branches/linux-serial/Serial.cpp

#ifdef _WINDOWS
#include "StdAfx.h"
#else //linux
#include <sys/types.h>
#include <sys/stat.h>

#include <unistd.h>
#include <errno.h>
#include <termios.h>
#include <fcntl.h>
#endif

#include "Serial.h"

#include <stdexcept>
#include <string>
#include <sstream>
#include <iostream>
#include <iomanip>

#define _POSIX_SOURCE 1 /* POSIX compliant source */
#define BAUDRATE B9600

#ifndef _WINDOWS // ugly hack, else will gcc not accept this constant in openLinux()
const int flags = O_RDWR | O_NOCTTY ; //| O_NONBLOCK;
#endif

std::string writeLastError()
{
#ifdef _WINDOWS
        LPVOID lpMsgBuf;
        FormatMessage(FORMAT_MESSAGE_ALLOCATE_BUFFER|FORMAT_MESSAGE_FROM_SYSTEM|FORMAT_MESSAGE_IGNORE_INSERTS,
                        NULL,
                        GetLastError(),
                        MAKELANGID(LANG_NEUTRAL,SUBLANG_DEFAULT),
                        (LPSTR) &lpMsgBuf,
                        0,
                        NULL);

        std::ostringstream out;
        out << "Error" << lpMsgBuf;
        return out.str();
#else //linux
        return std::string( strerror(errno) );
#endif
}


CSerial::CSerial()
{
        mIsopen = false;
}

CSerial::CSerial(char* port, int bitrate)
{
        mPortstr = port;
        mBitrate = bitrate;
        mIsopen = false;

#ifdef _WINDOWS
        openWindows();
#else
        openLinux();
#endif
}

CSerial::~CSerial(void)
{
        close();
}

void CSerial::open(char* port, int bitrate)
{
        if (mIsopen)
                throw std::runtime_error("Port already opened");

        mPortstr = port;
        mBitrate = bitrate;
        
#ifdef _WINDOWS
        openWindows();
#else
        openLinux();
#endif
}

#ifdef _WINDOWS
void CSerial::openWindows()
{
        mComport = CreateFile( mPortstr, GENERIC_READ|GENERIC_WRITE,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);

        if (mComport == INVALID_HANDLE_VALUE)
        {
                throw std::runtime_error(writeLastError().c_str());
        }

        DCB dcb;
        dcb.DCBlength = sizeof(DCB);
        mDcbRestore.DCBlength = sizeof(DCB);

        if (!GetCommState(mComport,&dcb) || !GetCommState(mComport,&mDcbRestore))
        {
                std::string error = writeLastError();
                CloseHandle(mComport);
                throw std::exception(error.c_str());
        }

        dcb.BaudRate = mBitrate;
        dcb.ByteSize = 8;
        dcb.Parity = NOPARITY;
        dcb.StopBits = ONESTOPBIT;
        dcb.fDtrControl = DTR_CONTROL_DISABLE;
        dcb.fRtsControl = RTS_CONTROL_DISABLE;
        dcb.fParity = false;
        dcb.fDsrSensitivity = false;

        if (!SetCommState(mComport,&dcb))
        {
                std::string error = writeLastError();
                CloseHandle(mComport);
                throw std::exception( error );
        }

        mIsopen = true;
}
#endif


#ifndef _WINDOWS
void CSerial::openLinux()
{
        termios newtio;

        std::cout << "opening port " << std::endl;      
        mFiledescriptor = ::open(mPortstr, flags);
        if (mFiledescriptor < 0)
                throw std::runtime_error( writeLastError() );

        std::cout << "port opened" << std::endl;
        bzero(&newtio, sizeof(newtio) ); 

        // use a std. 8N1 config
        newtio.c_cflag = BAUDRATE | CRTSCTS | CS8 | CLOCAL | CREAD;
        newtio.c_iflag = IGNPAR;
        newtio.c_oflag = 0;

        /* set input mode (non-canonical, no echo,...) */
        newtio.c_lflag = 0;
                         
        newtio.c_cc[VTIME]    = 0;   /* inter-character timer unused */
        newtio.c_cc[VMIN]     = 0;   /* blocking read until 1 chars received */

        cfmakeraw(&newtio);
        cfsetospeed(&newtio, BAUDRATE);
        
