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

@@ -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

@@ -1,15 +0,0 @@
-find_path(serial_INCLUDE_DIRS serial/serial.h /usr/include 
-          /usr/local/include "$ENV{NAMER_ROOT}")
-
-find_library(serial_LIBRARIES serial /usr/lib /usr/local/lib
-             "$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.makefile
+	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

@@ -1,91 +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. 
-* (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
-    
-Rerun rosinstall (note this will change your $ROS_PACKAGE_PATH):
-    
-    rosinstall .
-    source setup.bash
 
-Build the unary stack:
+### Authors
 
-    rosmake serial --rosdep-install
+William Woodall <wjwwood@gmail.com>
+John Harrison <ash.gti@gmail.com>
 
-Run the example:
+### Contact
 
-    rosrun serial serial_example
+William Woodall <william@osrfoundation.org>
-
-## 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

@@ -2,13 +2,13 @@
  * This example expects the serial port has a loopback on it.
  *
  * Alternatively, you could use an Arduino:
- * 
+ *
  * <pre>
- *  setup() {
+ *  void setup() {
  *    Serial.begin(<insert your baudrate here>);
  *  }
- * 
+ *
- *  loop() {
+ *  void loop() {
  *    if (Serial.available()) {
  *      Serial.write(Serial.read());
  *    }
@@ -21,7 +21,7 @@
 #include <cstdio>
 
 // OS Specific sleep
-#ifdef __WIN32__
+#ifdef _WIN32
 #include <windows.h>
 #else
 #include <unistd.h>
@@ -34,31 +34,66 @@ using std::exception;
 using std::cout;
 using std::cerr;
 using std::endl;
+using std::vector;
 
 void my_sleep(unsigned long milliseconds) {
-#ifdef __WIN32__
+#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 < 3) {
+  if(argc < 2) {
-    cerr << "Usage: test_serial <serial port address> ";
+	  print_usage();
-    cerr << "<baudrate> [test string]" << endl;
     return 0;
   }
-  // Argument 1 is the serial port
+
+  // 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, 1000);
+  serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1000));
 
   cout << "Is the serial port open?";
   if(my_serial.isOpen())
@@ -90,7 +125,7 @@ int run(int argc, char **argv)
   }
 
   // Test the timeout at 250ms
-  my_serial.setTimeout(250);
+  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) {

include/serial/impl/unix.h

@@ -8,9 +8,9 @@
  *
  * The MIT License
  *
- * Copyright (c) 2011 William Woodall, John Harrison
+ * Copyright (c) 2012 William Woodall, John Harrison
  *
- * Permission is hereby granted, free of charge, to any person obtaining a 
+ * 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,
@@ -24,8 +24,8 @@
  * 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 
+ * 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 
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
  * DEALINGS IN THE SOFTWARE.
  *
  * \section DESCRIPTION
@@ -35,6 +35,8 @@
  *
  */
 
+#if !defined(_WIN32)
+
 #ifndef SERIAL_IMPL_UNIX_H
 #define SERIAL_IMPL_UNIX_H
 
@@ -44,17 +46,27 @@
 
 namespace serial {
 
+using std::size_t;
 using std::string;
 using std::invalid_argument;
 
-using serial::SerialExecption;
+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,
-              long timeout,
               bytesize_t bytesize,
               parity_t parity,
               stopbits_t stopbits,
@@ -74,11 +86,17 @@ public:
   size_t
   available ();
 
-  size_t
+  bool
-  read (unsigned char* buf, size_t size = 1);
+  waitReadable (uint32_t timeout);
+
+  void
+  waitByteTimes (size_t count);
 
   size_t
-  write (const string &data);
+  read (uint8_t *buf, size_t size = 1);
+
+  size_t
+  write (const uint8_t *data, size_t length);
 
   void
   flush ();
@@ -90,28 +108,31 @@ public:
   flushOutput ();
 
   void
-  sendBreak(int duration);
+  sendBreak (int duration);
 
   void
-  setBreak(bool level);
+  setBreak (bool level);
 
   void
-  setRTS(bool level);
+  setRTS (bool level);
 
   void
-  setDTR(bool level);
+  setDTR (bool level);
 
   bool
-  getCTS();
+  waitForChange ();
 
   bool
-  getDSR();
+  getCTS ();
 
   bool
-  getRI();
+  getDSR ();
 
   bool
-  getCD();
+  getRI ();
+
+  bool
+  getCD ();
 
   void
   setPort (const string &port);
@@ -120,9 +141,9 @@ public:
   getPort () const;
 
   void
-  setTimeout (long timeout);
+  setTimeout (Timeout &timeout);
 
-  long
+  Timeout
   getTimeout () const;
 
   void
@@ -156,16 +177,16 @@ public:
   getFlowcontrol () const;
 
   void
-  readLock();
+  readLock ();
 
   void
-  readUnlock();
+  readUnlock ();
 
   void
-  writeLock();
+  writeLock ();
 
   void
-  writeUnlock();
+  writeUnlock ();
 
 protected:
   void reconfigurePort ();
@@ -178,8 +199,9 @@ private:
   bool xonxoff_;
   bool rtscts_;
 
-  long timeout_;              // Timeout for read operations
+  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
@@ -195,3 +217,5 @@ private:
 }
 
 #endif // SERIAL_IMPL_UNIX_H
+
+#endif // !defined(_WIN32)

include/serial/impl/win.h

@@ -8,9 +8,9 @@
  *
  * The MIT License
  *
- * Copyright (c) 2011 William Woodall, John Harrison
+ * Copyright (c) 2012 William Woodall, John Harrison
  *
- * Permission is hereby granted, free of charge, to any person obtaining a 
+ * 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,
@@ -24,8 +24,8 @@
  * 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 
+ * 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 
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
  * DEALINGS IN THE SOFTWARE.
  *
  * \section DESCRIPTION
@@ -34,24 +34,28 @@
  *
  */
 
+#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::SerialExecption;
+using serial::SerialException;
 using serial::IOException;
 
 class serial::Serial::SerialImpl {
 public:
   SerialImpl (const string &port,
               unsigned long baudrate,
-              long timeout,
               bytesize_t bytesize,
               parity_t parity,
               stopbits_t stopbits,
@@ -70,12 +74,18 @@ public:
 
   size_t
   available ();
+  
+  bool
+  waitReadable (uint32_t timeout);
+
+  void
+  waitByteTimes (size_t count);
 
   size_t
-  read (char* buf, size_t size = 1);
+  read (uint8_t *buf, size_t size = 1);
 
   size_t
-  write (const string &data);
+  write (const uint8_t *data, size_t length);
 
   void
   flush ();
@@ -87,50 +97,53 @@ public:
   flushOutput ();
 
   void
-  sendBreak(int duration);
+  sendBreak (int duration);
 
   void
-  setBreak(bool level);
+  setBreak (bool level);
 
   void
-  setRTS(bool level);
+  setRTS (bool level);
 
   void
-  setDTR(bool level);
+  setDTR (bool level);
-  
+
   bool
-  getCTS();
+  waitForChange ();
-  
+
   bool
-  getDSR();
+  getCTS ();
-  
+
   bool
-  getRI();
+  getDSR ();
-  
+
   bool
-  getCD();
+  getRI ();
+
+  bool
+  getCD ();
 
   void
   setPort (const string &port);
-  
+
   string
   getPort () const;
 
   void
-  setTimeout (long timeout);
+  setTimeout (Timeout &timeout);
-  
+
-  long
+  Timeout
   getTimeout () const;
 
   void
   setBaudrate (unsigned long baudrate);
-  
+
   unsigned long
   getBaudrate () const;
 
   void
   setBytesize (bytesize_t bytesize);
-  
+
   bytesize_t
   getBytesize () const;
 
@@ -152,26 +165,43 @@ public:
   flowcontrol_t
   getFlowcontrol () const;
 
