branches/linux-serial/Serial.cpp

#ifndef _MSC_VER //linux
#include <sys/types.h>
#include <sys/stat.h>

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

#include "StdAfx.h"
#include "Serial.h"

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

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

#ifndef _MSC_VER // 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 _MSC_VER
        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 _MSC_VER
        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 _MSC_VER
        openWindows();
#else
        openLinux();
#endif
}

#ifdef _MSC_VER
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::runtime_error( error );
        }

        mIsopen = true;
}
#endif


#ifndef _MSC_VER
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 _MSC_VER
                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 _MSC_VER
        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 _MSC_VER
        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 _MSC_VER
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 _MSC_VER
        return getComstat().cbInQue;
#else
        return 0;
#endif
}

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