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source: trunk/shared_serial/src/LxSerial.cpp @ 38

Last change on this file since 38 was 12, checked in by wcaarls, 13 years ago
Updated shared_serial to revision 1017
File size: 13.5 KB

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1	//============================================================================
2	// Name : LxSerial.cpp
3	// Author : Eelko van Breda,www.dbl.tudelft.nl
4	// Version : 0.1
5	// Copyright : Copyright (c) 2008 LGPL
6	// Description : serial communicatin class linux
7	//============================================================================
8
9	#include <stdio.h>
10	#include <stdlib.h>
11	#include <unistd.h>
12	#include <string.h>
13	#include <sys/types.h>
14	#include <sys/socket.h>
15	#include <netinet/in.h>
16	#include <netdb.h>
17	#include <poll.h>
18	#include <endian.h>
19
20	#include "shared_serial/LxSerial.h"
21
22
23	/* constructor */
24	LxSerial::LxSerial()
25	{
26	hPort = INVALID_DEVICE_HANDLE;
27	// b_initialised = false;
28	b_clear_echo = false;
29	b_hw_flow_control = false;
30	b_socket = false;
31	}
32
33	/* return name of the port that was opened */
34	std::string& LxSerial::get_port_name()
35	{
36	return s_port_name;
37	}
38
39	void LxSerial::set_port_type(LxSerial::PortType port_type)
40	{
41	switch (port_type)
42	{
43	case RS232:
44	b_rts = false;
45	break;
46
47	case RS485_FTDI:
48	b_rts = false;
49	break;
50
51	case RS485_EXAR:
52	b_rts = true;
53	b_clear_echo = true;
54	break;
55
56	case RS485_SMSC:
57	b_rts = false;
58	b_clear_echo = true;
59	break;
60
61	case TCP:
62	b_socket = true;
63	b_rts = false;
64	b_clear_echo = false;
65	break;
66
67	default:
68	perror("LxSerial: no port type specified");
69	break;
70	}
71	}
72
73	/* open port */
74	bool LxSerial::port_open(const std::string& portname, LxSerial::PortType port_type)
75	{
76	// Set port type
77	set_port_type(port_type);
78
79	if (b_socket)
80	{
81	int optval = 1;
82
83	struct sockaddr_in addr;
84	struct hostent *server;
85
86	hPort = socket(AF_INET, SOCK_STREAM, 0);
87	setsockopt(hPort, SOL_SOCKET, SO_REUSEADDR, &optval, sizeof optval);
88
89	bzero((char *) &addr, sizeof(addr));
90	addr.sin_family = AF_INET;
91
92	std::string host_name = portname.substr(0, portname.find(':'));
93	std::string port_number = portname.substr(portname.find(':')+1);
94
95	server = gethostbyname(host_name.c_str());
96	if (!server)
97	{
98	perror("unknown remote serial host name");
99	return false;
100	}
101
102	bcopy((char )server->h_addr, (char )&addr.sin_addr.s_addr, server->h_length);
103	addr.sin_port = htons(atoi(port_number.c_str()));
104
105	if (connect(hPort,(struct sockaddr *) &addr,sizeof(addr)) < 0)
106	{
107	perror("error connecting to remote serial host");
108	return false;
109	}
110	}
111	else
112	{
113	// Open port
114	hPort = open(portname.c_str(), O_RDWR \| O_NOCTTY);//\|O_NDELAY); // open the serial device
115	// O_RDWR = open read an write
116	// TheÂ O_NOCTTYÂ flagÂ tellsÂ UNIXÂ thatÂ thisÂ programÂ doesn'tÂ wantÂ toÂ beÂ theÂ "controllingÂ terminal"Â forÂ thatÂ
117	// port.Â IfÂ youÂ don'tÂ specifyÂ thisÂ thenÂ anyÂ inputÂ (suchÂ asÂ keyboardÂ abortÂ signalsÂ andÂ soÂ forth)Â willÂ affectÂ
118	// yourÂ process.Â ProgramsÂ likeÂ getty(1M/8)Â useÂ thisÂ featureÂ whenÂ startingÂ theÂ loginÂ process,Â butÂ normallyÂ aÂ
119	// userÂ programÂ doesÂ notÂ wantÂ thisÂ behavior.