+  void
+  readLock ();
+
+  void
+  readUnlock ();
+
+  void
+  writeLock ();
+
+  void
+  writeUnlock ();
+
 protected:
   void reconfigurePort ();
 
 private:
-  string port_;               // Path to the file descriptor
+  wstring port_;               // Path to the file descriptor
-  int fd_;                    // The current file descriptor
+  HANDLE fd_;
 
-  bool isOpen_;
+  bool is_open_;
-  bool xonxoff_;
-  bool rtscts_;
 
-  long timeout_;              // Timeout for read operations
+  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/serial.h

@@ -8,7 +8,7 @@
  *
  * The MIT License
  *
- * Copyright (c) 2011 William Woodall
+ * Copyright (c) 2012 William Woodall
  *
  * Permission is hereby granted, free of charge, to any person obtaining a
  * copy of this software and associated documentation files (the "Software"),
@@ -38,12 +38,15 @@
 
 #include <limits>
 #include <vector>
-#include <string.h>
+#include <string>
+#include <cstring>
 #include <sstream>
 #include <exception>
 #include <stdexcept>
+#include <serial/v8stdint.h>
 
-#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, __LINE__, (message) )
+#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
+__LINE__, (message) )
 
 namespace serial {
 
@@ -63,7 +66,9 @@ typedef enum {
 typedef enum {
   parity_none = 0,
   parity_odd = 1,
-  parity_even = 2
+  parity_even = 2,
+  parity_mark = 3,
+  parity_space = 4
 } parity_t;
 
 /*!
@@ -71,8 +76,8 @@ typedef enum {
  */
 typedef enum {
   stopbits_one = 1,
-  stopbits_one_point_five,
+  stopbits_two = 2,
-  stopbits_two = 2
+  stopbits_one_point_five
 } stopbits_t;
 
 /*!
@@ -80,30 +85,79 @@ typedef enum {
  */
 typedef enum {
   flowcontrol_none = 0,
-  flowcontrol_software
+  flowcontrol_software,
+  flowcontrol_hardware
 } flowcontrol_t;
 
+/*!
+ * Structure for setting the timeout of the serial port, times are
+ * in milliseconds.
+ *
+ * In order to disable the interbyte timeout, set it to Timeout::max().
+ */
+struct Timeout {
+#ifdef max
+# undef max
+#endif
+  static uint32_t max() {return std::numeric_limits<uint32_t>::max();}
+  /*!
+   * Convenience function to generate Timeout structs using a
+   * single absolute timeout.
+   *
+   * \param timeout A long that defines the time in milliseconds until a
+   * timeout occurs after a call to read or write is made.
+   *
+   * \return Timeout struct that represents this simple timeout provided.
+   */
+  static Timeout simpleTimeout(uint32_t timeout) {
+    return Timeout(max(), timeout, 0, timeout, 0);
+  }
+
+  /*! Number of milliseconds between bytes received to timeout on. */
+  uint32_t inter_byte_timeout;
+  /*! A constant number of milliseconds to wait after calling read. */
+  uint32_t read_timeout_constant;
+  /*! A multiplier against the number of requested bytes to wait after
+   *  calling read.
+   */
+  uint32_t read_timeout_multiplier;
+  /*! A constant number of milliseconds to wait after calling write. */
+  uint32_t write_timeout_constant;
+  /*! A multiplier against the number of requested bytes to wait after
+   *  calling write.
+   */
+  uint32_t write_timeout_multiplier;
+
+  explicit Timeout (uint32_t inter_byte_timeout_=0,
+                    uint32_t read_timeout_constant_=0,
+                    uint32_t read_timeout_multiplier_=0,
+                    uint32_t write_timeout_constant_=0,
+                    uint32_t write_timeout_multiplier_=0)
+  : inter_byte_timeout(inter_byte_timeout_),
+    read_timeout_constant(read_timeout_constant_),
+    read_timeout_multiplier(read_timeout_multiplier_),
+    write_timeout_constant(write_timeout_constant_),
+    write_timeout_multiplier(write_timeout_multiplier_)
+  {}
+};
+
 /*!
  * Class that provides a portable serial port interface.
  */
 class Serial {
 public:
   /*!
-   * Constructor, creates a SerialPortBoost object and opens the port.
+   * Creates a Serial object and opens the port if a port is specified,
+   * otherwise it remains closed until serial::Serial::open is called.
    *
    * \param port A std::string containing the address of the serial port,
    *        which would be something like 'COM1' on Windows and '/dev/ttyS0'
    *        on Linux.
    *
-   * \param baudrate An integer that represents the buadrate
+   * \param baudrate An unsigned 32-bit integer that represents the baudrate
    *
-   * \param timeout A long that represents the time (in milliseconds) until a
+   * \param timeout A serial::Timeout struct that defines the timeout
-   * timeout on reads occur. Setting this to zero (0) will cause reading to
+   * conditions for the serial port. \see serial::Timeout
-   * be non-blocking, i.e. the available data will be returned immediately,
-   * but it will not block to wait for more. Setting this to a number less
-   * than zero (-1) will result in infinite blocking behaviour, i.e. the
-   * serial port will block until either size bytes have been read or an
-   * exception has occured.
    *
    * \param bytesize Size of each byte in the serial transmission of data,
    * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
@@ -119,14 +173,13 @@ public:
    * flowcontrol_none, possible values are: flowcontrol_none,
    * flowcontrol_software, flowcontrol_hardware
    *
-   * \param buffer_size The maximum size of the internal buffer, defaults
+   * \throw serial::PortNotOpenedException
-   * to 256 bytes (2^8).
+   * \throw serial::IOException
-   *
+   * \throw std::invalid_argument
-   * \throw PortNotOpenedException
    */
   Serial (const std::string &port = "",
-          unsigned long baudrate = 9600,
+          uint32_t baudrate = 9600,
-          long timeout = 0,
+          Timeout timeout = Timeout(),
           bytesize_t bytesize = eightbits,
           parity_t parity = parity_none,
           stopbits_t stopbits = stopbits_one,
@@ -136,8 +189,8 @@ public:
   virtual ~Serial ();
 
   /*!
-   * Opens the serial port as long as the portname is set and the port isn't
+   * Opens the serial port as long as the port is set and the port isn't
-   * alreay open.
+   * already open.
    *
    * If the port is provided to the constructor then an explicit call to open
    * is not needed.
@@ -145,7 +198,7 @@ public:
    * \see Serial::Serial
    *
    * \throw std::invalid_argument
-   * \throw serial::SerialExecption
+   * \throw serial::SerialException
    * \throw serial::IOException
    */
   void
@@ -164,28 +217,111 @@ public:
 
   /*! Return the number of characters in the buffer. */
   size_t
-  available();
+  available ();
 
