ -0,0 +1,63 @@
+#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();
+}

tests/unix_serial_tests.cc

@@ -0,0 +1,116 @@
+/* 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"
+
+// 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;
+}

visual_studio/serial/serial.vcxproj

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visual_studio/visual_studio.sln

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