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	#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 B9600
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] = 0; /* blocking read until 1 chars received */
152
153	cfmakeraw(&newtio);
154	cfsetospeed(&newtio, BAUDRATE);
155
156
157	tcflush(mFiledescriptor, TCIFLUSH);
158	tcsetattr(mFiledescriptor, TCSANOW, &newtio);
159
160	std::cout << "port configured " << std::endl;
161	mIsopen = true;
162	}
163	#endif
164
165	void CSerial::close()
166	{
167	if (mIsopen)
168	{
169	#ifdef _WINDOWS
170	while (getComstat().cbOutQue >0)
171	Sleep(5);
172	SetCommState(mComport,&mDcbRestore);
173	CloseHandle(mComport);
174	#else // linux close()
175	tcdrain(mFiledescriptor);
176	tcsetattr(mFiledescriptor, TCSADRAIN, &mOldtio); //restore settings, when all data is written
177	::close(mFiledescriptor); //close()== system-call
178	#endif
179	mIsopen = false;
180	}
181	}
182
183
184	int CSerial::readByte()
185	{
186	unsigned char out;
187	unsigned long size;
188
189	if (!mIsopen)
190	throw std::runtime_error("Port not opened");
191	#ifdef _WINDOWS
192	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	#else //linux readByte()
200	size = read(mFiledescriptor, &out, 1);
201	if (size != 1)
202	{
203	std::cout << writeLastError() << std::endl;
204	return -1;
205	}
206	#endif
207
208	printByte("Read", out);
209	return out;
210	}
211
212
213	void CSerial::writeByte(unsigned char out)
214	{
215	unsigned long size;
216
217	printByte("Write", out);
218	if (!mIsopen)
219	throw std::runtime_error("Port not opened");
220
221	#ifdef _WINDOWS
222	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	#else //linux writeByte()
233	//tcdrain(mFiledescriptor);
234	size = write(mFiledescriptor,&out,1);
235	Sleep(50);
236	//tcdrain(mFiledescriptor);
237	if (size != 1)
238	throw std::runtime_error(writeLastError() );
239	#endif
240	}
241
242	#ifdef _WINDOWS
243	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	#endif
254
255	int CSerial::bytesReady() const
256	{
257	#ifdef _WINDOWS
258	return getComstat().cbInQue;
259	#else
260	return 0;
261	#endif
262	}
263
264	int CSerial::outQueueSize() const
265	{
266	#ifdef _WINDOWS
267	return getComstat().cbOutQue;
268	#else
269	return 0;
270	#endif
271	}
272
273	// Debug function
274	//
275	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
282	/*
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	*/