-  /*! Read a given amount of bytes from the serial port.
+  /*! Block until there is serial data to read or read_timeout_constant
+   * number of milliseconds have elapsed. The return value is true when
+   * the function exits with the port in a readable state, false otherwise
+   * (due to timeout or select interruption). */
+  bool
+  waitReadable ();
+
+  /*! Block for a period of time corresponding to the transmission time of
+   * count characters at present serial settings. This may be used in con-
+   * junction with waitReadable to read larger blocks of data from the
+   * port. */
+  void
+  waitByteTimes (size_t count);
+
+  /*! Read a given amount of bytes from the serial port into a given buffer.
    *
-   * If a timeout is set it may return less characters than requested. With
+   * The read function will return in one of three cases:
-   * no timeout it will block until the requested number of bytes have been
+   *  * The number of requested bytes was read.
-   * read or until an exception occurs.
+   *    * In this case the number of bytes requested will match the size_t
+   *      returned by read.
+   *  * A timeout occurred, in this case the number of bytes read will not
+   *    match the amount requested, but no exception will be thrown.  One of
+   *    two possible timeouts occurred:
+   *    * The inter byte timeout expired, this means that number of
+   *      milliseconds elapsed between receiving bytes from the serial port
+   *      exceeded the inter byte timeout.
+   *    * The total timeout expired, which is calculated by multiplying the
+   *      read timeout multiplier by the number of requested bytes and then
+   *      added to the read timeout constant.  If that total number of
+   *      milliseconds elapses after the initial call to read a timeout will
+   *      occur.
+   *  * An exception occurred, in this case an actual exception will be thrown.
+   *
+   * \param buffer An uint8_t array of at least the requested size.
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A size_t representing the number of bytes read as a result of the
+   *         call to read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  read (uint8_t *buffer, size_t size);
+
+  /*! Read a given amount of bytes from the serial port into a give buffer.
+   *
+   * \param buffer A reference to a std::vector of uint8_t.
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A size_t representing the number of bytes read as a result of the
+   *         call to read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  read (std::vector<uint8_t> &buffer, size_t size = 1);
+
+  /*! Read a given amount of bytes from the serial port into a give buffer.
+   *
+   * \param buffer A reference to a std::string.
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A size_t representing the number of bytes read as a result of the
+   *         call to read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  read (std::string &buffer, size_t size = 1);
+
+  /*! Read a given amount of bytes from the serial port and return a string
+   *  containing the data.
    *
    * \param size A size_t defining how many bytes to be read.
    *
-   * \return A std::string containing the data read.
+   * \return A std::string containing the data read from the port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
    */
-  size_t
-  read (unsigned char *buffer, size_t size);
-  size_t
-  read (std::vector<unsigned char> &buffer, size_t size = 1);
-  size_t
-  read (std::string &buffer, size_t size = 1);
   std::string
   read (size_t size = 1);
 
-  /*! Reads in a line or until a given delimiter has been processed
+  /*! Reads in a line or until a given delimiter has been processed.
+   *
+   * Reads from the serial port until a single line has been read.
+   *
+   * \param buffer A std::string reference used to store the data.
+   * \param size A maximum length of a line, defaults to 65536 (2^16)
+   * \param eol A string to match against for the EOL.
+   *
+   * \return A size_t representing the number of bytes read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  readline (std::string &buffer, size_t size = 65536, std::string eol = "\n");
+
+  /*! Reads in a line or until a given delimiter has been processed.
    *
    * Reads from the serial port until a single line has been read.
    *
@@ -193,185 +329,260 @@ public:
    * \param eol A string to match against for the EOL.
    *
    * \return A std::string containing the line.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
    */
-  size_t
-  readline (std::string &buffer,
-            size_t size = 65536,
-            std::string eol = "\n");
   std::string
-  readline (size_t size = 65536,
+  readline (size_t size = 65536, std::string eol = "\n");
-            std::string eol = "\n");
 
-  /*! Reads in multiple lines until the serail port times out.
+  /*! Reads in multiple lines until the serial port times out.
    *
    * This requires a timeout > 0 before it can be run. It will read until a
    * timeout occurs and return a list of strings.
    *
    * \param size A maximum length of combined lines, defaults to 65536 (2^16)
-   * 
+   *
    * \param eol A string to match against for the EOL.
    *
    * \return A vector<string> containing the lines.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
    */
   std::vector<std::string>
   readlines (size_t size = 65536, std::string eol = "\n");
 
   /*! Write a string to the serial port.
    *
-   * \param data A const reference containg the data to be written
+   * \param data A const reference containing the data to be written
+   * to the serial port.
+   *
+   * \param size A size_t that indicates how many bytes should be written from
+   * the given data buffer.
+   *
+   * \return A size_t representing the number of bytes actually written to
+   * the serial port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   * \throw serial::IOException
+   */
+  size_t
+  write (const uint8_t *data, size_t size);
+
+  /*! Write a string to the serial port.
+   *
+   * \param data A const reference containing the data to be written
    * to the serial port.
    *
    * \return A size_t representing the number of bytes actually written to
    * the serial port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   * \throw serial::IOException
    */
   size_t
-  write (const unsigned char *data, size_t size);
+  write (const std::vector<uint8_t> &data);
-  size_t
+
-  write (const std::vector<unsigned char> &data);
+  /*! Write a string to the serial port.
+   *
+   * \param data A const reference containing the data to be written
+   * to the serial port.
+   *
+   * \return A size_t representing the number of bytes actually written to
+   * the serial port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   * \throw serial::IOException
+   */
   size_t
   write (const std::string &data);
 
   /*! Sets the serial port identifier.
-  *
+   *
-  * \param port A const std::string reference containing the address of the
+   * \param port A const std::string reference containing the address of the
-  * serial port, which would be something like 'COM1' on Windows and
+   * serial port, which would be something like 'COM1' on Windows and
-  * '/dev/ttyS0' on Linux.
+   * '/dev/ttyS0' on Linux.
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   void
   setPort (const std::string &port);
 
   /*! Gets the serial port identifier.
-  *
+   *
-  * \see Serial::setPort
+   * \see Serial::setPort
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   std::string
   getPort () const;
 
-  /*! Sets the timeout for reads in milliseconds.
+  /*! Sets the timeout for reads and writes using the Timeout struct.
-  *
+   *
-  * \param timeout A long that represents the time (in milliseconds) until a
+   * There are two timeout conditions described here:
-  * timeout on reads occur.  Setting this to zero (0) will cause reading to be
+   *  * The inter byte timeout:
-  * non-blocking, i.e. the available data will be returned immediately, but it
+   *    * The inter_byte_timeout component of serial::Timeout defines the
-  * will not block to wait for more.  Setting this to a number less than
+   *      maximum amount of time, in milliseconds, between receiving bytes on
-  * zero (-1) will result in infinite blocking behaviour, i.e. the serial port
+   *      the serial port that can pass before a timeout occurs.  Setting this
-  * will block until either size bytes have been read or an exception has
+   *      to zero will prevent inter byte timeouts from occurring.
-  * occured.
+   *  * Total time timeout:
-  */
+   *    * The constant and multiplier component of this timeout condition,
+   *      for both read and write, are defined in serial::Timeout.  This
+   *      timeout occurs if the total time since the read or write call was
+   *      made exceeds the specified time in milliseconds.
+   *    * The limit is defined by multiplying the multiplier component by the
+   *      number of requested bytes and adding that product to the constant
+   *      component.  In this way if you want a read call, for example, to
+   *      timeout after exactly one second regardless of the number of bytes
+   *      you asked for then set the read_timeout_constant component of
+   *      serial::Timeout to 1000 and the read_timeout_multiplier to zero.
+   *      This timeout condition can be used in conjunction with the inter
+   *      byte timeout condition with out any problems, timeout will simply
+   *      occur when one of the two timeout conditions is met.  This allows
+   *      users to have maximum control over the trade-off between
+   *      responsiveness and efficiency.
+   *
+   * Read and write functions will return in one of three cases.  When the
+   * reading or writing is complete, when a timeout occurs, or when an
+   * exception occurs.
+   *
+   * A timeout of 0 enables non-blocking mode.
+   *
+   * \param timeout A serial::Timeout struct containing the inter byte
+   * timeout, and the read and write timeout constants and multipliers.
+   *
+   * \see serial::Timeout
+   */
   void
-  setTimeout (long timeout);
+  setTimeout (Timeout &timeout);
+
+  /*! Sets the timeout for reads and writes. */
+  void
+  setTimeout (uint32_t inter_byte_timeout, uint32_t read_timeout_constant,
+              uint32_t read_timeout_multiplier, uint32_t write_timeout_constant,
+              uint32_t write_timeout_multiplier)
+  {
+    Timeout timeout(inter_byte_timeout, read_timeout_constant,
+                    read_timeout_multiplier, write_timeout_constant,
+                    write_timeout_multiplier);
+    return setTimeout(timeout);
+  }
 
   /*! Gets the timeout for reads in seconds.
-  *
+   *
-  * \see Serial::setTimeout
+   * \return A Timeout struct containing the inter_byte_timeout, and read
-  */
+   * and write timeout constants and multipliers.
-  long
+   *
+   * \see Serial::setTimeout
+   */
+  Timeout
   getTimeout () const;
 