                                        
        tcflush(mFiledescriptor, TCIFLUSH);
        tcsetattr(mFiledescriptor, TCSANOW, &newtio);
        
        std::cout << "port configured " << std::endl;
        mIsopen = true;
}
#endif

void CSerial::close()
{
        if (mIsopen)
        {
#ifdef _WINDOWS
                while (getComstat().cbOutQue >0)
                        Sleep(5);
                SetCommState(mComport,&mDcbRestore);
                CloseHandle(mComport);
#else // linux close()
                tcdrain(mFiledescriptor);
                tcsetattr(mFiledescriptor, TCSADRAIN, &mOldtio); //restore settings, when all data is written
                ::close(mFiledescriptor); //close()== system-call
#endif
                mIsopen = false;
        }
}


int CSerial::readByte()
{
        unsigned char out;
        unsigned long size;

        if (!mIsopen)
                throw std::runtime_error("Port not opened");
#ifdef _WINDOWS
        ReadFile(mComport,&out,1,&size,0);
        if (size != 1)
        {
                std::string error = writeLastError();
                CloseHandle(mComport);
                throw std::exception(error.c_str());
        }
#else //linux readByte()
        size = read(mFiledescriptor, &out, 1);
        if (size != 1) 
        {
                std::cout << writeLastError() << std::endl;
                return -1;
        }
#endif

        printByte("Read", out);
        return out;
}


void CSerial::writeByte(unsigned char out)
{
        unsigned long size;

        printByte("Write", out);
        if (!mIsopen)
                throw std::runtime_error("Port not opened");

#ifdef _WINDOWS
        while (getComstat().cbOutQue >0)
                Sleep(2);

        WriteFile(mComport,&out,1,&size, NULL);
        if (size ==0)
        {
                std::string error = writeLastError();
                CloseHandle(mComport);
                throw std::exception(error.c_str());
        }
#else //linux writeByte()
        //tcdrain(mFiledescriptor);
        size = write(mFiledescriptor,&out,1);
        Sleep(50);
        //tcdrain(mFiledescriptor);
        if (size != 1)
                throw std::runtime_error(writeLastError() );
#endif
}

#ifdef _WINDOWS
COMSTAT CSerial::getComstat() const
{
        if (!mIsopen)
                throw std::exception("Port not opened");

        COMSTAT stat;
        DWORD x;
        ClearCommError(mComport,&x,&stat);
        return stat;
}
#endif

int CSerial::bytesReady() const
{
#ifdef _WINDOWS
        return getComstat().cbInQue;
#else
        return 0;
#endif
}

int CSerial::outQueueSize() const
{
#ifdef _WINDOWS
        return getComstat().cbOutQue;
#else
        return 0;
#endif
}

// Debug function
//
void CSerial::printByte(char* description, unsigned char byte)
{
        std::cout << description << " : " <<  (int) byte << "/" << std::setw(2) << std::setfill('0') << std::hex << (int) byte << std::endl;
        std::cout << std::dec;
}


/*
void CSerial::writeBytes(UCVector out)
{
        unsigned long bytesWritten;
        unsigned int size = out.size();
        unsigned char *buf = new unsigned char[size];

        for (int i=0; i<size; i++)
                buf[i] = out[i];

        WriteFile(mComport,buf,size,&bytesWritten,NULL);
        if (bytesWritten != size)
        {
                std::string error = writeLastError();
                CloseHandle(mComport);
                throw std::exception(error.c_str());
        }
        delete[] buf;
}
*/


/*
UCVector CSerial::readBytes(int maxcount)
{
        UCVector buf;


