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 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
        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]     = 1;   /* blocking read until 1 chars received */
                                        
        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;
        }
}


unsigned char 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)
                throw std::runtime_error( writeLastError() );
#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()
        size = write(mFiledescriptor,&out,1);
        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	#ifdef _WINDOWS
2	#include "StdAfx.h"
3	#else //linux
4	#include <sys/types.h>
5	#include <sys/stat.h>
6
7	#include <unistd.h>
8	#include <errno.h>
9	#include <termios.h>
10	#include <fcntl.h>
11	#endif
12
13	#include "Serial.h"
14
15	#include <stdexcept>
16	#include <string>
17	#include <sstream>
18	#include <iostream>
19	#include <iomanip>
20
21	#define _POSIX_SOURCE 1 /* POSIX compliant source */
22	#define BAUDRATE B38400
23
24	#ifndef _WINDOWS // ugly hack, else will gcc not accept this constant in openLinux()
25	const int flags = O_RDWR \| O_NOCTTY \| O_NONBLOCK;
26	#endif
27
28	std::string writeLastError()
29	{
30	#ifdef _WINDOWS
31	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	#else //linux
44	return std::string( strerror(errno) );
45	#endif
46	}
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	#ifdef _WINDOWS
61	openWindows();
62	#else
63	openLinux();
64	#endif
65	}
66
67	CSerial::~CSerial(void)
68	{
69	close();
70	}
71
72	void CSerial::open(char* port, int bitrate)
73	{
74	if (mIsopen)
75	throw std::runtime_error("Port already opened");
76
77	mPortstr = port;
78	mBitrate = bitrate;
79
80	#ifdef _WINDOWS
81	openWindows();
82	#else
83	openLinux();
84	#endif
85	}
86
87	#ifdef _WINDOWS
88	void CSerial::openWindows()
89	{
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	throw std::runtime_error(writeLastError().c_str());
95	}
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	throw std::exception( error );
122	}
123
124	mIsopen = true;
125	}
126	#endif
127
128
129	#ifndef _WINDOWS
130	void CSerial::openLinux()
131	{
132	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	newtio.c_cc[VMIN] = 1; /* blocking read until 1 chars received */
152
153	tcflush(mFiledescriptor, TCIFLUSH);
154	tcsetattr(mFiledescriptor, TCSANOW, &newtio);
155
156	std::cout << "port configured " << std::endl;
157	mIsopen = true;
158	}
159	#endif
160
161	void CSerial::close()
162	{
163	if (mIsopen)
164	{
165	#ifdef _WINDOWS
166	while (getComstat().cbOutQue >0)
167	Sleep(5);
168	SetCommState(mComport,&mDcbRestore);
169	CloseHandle(mComport);
170	#else // linux close()
171	tcdrain(mFiledescriptor);
172	tcsetattr(mFiledescriptor, TCSADRAIN, &mOldtio); //restore settings, when all data is written
173	::close(mFiledescriptor); //close()== system-call
174	#endif
175	mIsopen = false;
176	}
177	}
178
179
180	unsigned char CSerial::readByte()
181	{
182	unsigned char out;
183	unsigned long size;
184
185	if (!mIsopen)
186	throw std::runtime_error("Port not opened");
187	#ifdef _WINDOWS
188	ReadFile(mComport,&out,1,&size,0);
189	if (size != 1)
190	{
191	std::string error = writeLastError();
192	CloseHandle(mComport);
193	throw std::exception(error.c_str());
194	}
195	#else //linux readByte()
196	size = read(mFiledescriptor, &out, 1);
197	if (size != 1)
198	throw std::runtime_error( writeLastError() );
199	#endif
200
201	printByte("Read", out);
202	return out;
203	}
204
205
206	void CSerial::writeByte(unsigned char out)
207	{
208	unsigned long size;
209
210	//printByte("Write", out);
211	if (!mIsopen)
212	throw std::runtime_error("Port not opened");
213
214	#ifdef _WINDOWS
215	while (getComstat().cbOutQue >0)
216	Sleep(2);
217
218	WriteFile(mComport,&out,1,&size, NULL);
219	if (size ==0)
220	{
221	std::string error = writeLastError();
222	CloseHandle(mComport);
223	throw std::exception(error.c_str());
224	}
225	#else //linux writeByte()
226	size = write(mFiledescriptor,&out,1);
227	if (size != 1)
228	throw std::runtime_error(writeLastError() );
229	#endif
230	}
231
232	#ifdef _WINDOWS
233	COMSTAT CSerial::getComstat() const
234	{
235	if (!mIsopen)
236	throw std::exception("Port not opened");
237
238	COMSTAT stat;
239	DWORD x;
240	ClearCommError(mComport,&x,&stat);
241	return stat;
242	}
243	#endif
244
245	int CSerial::bytesReady() const
246	{
247	#ifdef _WINDOWS
248	return getComstat().cbInQue;
249	#else
250	return 0;
251	#endif
252	}
253
254	int CSerial::outQueueSize() const
255	{
256	#ifdef _WINDOWS
257	return getComstat().cbOutQue;
258	#else
259	return 0;
260	#endif
261	}
262
263	// Debug function
264	//
265	void CSerial::printByte(char* description, unsigned char byte)
266	{
267	std::cout << description << " : " << (int) byte << "/" << std::setw(2) << std::setfill('0') << std::hex << (int) byte << std::endl;
268	std::cout << std::dec;
269	}
270
271
272	/*
273	void CSerial::writeBytes(UCVector out)
274	{
275	unsigned long bytesWritten;
276	unsigned int size = out.size();
277	unsigned char *buf = new unsigned char[size];
278
279	for (int i=0; i<size; i++)
280	buf[i] = out[i];
281
282	WriteFile(mComport,buf,size,&bytesWritten,NULL);
283	if (bytesWritten != size)
284	{
285	std::string error = writeLastError();
286	CloseHandle(mComport);
287	throw std::exception(error.c_str());
288	}
289	delete[] buf;
290	}
291	*/
292
293
294	/*
295	UCVector CSerial::readBytes(int maxcount)
296	{
297	UCVector buf;
298
299
300
301	return buf;
302	}
303	*/