   /*! Sets the baudrate for the serial port.
-  *
+   *
-  * Possible baudrates depends on the system but some safe baudrates include:
+   * Possible baudrates depends on the system but some safe baudrates include:
-  * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000,
+   * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000,
-  * 57600, 115200
+   * 57600, 115200
-  * Some other baudrates that are supported by some comports:
+   * Some other baudrates that are supported by some comports:
-  * 128000, 153600, 230400, 256000, 460800, 921600
+   * 128000, 153600, 230400, 256000, 460800, 500000, 921600
-  *
+   *
-  * \param baudrate An integer that sets the baud rate for the serial port.
+   * \param baudrate An integer that sets the baud rate for the serial port.
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   void
-  setBaudrate (unsigned long baudrate);
+  setBaudrate (uint32_t baudrate);
 
   /*! Gets the baudrate for the serial port.
-  *
+   *
-  * \return An integer that sets the baud rate for the serial port.
+   * \return An integer that sets the baud rate for the serial port.
-  *
+   *
-  * \see Serial::setBaudrate
+   * \see Serial::setBaudrate
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
-  unsigned long
+  uint32_t
   getBaudrate () const;
 
   /*! Sets the bytesize for the serial port.
-  *
+   *
-  * \param bytesize Size of each byte in the serial transmission of data,
+   * \param bytesize Size of each byte in the serial transmission of data,
-  * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
+   * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
-  * eightbits
+   * eightbits
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   void
   setBytesize (bytesize_t bytesize);
 
   /*! Gets the bytesize for the serial port.
-  *
+   *
-  * \see Serial::setBytesize
+   * \see Serial::setBytesize
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   bytesize_t
   getBytesize () const;
 
   /*! Sets the parity for the serial port.
-  *
+   *
-  * \param parity Method of parity, default is parity_none, possible values
+   * \param parity Method of parity, default is parity_none, possible values
-  * are: parity_none, parity_odd, parity_even
+   * are: parity_none, parity_odd, parity_even
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   void
   setParity (parity_t parity);
 
   /*! Gets the parity for the serial port.
-  *
+   *
-  * \see Serial::setParity
+   * \see Serial::setParity
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   parity_t
   getParity () const;
 
   /*! Sets the stopbits for the serial port.
-  *
+   *
-  * \param stopbits Number of stop bits used, default is stopbits_one,
+   * \param stopbits Number of stop bits used, default is stopbits_one,
-  * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
+   * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   void
   setStopbits (stopbits_t stopbits);
 
   /*! Gets the stopbits for the serial port.
-  *
+   *
-  * \see Serial::setStopbits
+   * \see Serial::setStopbits
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   stopbits_t
   getStopbits () const;
 
   /*! Sets the flow control for the serial port.
-  *
+   *
-  * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none,
+   * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none,
-  * possible values are: flowcontrol_none, flowcontrol_software,
+   * possible values are: flowcontrol_none, flowcontrol_software,
-  * flowcontrol_hardware
+   * flowcontrol_hardware
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   void
   setFlowcontrol (flowcontrol_t flowcontrol);
 
   /*! Gets the flow control for the serial port.
-  *
+   *
-  * \see Serial::setFlowcontrol
+   * \see Serial::setFlowcontrol
-  *
+   *
-  * \throw InvalidConfigurationException
+   * \throw std::invalid_argument
-  */
+   */
   flowcontrol_t
   getFlowcontrol () const;
 
@@ -387,37 +598,59 @@ public:
   void
   flushOutput ();
 
+  /*! Sends the RS-232 break signal.  See tcsendbreak(3). */
   void
   sendBreak (int duration);
 
+  /*! Set the break condition to a given level.  Defaults to true. */
   void
   setBreak (bool level = true);
 
+  /*! Set the RTS handshaking line to the given level.  Defaults to true. */
   void
   setRTS (bool level = true);
 
+  /*! Set the DTR handshaking line to the given level.  Defaults to true. */
   void
   setDTR (bool level = true);
 
+  /*!
+   * Blocks until CTS, DSR, RI, CD changes or something interrupts it.
+   *
+   * Can throw an exception if an error occurs while waiting.
+   * You can check the status of CTS, DSR, RI, and CD once this returns.
+   * Uses TIOCMIWAIT via ioctl if available (mostly only on Linux) with a
+   * resolution of less than +-1ms and as good as +-0.2ms.  Otherwise a
+   * polling method is used which can give +-2ms.
+   *
+   * \return Returns true if one of the lines changed, false if something else
+   * occurred.
+   *
+   * \throw SerialException
+   */
+  bool
+  waitForChange ();
+
+  /*! Returns the current status of the CTS line. */
   bool
   getCTS ();
 
+  /*! Returns the current status of the DSR line. */
   bool
   getDSR ();
 
+  /*! Returns the current status of the RI line. */
   bool
   getRI ();
 
+  /*! Returns the current status of the CD line. */
   bool
   getCD ();
 
 private:
   // Disable copy constructors
   Serial(const Serial&);
-  void operator=(const Serial&);
+  Serial& operator=(const Serial&);
-  const Serial& operator=(Serial);
-
-  std::string read_cache_; //!< Cache for doing reads in chunks.
 
   // Pimpl idiom, d_pointer
   class SerialImpl;
@@ -429,70 +662,114 @@ private:
 
   // Read common function
   size_t
-  read_ (unsigned char *buffer, size_t size);
+  read_ (uint8_t *buffer, size_t size);
+  // Write common function
+  size_t
+  write_ (const uint8_t *data, size_t length);
 
 };
 
-class SerialExecption : public std::exception
+class SerialException : public std::exception
 {
-  const char* e_what_;
+  // Disable copy constructors
+  SerialException& operator=(const SerialException&);
+  std::string e_what_;
 public:
-  SerialExecption (const char *description) : e_what_ (description) {}
+  SerialException (const char *description) {
-
+      std::stringstream ss;
-  virtual const char* what () const throw ()
+      ss << "SerialException " << description << " failed.";
-  {
+      e_what_ = ss.str();
-    std::stringstream ss;
+  }
-    ss << "SerialException " << e_what_ << " failed.";
+  SerialException (const SerialException& other) : e_what_(other.e_what_) {}
-    return ss.str ().c_str ();
+  virtual ~SerialException() throw() {}
+  virtual const char* what () const throw () {
+    return e_what_.c_str();
   }
 };
 
 class IOException : public std::exception
 {
+  // Disable copy constructors
+  IOException& operator=(const IOException&);
   std::string file_;
   int line_;
-  const char* e_what_;
+  std::string e_what_;
   int errno_;
 public:
   explicit IOException (std::string file, int line, int errnum)
-  : file_(file), line_(line), e_what_ (strerror (errnum)), errno_(errnum) {}
+    : file_(file), line_(line), errno_(errnum) {
+      std::stringstream ss;
+#if defined(_WIN32) && !defined(__MINGW32__)
+      char error_str [1024];
+      strerror_s(error_str, 1024, errnum);
+#else
+      char * error_str = strerror(errnum);
+#endif
+      ss << "IO Exception (" << errno_ << "): " << error_str;
+      ss << ", file " << file_ << ", line " << line_ << ".";
+      e_what_ = ss.str();
+  }
   explicit IOException (std::string file, int line, const char * description)
-  : file_(file), line_(line), e_what_ (description), errno_(0) {}
+    : file_(file), line_(line), errno_(0) {
+      std::stringstream ss;
+      ss << "IO Exception: " << description;
+      ss << ", file " << file_ << ", line " << line_ << ".";
+      e_what_ = ss.str();
+  }
   virtual ~IOException() throw() {}
+  IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {}
 
-  int getErrorNumber () { return errno_; }
+  int getErrorNumber () const { return errno_; }
 
