| 1 | //============================================================================ |
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| 2 | // Name : LxSerial.cpp |
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| 3 | // Author : Eelko van Breda,www.dbl.tudelft.nl |
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| 4 | // Version : 0.1 |
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| 5 | // Copyright : Copyright (c) 2008 LGPL |
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| 6 | // Description : serial communicatin class linux |
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| 7 | //============================================================================ |
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| 8 | |
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| 9 | #ifndef LXSERIAL_H_ |
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| 10 | #define LXSERIAL_H_ |
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| 11 | //#define __DBG__ |
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| 12 | |
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| 13 | #include <fcntl.h> /* fileio */ |
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| 14 | #include <termios.h> /* terminal i/o system, talks to /dev/tty* ports */ |
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| 15 | #include <unistd.h> /* Read function */ |
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| 16 | #include <sys/ioctl.h> /* ioctl function */ |
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| 17 | #include <iostream> |
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| 18 | #include <assert.h> |
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| 19 | #include <stdint.h> |
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| 20 | #include <string.h> |
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| 21 | |
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| 22 | #define INVALID_DEVICE_HANDLE -1 |
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| 23 | |
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| 24 | class LxSerial |
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| 25 | { |
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| 26 | public: |
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| 27 | enum PortType { RS232, // Normal RS232 |
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| 28 | RS485_EXAR, // EXAR XR16C2850 |
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| 29 | RS485_FTDI, // FTDI FT232RL in 485 mode |
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| 30 | RS485_SMSC, // SMSC SCH311X RS-485 mode (Versalogic Sidewinder board) |
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| 31 | TCP |
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| 32 | }; |
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| 33 | enum PortSpeed { S50 = B50, // Baudrate to use for the port --> see termios.h |
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| 34 | S75 = B75, |
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| 35 | S110 = B110, |
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| 36 | S134 = B134, |
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| 37 | S150 = B150, |
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| 38 | S200 = B200, |
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| 39 | S300 = B300, |
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| 40 | S600 = B600, |
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| 41 | S1200 = B1200, |
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| 42 | S1800 = B1800, |
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| 43 | S2400 = B2400, |
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| 44 | S4800 = B4800, |
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| 45 | S9600 = B9600, |
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| 46 | S19200 = B19200, |
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| 47 | S38400 = B38400, |
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| 48 | S57600 = B57600, |
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| 49 | S115200 = B115200, |
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| 50 | S230400 = B230400, |
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| 51 | S460800 = B460800, |
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| 52 | S500000 = B500000, |
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| 53 | S576000 = B576000, |
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| 54 | S921600 = B921600, |
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| 55 | S1000000 = B1000000, |
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| 56 | S1152000 = B1152000, |
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| 57 | S1500000 = B1500000, |
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| 58 | S2000000 = B2000000, |
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| 59 | S2500000 = B2500000, |
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| 60 | S3000000 = B3000000, |
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| 61 | S3500000 = B3500000, |
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| 62 | S4000000 = B4000000 |
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| 63 | }; |
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| 64 | /*return values*/ |
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| 65 | static const int READ_ERROR = -1; |
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| 66 | static const int COLLISION_DETECT_ERROR = -2; |
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| 67 | static const int ECHO_TIMEOUT_ERROR = -3; |
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| 68 | |
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| 69 | /*magic numbers*/ |
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| 70 | static const int COLLISION_WAIT_TIME_USEC = 10000; // microseconds |
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| 71 | static const int ECHO_WAIT_TIME_SEC = 1; // seconds |
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| 72 | static const int ECHO_WAIT_TIME_USEC = 0; // microseconds |
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| 73 | static const int WAIT_FOR_DATA_DSEC = 5; // |
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| 74 | |
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| 75 | protected: |
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| 76 | int hPort; // file handle to the port |
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| 77 | std::string s_port_name; // name of the port that was opened |
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| 78 | // bool b_initialised; // |
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| 79 | bool b_clear_echo; // read sended characters from Rx when true |
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| 80 | bool b_rts; // this boolean must be set to enforce setting the RTS signal without hardware contol enabled |
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| 81 | bool b_hw_flow_control; // |
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| 82 | bool b_socket; |
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| 83 | termios options, old_options; // |
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| 84 | bool wait_for_input(int *seconds, int *microseconds); // private member function to wait for port. the time variables are modified after return to reflect the time not slept |
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| 85 | void set_port_type(LxSerial::PortType port_type); |
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| 86 | |
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| 87 | public: |
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| 88 | LxSerial(); |
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| 89 | virtual ~LxSerial(); |
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| 90 | virtual bool port_open(const std::string& portname, LxSerial::PortType port_type); // open serial port. If overridden, make sure you set s_port_name!! |
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| 91 | virtual bool is_port_open(); |
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| 92 | std::string& get_port_name(); |
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| 93 | virtual bool set_speed(LxSerial::PortSpeed baudrate ); // enumerated |
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| 94 | virtual bool set_speed_int(const int baudrate); // Set speed by integer value directly - UNPROTECTED! |
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| 95 | void set_clear_echo(bool clear); // clear echoed charackters from input and detect collisions on write |
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| 96 | virtual bool port_close(); |
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| 97 | virtual int port_read(unsigned char* buffer, int numBytes) const; |
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| 98 | virtual int port_read(unsigned char* buffer, int numBytes, int seconds, int microseconds); |
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| 99 | virtual int port_write(unsigned char* buffer, int numBytes); |
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| 100 | virtual void flush_buffer(); // flush input and output buffers |
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| 101 | |
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| 102 | }; |
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| 103 | |
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| 104 | |
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| 105 | #endif /*LXSERIAL_H_*/ |
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