--- branches/linux-serial/Serial.cpp	2007/02/04 21:22:44	44
+++ branches/linux-serial/Serial.cpp	2007/02/05 07:14:33	50
@@ -1,19 +1,32 @@
-#ifdef _WINDOWS
-#include "StdAfx.h"
-#else //linux
+#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 _WINDOWS
+#ifdef _MSC_VER
 	LPVOID lpMsgBuf;
 	FormatMessage(FORMAT_MESSAGE_ALLOCATE_BUFFER|FORMAT_MESSAGE_FROM_SYSTEM|FORMAT_MESSAGE_IGNORE_INSERTS,
 			NULL,
@@ -27,9 +40,7 @@
 	out << "Error" << lpMsgBuf;
 	return out.str();
 #else //linux
-	char message[256];
-	strerror_r(errno, message, 255);
-	return std::string(message);
+	return std::string( strerror(errno) );
 #endif
 }
 
@@ -45,7 +56,7 @@
 	mBitrate = bitrate;
 	mIsopen = false;
 
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 	openWindows();
 #else
 	openLinux();
@@ -65,14 +76,14 @@
 	mPortstr = port;
 	mBitrate = bitrate;
 	
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 	openWindows();
 #else
 	openLinux();
 #endif
 }
 
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 void CSerial::openWindows()
 {
 	mComport = CreateFile( mPortstr, GENERIC_READ|GENERIC_WRITE,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
@@ -106,7 +117,7 @@
 	{
 		std::string error = writeLastError();
 		CloseHandle(mComport);
-		throw std::exception(error.c_str());
+		throw std::runtime_error( error );
 	}
 
 	mIsopen = true;
@@ -114,9 +125,39 @@
 #endif
 
 
-#ifndef _WINDOWS
+#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
 
@@ -124,26 +165,29 @@
 {
 	if (mIsopen)
 	{
-#ifdef _WINDOWS
+#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;
 	}
 }
 
 
-unsigned char CSerial::readByte()
+int CSerial::readByte()
 {
 	unsigned char out;
 	unsigned long size;
 
 	if (!mIsopen)
 		throw std::runtime_error("Port not opened");
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 	ReadFile(mComport,&out,1,&size,0);
 	if (size != 1)
 	{
@@ -152,9 +196,15 @@
 		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);
+	printByte("Read", out);
 	return out;
 }
 
@@ -163,11 +213,11 @@
 {
 	unsigned long size;
 
-	//printByte("Write", out);
+	printByte("Write", out);
 	if (!mIsopen)
 		throw std::runtime_error("Port not opened");
 
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 	while (getComstat().cbOutQue >0)
 		Sleep(2);
 
@@ -179,9 +229,16 @@
 		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
+
+#ifdef _MSC_VER
 COMSTAT CSerial::getComstat() const
 {
 	if (!mIsopen)
@@ -196,7 +253,7 @@
 
 int CSerial::bytesReady() const
 {
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 	return getComstat().cbInQue;
 #else
 	return 0;
@@ -205,20 +262,21 @@
 
 int CSerial::outQueueSize() const
 {
-#ifdef _WINDOWS
+#ifdef _MSC_VER
 	return getComstat().cbOutQue;
 #else
 	return 0;
 #endif
 }
 
-/* Debug function
+// 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)