-  virtual const char* what () const throw ()
+  virtual const char* what () const throw () {
-  {
+    return e_what_.c_str();
-    std::stringstream ss;
-    if (errno_ == 0)
-      ss << "IO Exception: " << e_what_;
-    else
-      ss << "IO Exception (" << errno_ << "): " << e_what_;
-    ss << ", file " << file_ << ", line " << line_ << ".";
-    return ss.str ().c_str ();
   }
 };
 
 class PortNotOpenedException : public std::exception
 {
-  const char * e_what_;
+  // Disable copy constructors
+  const PortNotOpenedException& operator=(PortNotOpenedException);
+  std::string e_what_;
 public:
-  PortNotOpenedException (const char * description) : e_what_ (description) {}
+  PortNotOpenedException (const char * description)  {
-
+      std::stringstream ss;
-  virtual const char* what () const throw ()
+      ss << "PortNotOpenedException " << description << " failed.";
-  {
+      e_what_ = ss.str();
-    std::stringstream ss;
+  }
-    ss << e_what_ << " called before port was opened.";
+  PortNotOpenedException (const PortNotOpenedException& other) : e_what_(other.e_what_) {}
-    return ss.str ().c_str ();
+  virtual ~PortNotOpenedException() throw() {}
+  virtual const char* what () const throw () {
+    return e_what_.c_str();
   }
 };
 
-class SerialExceptionBase : public std::exception
+/*!
-{
+ * Structure that describes a serial device.
-  
+ */
+struct PortInfo {
+
+  /*! Address of the serial port (this can be passed to the constructor of Serial). */
+  std::string port;
+
+  /*! Human readable description of serial device if available. */
+  std::string description;
+
+  /*! Hardware ID (e.g. VID:PID of USB serial devices) or "n/a" if not available. */
+  std::string hardware_id;
+
 };
 
+/* Lists the serial ports available on the system
+ *
+ * Returns a vector of available serial ports, each represented
+ * by a serial::PortInfo data structure:
+ *
+ * \return vector of serial::PortInfo.
+ */
+std::vector<PortInfo>
+list_ports();
+
 } // namespace serial
 
 #endif

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

@@ -1,150 +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
-  # Enable warnings
-  # Assuming unix means a gcc style compiler, eg. g++ or clang++.
-  IF(UNIX)
-    set(CMAKE_CXX_FLAGS "-Wall -Weffc++ -pedantic -pedantic-errors -Wextra  -Wall -Waggregate-return -Wcast-align -Wcast-qual  -Wchar-subscripts  -Wcomment -Wconversion -Wdisabled-optimization -Wfloat-equal  -Wformat  -Wformat=2 -Wformat-nonliteral -Wformat-security  -Wformat-y2k -Wimplicit  -Wimport  -Winit-self  -Winline -Winvalid-pch   -Wlong-long -Wmissing-braces -Wmissing-field-initializers -Wmissing-format-attribute   -Wmissing-include-dirs -Wmissing-noreturn -Wpacked -Wparentheses  -Wpointer-arith -Wredundant-decls -Wreturn-type -Wsequence-point  -Wshadow -Wsign-compare  -Wstack-protector -Wstrict-aliasing -Wstrict-aliasing=2 -Wswitch  -Wswitch-default -Wswitch-enum -Wtrigraphs  -Wuninitialized -Wunknown-pragmas  -Wunreachable-code -Wunused -Wunused-function  -Wunused-label  -Wunused-parameter -Wunused-value  -Wunused-variable  -Wvariadic-macros -Wvolatile-register-var  -Wwrite-strings")
-  ELSEIF(WIN32)
-    # Force to always compile with W4
-    if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
-      string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
-    else()
-      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
-    endif()
-  endif(UNIX)
-
-  # Use clang if available
-  IF(EXISTS /usr/bin/clang)
-    set(CMAKE_CXX_COMPILER /usr/bin/clang++)
-    set(CMAKE_OSX_DEPLOYMENT_TARGET "")
-    set(SERIAL_BUILD_WARNINGS TRUE)
-    set(CMAKE_BUILD_TYPE Debug)
-  ENDIF(EXISTS /usr/bin/clang)
-
-  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)
-
-  # Threading libraries added for mutexs
-  FIND_PACKAGE (Threads)
-
-  # 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.cc)
-  IF(WIN32)
-    list(APPEND SERIAL_SRCS src/impl/windows.cc)
-  ELSE(WIN32)
-    list(APPEND SERIAL_SRCS src/impl/unix.cc)
-  ENDIF(WIN32)
-  # Add default header files
-  set(SERIAL_HEADERS include/serial/serial.h)
-
-
-  set(OTHER_LIBS "")
-  if(UNIX)
-    set(OTHER_LIBS util)
-  endif(UNIX)
-  
-  ## Build the Serial Library
-
-  # Compile the Library
-  add_library(serial ${SERIAL_SRCS})
-  target_link_libraries(serial ${CMAKE_THREAD_LIBS_INIT} ${OTHER_LIBS})
-
-  ## Build Examples
-
-  # If asked to
-  IF(SERIAL_BUILD_EXAMPLES)
-      # Compile the Serial Test program
-      add_executable(serial_example examples/serial_example.cc)
-      # Link the Test program to the Serial library
-      target_link_libraries(serial_example serial)
-  ENDIF(SERIAL_BUILD_EXAMPLES)
-
-  ## Build tests
-
-  # If asked to
-  IF(SERIAL_BUILD_TESTS)
-      # Find Google Test
-      enable_testing()
-      find_package(GTest REQUIRED)
-      include_directories(${GTEST_INCLUDE_DIRS})
-
-      # Compile the Serial Test program
-      add_executable(serial_tests tests/serial_tests.cc)
-      # Link the Test program to the serial library
-      target_link_libraries(serial_tests ${GTEST_BOTH_LIBRARIES}
-                            serial)
-
-      add_test(AllTestsIntest_serial serial_tests)
-  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.makefile

@@ -1,40 +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 && $(MAKE)
-else
-	cd build && make
-endif
-
-clean:
-	-cd build && make clean
-	rm -rf build bin lib
-
-.PHONY: doc
-doc:
-	@doxygen doc/Doxyfile
-ifeq ($(UNAME),Darwin)
-	@open doc/html/index.html
-endif
-
-.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

@@ -1,42 +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 Debug)
-
-  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 ${PROJECT_SOURCE_DIR}/lib)
-
-  include_directories(include)
-  include_directories(vendor)
-
-  set(SERIAL_SRCS src/serial.cc)
-  if(UNIX)
-    list(APPEND SERIAL_SRCS src/impl/unix.cc)
-  else(UNIX)
-    list(APPEND SERIAL_SRCS src/impl/winows.cc)
-  endif(UNIX)
-
-  # Build the serial library
-  rosbuild_add_library(${PROJECT_NAME} ${SERIAL_SRCS})
-
-  # Build example
-  rosbuild_add_executable(serial_example examples/serial_example.cc)
-  target_link_libraries(serial_example ${PROJECT_NAME})
-
-  # Create unit tests
-  rosbuild_add_gtest(serial_tests tests/serial_tests.cc)
-  target_link_libraries(serial_tests ${PROJECT_NAME})
-
-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/impl/windows.cc