        return buf;
}
*/
1	torben	44	#ifdef _WINDOWS
2	torben	38	#include "StdAfx.h"
3	torben	44	#else //linux
4	torben	46	#include <sys/types.h>
5			#include <sys/stat.h>
6
7			#include <unistd.h>
8	torben	44	#include <errno.h>
9	torben	46	#include <termios.h>
10			#include <fcntl.h>
11	torben	44	#endif
12	torben	38
13			#include "Serial.h"
14
15	torben	44	#include <stdexcept>
16	torben	38	#include <string>
17			#include <sstream>
18	torben	46	#include <iostream>
19	torben	38	#include <iomanip>
20
21	torben	46	#define _POSIX_SOURCE 1 /* POSIX compliant source */
22	torben	47	#define BAUDRATE B9600
23	torben	46
24			#ifndef _WINDOWS // ugly hack, else will gcc not accept this constant in openLinux()
25	torben	47	const int flags = O_RDWR \| O_NOCTTY ; //\| O_NONBLOCK;
26	torben	46	#endif
27
28	torben	38	std::string writeLastError()
29			{
30	torben	44	#ifdef _WINDOWS
31	torben	38	LPVOID lpMsgBuf;
32			FormatMessage(FORMAT_MESSAGE_ALLOCATE_BUFFER\|FORMAT_MESSAGE_FROM_SYSTEM\|FORMAT_MESSAGE_IGNORE_INSERTS,
33			NULL,
34			GetLastError(),
35			MAKELANGID(LANG_NEUTRAL,SUBLANG_DEFAULT),
36			(LPSTR) &lpMsgBuf,
37			0,
38			NULL);
39
40			std::ostringstream out;
41			out << "Error" << lpMsgBuf;
42			return out.str();
43	torben	44	#else //linux
44	torben	46	return std::string( strerror(errno) );
45	torben	44	#endif
46	torben	38	}
47
48
49			CSerial::CSerial()
50			{
51			mIsopen = false;
52			}
53
54			CSerial::CSerial(char* port, int bitrate)
55			{
56			mPortstr = port;
57			mBitrate = bitrate;
58			mIsopen = false;
59
60	torben	44	#ifdef _WINDOWS
61			openWindows();
62			#else
63			openLinux();
64			#endif
65	torben	38	}
66
67			CSerial::~CSerial(void)
68			{
69			close();
70			}
71
72			void CSerial::open(char* port, int bitrate)
73			{
74			if (mIsopen)
75	torben	44	throw std::runtime_error("Port already opened");
76	torben	38
77			mPortstr = port;
78			mBitrate = bitrate;
79	torben	44
80			#ifdef _WINDOWS
81			openWindows();
82			#else
83			openLinux();
84			#endif
85	torben	38	}
86
87	torben	44	#ifdef _WINDOWS
88			void CSerial::openWindows()
89	torben	38	{
90			mComport = CreateFile( mPortstr, GENERIC_READ\|GENERIC_WRITE,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
91
92			if (mComport == INVALID_HANDLE_VALUE)
93			{
94	torben	44	throw std::runtime_error(writeLastError().c_str());
95	torben	38	}
96
97			DCB dcb;
98			dcb.DCBlength = sizeof(DCB);
99			mDcbRestore.DCBlength = sizeof(DCB);
100
101			if (!GetCommState(mComport,&dcb) \|\| !GetCommState(mComport,&mDcbRestore))
102			{
103			std::string error = writeLastError();
104			CloseHandle(mComport);
105			throw std::exception(error.c_str());
106			}
107
108			dcb.BaudRate = mBitrate;
109			dcb.ByteSize = 8;
110			dcb.Parity = NOPARITY;
111			dcb.StopBits = ONESTOPBIT;
112			dcb.fDtrControl = DTR_CONTROL_DISABLE;
113			dcb.fRtsControl = RTS_CONTROL_DISABLE;
114			dcb.fParity = false;
115			dcb.fDsrSensitivity = false;
116
117			if (!SetCommState(mComport,&dcb))
118			{
119			std::string error = writeLastError();
120			CloseHandle(mComport);
121	torben	46	throw std::exception( error );
122	torben	38	}
123
124			mIsopen = true;
125			}
126	torben	44	#endif
127	torben	38
128	torben	44
129			#ifndef _WINDOWS
130			void CSerial::openLinux()
131			{
132	torben	46	termios newtio;
133
134			std::cout << "opening port " << std::endl;
135			mFiledescriptor = ::open(mPortstr, flags);
136			if (mFiledescriptor < 0)
137			throw std::runtime_error( writeLastError() );
138
139			std::cout << "port opened" << std::endl;
140			bzero(&newtio, sizeof(newtio) );
141
142			// use a std. 8N1 config
143			newtio.c_cflag = BAUDRATE \| CRTSCTS \| CS8 \| CLOCAL \| CREAD;
144			newtio.c_iflag = IGNPAR;
145			newtio.c_oflag = 0;
146
147			/* set input mode (non-canonical, no echo,...) */
148			newtio.c_lflag = 0;
149
150			newtio.c_cc[VTIME] = 0; /* inter-character timer unused */
151	torben	47	newtio.c_cc[VMIN] = 0; /* blocking read until 1 chars received */
152
153			cfmakeraw(&newtio);
