--- branches/linux-serial/Serial.cpp	2007/02/04 21:33:40	45
+++ branches/linux-serial/Serial.cpp	2007/02/04 23:11:02	46
@@ -1,7 +1,13 @@
 #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"
@@ -9,8 +15,16 @@
 #include <stdexcept>
 #include <string>
 #include <sstream>
+#include <iostream>
 #include <iomanip>
 
+#define _POSIX_SOURCE 1 /* POSIX compliant source */
+#define BAUDRATE B38400
+
+#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
@@ -27,9 +41,7 @@
 	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
 }
 
@@ -106,7 +118,7 @@
 	{
 		std::string error = writeLastError();
 		CloseHandle(mComport);
-		throw std::exception(error.c_str());
+		throw std::exception( error );
 	}
 
 	mIsopen = true;
@@ -117,6 +129,32 @@
 #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]     = 1;   /* blocking read until 1 chars received */
+				        
+        tcflush(mFiledescriptor, TCIFLUSH);
+        tcsetattr(mFiledescriptor, TCSANOW, &newtio);
+	
+	std::cout << "port configured " << std::endl;
+	mIsopen = true;
 }
 #endif
 
@@ -130,6 +168,9 @@
 		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;
 	}
@@ -152,9 +193,12 @@
 		throw std::exception(error.c_str());
 	}
 #else //linux readByte()
+	size = read(mFiledescriptor, &out, 1);
+	if (size != 1)
+		throw std::runtime_error( writeLastError() );
 #endif
 
-	//printByte("Read", out);
+	printByte("Read", out);
 	return out;
 }
 
@@ -179,8 +223,12 @@
 		throw std::exception(error.c_str());
 	}
 #else //linux writeByte()
+	size = write(mFiledescriptor,&out,1);
+	if (size != 1)
+		throw std::runtime_error(writeLastError() );
 #endif
 }
+
 #ifdef _WINDOWS
 COMSTAT CSerial::getComstat() const
 {
@@ -212,13 +260,14 @@
 #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)