@@ -1,670 +0,0 @@
-/* Copyright 2012 William Woodall and John Harrison */
-
-#include "serial/impl/windows.h"
-
-using std::string;
-using std::invalid_argument;
-using serial::Serial;
-using serial::SerialExecption;
-using serial::PortNotOpenedException;
-using serial::IOException;
-
-
-Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
-                                long timeout, bytesize_t bytesize,
-                                parity_t parity, stopbits_t stopbits,
-                                flowcontrol_t flowcontrol)
-: port_ (port), fd_ (-1), isOpen_ (false), xonxoff_ (true), rtscts_ (false),
-  timeout_ (timeout), baudrate_ (baudrate), parity_ (parity), bytesize_ (bytesize),
-  stopbits_ (stopbits), flowcontrol_ (flowcontrol)
-{
-  if (port_.empty () == false)
-    open ();
-}
-
-Serial::SerialImpl::~SerialImpl ()
-{
-  close();
-}
-
-void
-Serial::SerialImpl::open ()
-{
-  if (port_.empty())
-  {
-    throw invalid_argument ("bad port specified");
-  }
-  if (isOpen_ == true)
-  {
-    throw SerialExecption ("port already open");
-  }
-
-  fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
-
-  if (fd_ == -1)
-  {
-    switch (errno)
-    {
-      case EINTR:
-        // Recurse because this is a recoverable error.
-        open ();
-        return;
-      case ENFILE:
-      case EMFILE:
-        throw IOException ("to many file handles open");
-        break;
-      default:
-        throw IOException (errno);
-    }
-  }
-
-  reconfigurePort();
-  isOpen_ = true;
-}
-
-void
-Serial::SerialImpl::reconfigurePort ()
-{
-  if (fd_ == -1)
-  {
-    // Can only operate on a valid file descriptor
-    throw IOException ("invalid file descriptor");
-  }
-
-  struct termios options; // The options for the file descriptor
-
-  if (tcgetattr(fd_, &options) == -1)
-  {
-    throw IOException ("::tcgetattr");
-  }
-
-  // set up raw mode / no echo / binary
-  options.c_cflag |= (unsigned long)  (CLOCAL|CREAD);
-  options.c_lflag &= (unsigned long) ~(ICANON|ECHO|ECHOE|ECHOK|ECHONL|
-                                       ISIG|IEXTEN); //|ECHOPRT
-
-  options.c_oflag &= (unsigned long) ~(OPOST);
-  options.c_iflag &= (unsigned long) ~(INLCR|IGNCR|ICRNL|IGNBRK);
-#ifdef IUCLC
-  options.c_iflag &= (unsigned long) ~IUCLC;
-#endif
-#ifdef PARMRK
-  options.c_iflag &= (unsigned long) ~PARMRK;
-#endif
-
-  // setup baud rate
-  bool custom_baud = false;
-  speed_t baud;
-  switch (baudrate_)
-  {
-#ifdef B0
-    case 0: baud = B0; break;
-#endif
-#ifdef B50
-    case 50: baud = B50; break;
-#endif
-#ifdef B75
-    case 75: baud = B75; break;
-#endif
-#ifdef B110
-    case 110: baud = B110; break;
-#endif
-#ifdef B134
-    case 134: baud = B134; break;
-#endif
-#ifdef B150
-    case 150: baud = B150; break;
-#endif
-#ifdef B200
-    case 200: baud = B200; break;
-#endif
-#ifdef B300
-    case 300: baud = B300; break;
-#endif
-#ifdef B600
-    case 600: baud = B600; break;
-#endif
-#ifdef B1200
-    case 1200: baud = B1200; break;
-#endif
-#ifdef B1800
-    case 1800: baud = B1800; break;
-#endif
-#ifdef B2400
-    case 2400: baud = B2400; break;
-#endif
-#ifdef B4800
-    case 4800: baud = B4800; break;
-#endif
-#ifdef B7200
-    case 7200: baud = B7200; break;
-#endif
-#ifdef B9600
-    case 9600: baud = B9600; break;
-#endif
-#ifdef B14400
-    case 14400: baud = B14400; break;
-#endif
-#ifdef B19200
-    case 19200: baud = B19200; break;
-#endif
-#ifdef B28800
-    case 28800: baud = B28800; break;
-#endif
-#ifdef B57600
-    case 57600: baud = B57600; break;
-#endif
-#ifdef B76800
-    case 76800: baud = B76800; break;
-#endif
-#ifdef B38400
-    case 38400: baud = B38400; break;
-#endif
-#ifdef B115200
-    case 115200: baud = B115200; break;
-#endif
-#ifdef B128000
-    case 128000: baud = B128000; break;
-#endif
-#ifdef B153600
-    case 153600: baud = B153600; break;
-#endif
-#ifdef B230400
-    case 230400: baud = B230400; break;
-#endif
-#ifdef B256000
-    case 256000: baud = B256000; break;
-#endif
-#ifdef B460800
-    case 460800: baud = B460800; break;
-#endif
-#ifdef B921600
-    case 921600: baud = B921600; break;
-#endif
-    default:
-      custom_baud = true;
-// Mac OS X 10.x Support
-#if defined(__APPLE__) && defined(__MACH__)
-#define IOSSIOSPEED _IOW('T', 2, speed_t)
-      int new_baud = static_cast<int> (baudrate_);
-      if (ioctl (fd_, IOSSIOSPEED, &new_baud, 1) < 0)
-      {
-        throw IOException (errno);
-      }
-// Linux Support
-#elif defined(__linux__)
-      struct serial_struct ser;
-      ioctl(fd_, TIOCGSERIAL, &ser);
-      // set custom divisor
-      ser.custom_divisor = ser.baud_base / baudrate_;
-      // update flags
-      ser.flags &= ~ASYNC_SPD_MASK;
-      ser.flags |= ASYNC_SPD_CUST;
-
-      if (ioctl(fd_, TIOCSSERIAL, ser) < 0)
-      {
-        throw IOException (errno);
-      }
-#else
-      throw invalid_argument ("OS does not currently support custom bauds");
-#endif
-  }
-  if (custom_baud == false)
-  {
-#ifdef _BSD_SOURCE
-    ::cfsetspeed(&options, baud);
-#else
-    ::cfsetispeed(&options, baud);
-    ::cfsetospeed(&options, baud);
-#endif
-  }
-
-  // setup char len
-  options.c_cflag &= (unsigned long) ~CSIZE;
-  if (bytesize_ == EIGHTBITS)
-      options.c_cflag |= CS8;
-  else if (bytesize_ == SEVENBITS)
-      options.c_cflag |= CS7;
-  else if (bytesize_ == SIXBITS)
-      options.c_cflag |= CS6;
-  else if (bytesize_ == FIVEBITS)
-      options.c_cflag |= CS5;
-  else
-      throw invalid_argument ("invalid char len");
-  // setup stopbits
-  if (stopbits_ == STOPBITS_ONE)
-      options.c_cflag &= (unsigned long) ~(CSTOPB);
-  else if (stopbits_ == STOPBITS_ONE_POINT_FIVE)
-      options.c_cflag |=  (CSTOPB);  // XXX same as TWO.. there is no POSIX support for 1.5
-  else if (stopbits_ == STOPBITS_TWO)
-      options.c_cflag |=  (CSTOPB);
-  else
-      throw invalid_argument ("invalid stop bit");
-  // setup parity
-  options.c_iflag &= (unsigned long) ~(INPCK|ISTRIP);
-  if (parity_ == PARITY_NONE)
-  {
-    options.c_cflag &= (unsigned long) ~(PARENB|PARODD);
-  }
-  else if (parity_ == PARITY_EVEN)
-  {
-    options.c_cflag &= (unsigned long) ~(PARODD);
-    options.c_cflag |=  (PARENB);
-  }
-  else if (parity_ == PARITY_ODD)
-  {
-    options.c_cflag |=  (PARENB|PARODD);
-  }
-  else
-  {
-    throw invalid_argument ("invalid parity");
-  }
-  // setup flow control
-  // xonxoff
-#ifdef IXANY
-  if (xonxoff_)
-    options.c_iflag |=  (IXON|IXOFF); //|IXANY)
-  else
-    options.c_iflag &= (unsigned long) ~(IXON|IXOFF|IXANY);
-#else
-  if (xonxoff_)
-    options.c_iflag |=  (IXON|IXOFF);
-  else
-    options.c_iflag &= (unsigned long) ~(IXON|IXOFF);
-#endif
-  // rtscts
-#ifdef CRTSCTS
-  if (rtscts_)
-    options.c_cflag |=  (CRTSCTS);
-  else
-    options.c_cflag &= (unsigned long) ~(CRTSCTS);
-#elif defined CNEW_RTSCTS
-  if (rtscts_)
-    options.c_cflag |=  (CNEW_RTSCTS);
-  else
-    options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS);
-#else
-#error "OS Support seems wrong."
-#endif
-