154			cfsetospeed(&newtio, BAUDRATE);
155
156	torben	46
157			tcflush(mFiledescriptor, TCIFLUSH);
158			tcsetattr(mFiledescriptor, TCSANOW, &newtio);
159
160			std::cout << "port configured " << std::endl;
161			mIsopen = true;
162	torben	44	}
163			#endif
164
165	torben	38	void CSerial::close()
166			{
167			if (mIsopen)
168			{
169	torben	44	#ifdef _WINDOWS
170	torben	38	while (getComstat().cbOutQue >0)
171			Sleep(5);
172			SetCommState(mComport,&mDcbRestore);
173			CloseHandle(mComport);
174	torben	44	#else // linux close()
175	torben	46	tcdrain(mFiledescriptor);
176			tcsetattr(mFiledescriptor, TCSADRAIN, &mOldtio); //restore settings, when all data is written
177			::close(mFiledescriptor); //close()== system-call
178	torben	44	#endif
179	torben	38	mIsopen = false;
180			}
181			}
182
183
184	torben	47	int CSerial::readByte()
185	torben	38	{
186			unsigned char out;
187			unsigned long size;
188
189			if (!mIsopen)
190	torben	44	throw std::runtime_error("Port not opened");
191			#ifdef _WINDOWS
192	torben	38	ReadFile(mComport,&out,1,&size,0);
193			if (size != 1)
194			{
195			std::string error = writeLastError();
196			CloseHandle(mComport);
197			throw std::exception(error.c_str());
198			}
199	torben	44	#else //linux readByte()
200	torben	46	size = read(mFiledescriptor, &out, 1);
201	torben	47	if (size != 1)
202			{
203			std::cout << writeLastError() << std::endl;
204			return -1;
205			}
206	torben	44	#endif
207	torben	38
208	torben	46	printByte("Read", out);
209	torben	38	return out;
210			}
211
212
213			void CSerial::writeByte(unsigned char out)
214			{
215			unsigned long size;
216
217	torben	47	printByte("Write", out);
218	torben	38	if (!mIsopen)
219	torben	44	throw std::runtime_error("Port not opened");
220	torben	38
221	torben	44	#ifdef _WINDOWS
222	torben	38	while (getComstat().cbOutQue >0)
223			Sleep(2);
224
225			WriteFile(mComport,&out,1,&size, NULL);
226			if (size ==0)
227			{
228			std::string error = writeLastError();
229			CloseHandle(mComport);
230			throw std::exception(error.c_str());
231			}
232	torben	44	#else //linux writeByte()
233	torben	47	//tcdrain(mFiledescriptor);
234	torben	46	size = write(mFiledescriptor,&out,1);
235	torben	47	Sleep(50);
236			//tcdrain(mFiledescriptor);
237	torben	46	if (size != 1)
238			throw std::runtime_error(writeLastError() );
239	torben	44	#endif
240	torben	38	}
241	torben	46
242	torben	44	#ifdef _WINDOWS
243	torben	38	COMSTAT CSerial::getComstat() const
244			{
245			if (!mIsopen)
246			throw std::exception("Port not opened");
247
248			COMSTAT stat;
249			DWORD x;
250			ClearCommError(mComport,&x,&stat);
251			return stat;
252			}
253	torben	44	#endif
254	torben	38
255			int CSerial::bytesReady() const
256			{
257	torben	44	#ifdef _WINDOWS
258	torben	38	return getComstat().cbInQue;
259	torben	44	#else
260			return 0;
261			#endif
262	torben	38	}
263
264			int CSerial::outQueueSize() const
265			{
266	torben	44	#ifdef _WINDOWS
267	torben	38	return getComstat().cbOutQue;
268	torben	44	#else
269			return 0;
270			#endif
271	torben	38	}
272
273	torben	46	// Debug function
274			//
275	torben	38	void CSerial::printByte(char* description, unsigned char byte)
276			{
277			std::cout << description << " : " << (int) byte << "/" << std::setw(2) << std::setfill('0') << std::hex << (int) byte << std::endl;
278			std::cout << std::dec;
279			}
280
281	torben	46
282	torben	38	/*
283			void CSerial::writeBytes(UCVector out)
284			{
285			unsigned long bytesWritten;
286			unsigned int size = out.size();
287			unsigned char *buf = new unsigned char[size];
288
289			for (int i=0; i<size; i++)
290			buf[i] = out[i];
291
292			WriteFile(mComport,buf,size,&bytesWritten,NULL);
293			if (bytesWritten != size)
294			{
295			std::string error = writeLastError();
296			CloseHandle(mComport);
297			throw std::exception(error.c_str());
298			}
299			delete[] buf;
300			}
301			*/
302
303
304			/*
305			UCVector CSerial::readBytes(int maxcount)
306			{
307			UCVector buf;
308
309
310
311			return buf;
312			}
313			*/