-  options.c_cc[VMIN] = 1; // Minimum of 1 character in the buffer
-  options.c_cc[VTIME] = 0; // timeout on waiting for new data
-
-  // activate settings
-  ::tcsetattr (fd_, TCSANOW, &options);
-}
-
-void
-Serial::SerialImpl::close ()
-{
-  if (isOpen_ == true)
-  {
-    if (fd_ != -1)
-    {
-      ::close (fd_); // Ignoring the outcome
-      fd_ = -1;
-    }
-    isOpen_ = false;
-  }
-}
-
-bool
-Serial::SerialImpl::isOpen () const
-{
-  return isOpen_;
-}
-
-size_t
-Serial::SerialImpl::available ()
-{
-  if (!isOpen_)
-  {
-    return 0;
-  }
-  int count = 0;
-  int result = ioctl (fd_, TIOCINQ, &count);
-  if (result == 0)
-  {
-    return static_cast<size_t> (count);
-  }
-  else
-  {
-    throw IOException (errno);
-  }
-}
-
-size_t
-Serial::SerialImpl::read (char* buf, size_t size)
-{
-  if (!isOpen_)
-  {
-    throw PortNotOpenedException ("Serial::read");
-  }
-  fd_set readfds;
-  ssize_t bytes_read = 0;
-  int count = 0;
-  while (true)
-  {
-    count++;
-    if (timeout_ != -1)
-    {
-      FD_ZERO (&readfds);
-      FD_SET (fd_, &readfds);
-      struct timeval timeout;
-      timeout.tv_sec =                    timeout_ / 1000;
-      timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
-      int r = select (fd_ + 1, &readfds, NULL, NULL, &timeout);
-
-      if (r == -1 && errno == EINTR)
-        continue;
-
-      if (r == -1)
-      {
-        throw IOException (errno);
-      }
-    }
-
-    if (timeout_ == -1 || FD_ISSET (fd_, &readfds))
-    {
-      bytes_read = ::read (fd_, buf, size);
-      // read should always return some data as select reported it was
-      // ready to read when we get to this point.
-      if (bytes_read < 1)
-      {
-        // Disconnected devices, at least on Linux, show the
-        // behavior that they are always ready to read immediately
-        // but reading returns nothing.
-        throw SerialExecption ("device reports readiness to read but "
-                               "returned no data (device disconnected?)");
-      }
-      break;
-    }
-    else
-    {
-      break;
-    }
-  }
-  return static_cast<size_t> (bytes_read);
-}
-
-size_t
-Serial::SerialImpl::write (const string &data)
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::write");
-  }
-  
-  fd_set writefds;
-  ssize_t bytes_written = 0;
-  while (true)
-  {
-    if (timeout_ != -1)
-    {
-      FD_ZERO (&writefds);
-      FD_SET (fd_, &writefds);
-      struct timeval timeout;
-      timeout.tv_sec =                    timeout_ / 1000;
-      timeout.tv_usec = static_cast<int> (timeout_ % 1000) * 1000;
-      int r = select (fd_ + 1, NULL, &writefds, NULL, &timeout);
-
-      if (r == -1 && errno == EINTR)
-        continue;
-
-      if (r == -1)
-      {
-        throw IOException (errno);
-      }
-    }
-
-    if (timeout_ == -1 || FD_ISSET (fd_, &writefds))
-    {
-      bytes_written = ::write (fd_, data.c_str (), data.length ());
-      // read should always return some data as select reported it was
-      // ready to read when we get to this point.
-      if (bytes_written < 1)
-      {
-        // Disconnected devices, at least on Linux, show the
-        // behavior that they are always ready to read immediately
-        // but reading returns nothing.
-        throw SerialExecption ("device reports readiness to read but "
-                               "returned no data (device disconnected?)");
-      }
-      break;
-    }
-    else
-    {
-      break;
-    }
-  }
-
-  return static_cast<size_t> (bytes_written);
-}
-
-void
-Serial::SerialImpl::setPort (const string &port)
-{
-  port_ = port;
-}
-
-string
-Serial::SerialImpl::getPort () const
-{
-  return port_;
-}
-
-void
-Serial::SerialImpl::setTimeout (long timeout)
-{
-  timeout_ = timeout;
-}
-
-long
-Serial::SerialImpl::getTimeout () const
-{
-  return timeout_;
-}
-
-void
-Serial::SerialImpl::setBaudrate (unsigned long baudrate)
-{
-  baudrate_ = baudrate;
-  if (isOpen_)
-    reconfigurePort ();
-}
-
-unsigned long
-Serial::SerialImpl::getBaudrate () const
-{
-  return baudrate_;
-}
-
-void
-Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
-{
-  bytesize_ = bytesize;
-  if (isOpen_)
-    reconfigurePort ();
-}
-
-serial::bytesize_t
-Serial::SerialImpl::getBytesize () const
-{
-  return bytesize_;
-}
-
-void
-Serial::SerialImpl::setParity (serial::parity_t parity)
-{
-  parity_ = parity;
-  if (isOpen_)
-    reconfigurePort ();
-}
-
-serial::parity_t
-Serial::SerialImpl::getParity () const
-{
-  return parity_;
-}
-
-void
-Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
-{
-  stopbits_ = stopbits;
-  if (isOpen_)
-    reconfigurePort ();
-}
-
-serial::stopbits_t
-Serial::SerialImpl::getStopbits () const
-{
-  return stopbits_;
-}
-
-void
-Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
-{
-  flowcontrol_ = flowcontrol;
-  if (isOpen_)
-    reconfigurePort ();
-}
-
-serial::flowcontrol_t
-Serial::SerialImpl::getFlowcontrol () const
-{
-  return flowcontrol_;
-}
-
-void
-Serial::SerialImpl::flush ()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::flush");
-  }
-  tcdrain (fd_);
-}
-
-void
-Serial::SerialImpl::flushInput ()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::flushInput");
-  }
-  tcflush (fd_, TCIFLUSH);
-}
-
-void
-Serial::SerialImpl::flushOutput ()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::flushOutput");
-  }
-  tcflush (fd_, TCOFLUSH);
-}
-
-void
-Serial::SerialImpl::sendBreak (int duration)
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::sendBreak");
-  }
-  tcsendbreak (fd_, static_cast<int> (duration/4));
-}
-
-void
-Serial::SerialImpl::setBreak (bool level)
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::setBreak");
-  }
-  if (level)
-  {
-    ioctl (fd_, TIOCSBRK);
-  }
-  else {
-    ioctl (fd_, TIOCCBRK);
-  }
-}
-
-void
-Serial::SerialImpl::setRTS (bool level)
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::setRTS");
-  }
-  if (level)
-  {
-    ioctl (fd_, TIOCMBIS, TIOCM_RTS);
-  }
-  else {
-    ioctl (fd_, TIOCMBIC, TIOCM_RTS);
-  }
-}
-
-void
-Serial::SerialImpl::setDTR (bool level)
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::setDTR");
-  }
-  if (level)
-  {
-    ioctl (fd_, TIOCMBIS, TIOCM_DTR);
-  }
-  else
-  {
-    ioctl (fd_, TIOCMBIC, TIOCM_DTR);
-  }
-}
-
-bool
-Serial::SerialImpl::getCTS ()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::getCTS");
-  }
-  int s = ioctl (fd_, TIOCMGET, 0);
-  return (s & TIOCM_CTS) != 0;
-}
-
-bool
-Serial::SerialImpl::getDSR()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::getDSR");
-  }
-  int s = ioctl(fd_, TIOCMGET, 0);
-  return (s & TIOCM_DSR) != 0;
-}
-
-bool
-Serial::SerialImpl::getRI()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::getRI");
-  }
-  int s = ioctl (fd_, TIOCMGET, 0);
-  return (s & TIOCM_RI) != 0;
-}
-
-bool
-Serial::SerialImpl::getCD()
-{
-  if (isOpen_ == false)
-  {
-    throw PortNotOpenedException ("Serial::getCD");
-  }
-  int s = ioctl (fd_, TIOCMGET, 0);
-  return (s & TIOCM_CD) != 0;
-}
-

src/serial.cc

@@ -1,5 +1,13 @@
 /* Copyright 2012 William Woodall and John Harrison */
-#include <alloca.h>
+#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"
 
@@ -17,7 +25,7 @@ using std::size_t;
 using std::string;
 
 using serial::Serial;
-using serial::SerialExecption;
+using serial::SerialException;
 using serial::IOException;
 using serial::bytesize_t;
 using serial::parity_t;
@@ -33,6 +41,10 @@ public:
     this->pimpl_->readUnlock();
   }
 private:
+  // Disable copy constructors
+  ScopedReadLock(const ScopedReadLock&);
+  const ScopedReadLock& operator=(ScopedReadLock);
+
   SerialImpl *pimpl_;
 };
 
@@ -45,16 +57,19 @@ public:
     this->pimpl_->writeUnlock();
   }
 private:
+  // Disable copy constructors
+  ScopedWriteLock(const ScopedWriteLock&);
+  const ScopedWriteLock& operator=(ScopedWriteLock);
   SerialImpl *pimpl_;
 };
 
-Serial::Serial (const string &port, unsigned long baudrate, long timeout,
+Serial::Serial (const string &port, uint32_t baudrate, serial::Timeout timeout,
                 bytesize_t bytesize, parity_t parity, stopbits_t stopbits,
                 flowcontrol_t flowcontrol)
- : read_cache_("")
+ : pimpl_(new SerialImpl (port, baudrate, bytesize, parity,
+                                           stopbits, flowcontrol))
 {
-  pimpl_ = new SerialImpl (port, baudrate, timeout, bytesize, parity,
+  pimpl_->setTimeout(timeout);
-                           stopbits, flowcontrol);
 }
 
 Serial::~Serial ()
@@ -86,25 +101,47 @@ 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_ (unsigned char *buffer, size_t size)
+Serial::read_ (uint8_t *buffer, size_t size)
 {
   return this->pimpl_->read (buffer, size);
 }
 
 size_t
-Serial::read (unsigned char *buffer, size_t size)
+Serial::read (uint8_t *buffer, size_t size)
 {
-  ScopedReadLock (this->pimpl_);
+  ScopedReadLock lock(this->pimpl_);
   return this->pimpl_->read (buffer, size);
 }
 
 size_t
-Serial::read (std::vector<unsigned char> &buffer, size_t size)
+Serial::read (std::vector<uint8_t> &buffer, size_t size)
 {
-  ScopedReadLock (this->pimpl_);
+  ScopedReadLock lock(this->pimpl_);
-  unsigned char *buffer_ = new unsigned char[size];
+  uint8_t *buffer_ = new uint8_t[size];
-  size_t bytes_read = this->pimpl_->read (buffer_, 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;
@@ -113,9 +150,16 @@ Serial::read (std::vector<unsigned char> &buffer, size_t size)
 size_t
 Serial::read (std::string &buffer, size_t size)
 {
-  ScopedReadLock (this->pimpl_);
+  ScopedReadLock lock(this->pimpl_);
-  unsigned char *buffer_ = new unsigned char[size];
+  uint8_t *buffer_ = new uint8_t[size];
-  size_t bytes_read = this->pimpl_->read (buffer_, 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;
@@ -132,10 +176,10 @@ Serial::read (size_t size)
 size_t
 Serial::readline (string &buffer, size_t size, string eol)
 {
-  ScopedReadLock (this->pimpl_);
+  ScopedReadLock lock(this->pimpl_);
   size_t eol_len = eol.length ();
-  unsigned char *buffer_ = static_cast<unsigned char*>
+  uint8_t *buffer_ = static_cast<uint8_t*>
-                              (alloca (size * sizeof (unsigned char)));
+                              (alloca (size * sizeof (uint8_t)));
   size_t read_so_far = 0;
   while (true)
   {
@@ -144,6 +188,7 @@ Serial::readline (string &buffer, size_t size, string eol)
     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
@@ -167,11 +212,11 @@ Serial::readline (size_t size, string eol)
 vector<string>
 Serial::readlines (size_t size, string eol)
 {
-  ScopedReadLock (this->pimpl_);
+  ScopedReadLock lock(this->pimpl_);
   std::vector<std::string> lines;
   size_t eol_len = eol.length ();
-  unsigned char *buffer_ = static_cast<unsigned char*>
+  uint8_t *buffer_ = static_cast<uint8_t*>
-    (alloca (size * sizeof (unsigned char)));
+    (alloca (size * sizeof (uint8_t)));
   size_t read_so_far = 0;
   size_t start_of_line = 0;
   while (read_so_far < size) {
@@ -185,6 +230,7 @@ Serial::readlines (size_t size, string eol)
       }
       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
@@ -208,15 +254,36 @@ Serial::readlines (size_t size, string eol)
 size_t
 Serial::write (const string &data)
 {
-  ScopedWriteLock(this->pimpl_);
+  ScopedWriteLock lock(this->pimpl_);
-  return pimpl_->write (data);
+  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(this->pimpl_);
+  ScopedReadLock rlock(this->pimpl_);
-  ScopedWriteLock(this->pimpl_);
+  ScopedWriteLock wlock(this->pimpl_);
   bool was_open = pimpl_->isOpen ();
   if (was_open) close();
   pimpl_->setPort (port);
@@ -230,26 +297,26 @@ Serial::getPort () const
 }
 
 void
-Serial::setTimeout (long timeout)
+Serial::setTimeout (serial::Timeout &timeout)
 {
   pimpl_->setTimeout (timeout);
 }
 
-long
+serial::Timeout
 Serial::getTimeout () const {
   return pimpl_->getTimeout ();
 }
 
 void
-Serial::setBaudrate (unsigned long baudrate)
+Serial::setBaudrate (uint32_t baudrate)
 {
   pimpl_->setBaudrate (baudrate);
 }
 
-unsigned long
+uint32_t
 Serial::getBaudrate () const
 {
-  return pimpl_->getBaudrate ();
+  return uint32_t(pimpl_->getBaudrate ());
 }
 
 void
@@ -302,23 +369,21 @@ Serial::getFlowcontrol () const
 
 void Serial::flush ()
 {
-  ScopedReadLock(this->pimpl_);
+  ScopedReadLock rlock(this->pimpl_);
-  ScopedWriteLock(this->pimpl_);
+  ScopedWriteLock wlock(this->pimpl_);
   pimpl_->flush ();
-  read_cache_.clear ();
 }
 
 void Serial::flushInput ()
 {
-  ScopedReadLock(this->pimpl_);
+  ScopedReadLock lock(this->pimpl_);
   pimpl_->flushInput ();
 }
 
 void Serial::flushOutput ()
 {
-  ScopedWriteLock(this->pimpl_);
+  ScopedWriteLock lock(this->pimpl_);
   pimpl_->flushOutput ();
-  read_cache_.clear ();
 }
 
 void Serial::sendBreak (int duration)
@@ -341,6 +406,11 @@ void Serial::setDTR (bool level)
   pimpl_->setDTR (level);
 }
 
+bool Serial::waitForChange()
+{
+  return pimpl_->waitForChange();
+}
+
 bool Serial::getCTS ()
 {
   return pimpl_->getCTS ();

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/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

@@ -20,8 +20,6 @@ void loop()
 #include <string>
 #include "gtest/gtest.h"
 
-#include <boost/bind.hpp>
-
 // Use FRIEND_TEST... its not as nasty, thats what friends are for
 // // OMG this is so nasty...
 // #define private public
@@ -29,7 +27,7 @@ void loop()
 
 #include "serial/serial.h"
 
-#ifdef __linux__
+#if defined(__linux__)
 #include <pty.h>
 #else
 #include <util.h>
@@ -53,7 +51,7 @@ protected:
     ASSERT_TRUE(slave_fd > 0);
     ASSERT_TRUE(string(name).length() > 0);
 
-    port1 = new Serial(string(name), 115200, 250);
+    port1 = new Serial(string(name), 115200, Timeout::simpleTimeout(250));
   }
 
   virtual void TearDown() {

visual_studio/serial/serial.vcxproj

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