120	// TheÂ O_NDELAYÂ flagÂ tellsÂ UNIXÂ thatÂ thisÂ programÂ doesn'tÂ careÂ whatÂ stateÂ theÂ DCDÂ signalÂ lineÂ isÂ inÂ ÂÂ
121	// whetherÂ theÂ otherÂ endÂ ofÂ theÂ portÂ isÂ upÂ andÂ running.Â IfÂ youÂ doÂ notÂ specifyÂ thisÂ flag,Â yourÂ processÂ willÂ beÂ
122	// putÂ toÂ sleepÂ untilÂ theÂ DCDÂ signalÂ lineÂ isÂ theÂ spaceÂ voltage.
123
124	if (hPort < 0) { //check if port opened correctly
125	perror(" Could not open serial port, aborting");
126	return false;
127	}
128
129
130	tcgetattr(hPort, &options); // get the current termios (com port options struct) from the kernel
131	tcgetattr(hPort, &old_options); // get the current termios copy to restore on close
132
133	cfsetispeed(&options, B115200); // set incomming baudrate to standard 9600, this can be changed with the function set_speed()
134	cfsetospeed(&options, B115200); // set outgoing baudrate to standard 9600
135
136	// c_cflag Control Options
137	// \|= (..) means enabled
138	// &= ~(..) means not enabled
139	options.c_cflag \|= (CLOCAL\|CREAD\|CS8); // CREAD = enanble receiver
140	// CLOCAL = Local Line, do not change owner of port
141	// CS8 = 8 databits
142	options.c_cflag &= ~(CRTSCTS\|PARENB\|CSTOPB); // Disable HW flow control
143	// no paritybit, PARENB = paritybit
144	// 1 stop bit, CSTOPB = 2 stop bits (1 otherwise)
145	if (b_hw_flow_control){
146	options.c_cflag \|= (CRTSCTS); // Enable HW flow control
147	}
148
149	// c_lflag Line Options ( controls how input charackters are handeled by the serial driver
150	options.c_lflag &= ~(ECHO\|ECHONL\|ECHOE\|ICANON\|ISIG\|IEXTEN);
151	// options.c_lflag &= ~(ECHO\|ECHONL\|ICANON\|ISIG\|IEXTEN);
152	// ~(..) means not enabled
153	// ECHO echoing of input characters
154	// ECHOE echo erease character as BS-SP-BS
155	// ECHONL mimics echo but doesn't move to next line when it ends
156	// ICANON cononical input = line oriented input, else RAW
157	// ISIG ENABLE SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals
158	// IEXTERN = enable extended functions
159
160	// c_iflag Input Options
161	options.c_iflag &= ~(IGNBRK\|BRKINT\|PARMRK\|ISTRIP\|INLCR\|IGNCR\|ICRNL\|IXON\|IXOFF);
162	// options.c_iflag &= ~(IGNBRK\|BRKINT\|PARMRK\|ISTRIP\|INLCR\|IGNCR\|ICRNL\|IXON);
163	// ~(..) means not enabled
164	// IGNBRK ignore break condition
165	// BRKINT send a SIGINT when a break condition is detected
166	// PARMRK Mark parity errors
167	// ISTRIP strip parity bits
168	// INLCR map new line to CR
169	// IGNCR ignore CR
170	// ICRNL map CR to new line
171	// IXON Enable software flow control (outgoing)
172	// IXOFF Enable software flow control (incomming)
173
174	// c_oflag output options
175	options.c_oflag &= ~(OPOST);
176	// ~(..) means not enabled
177	// OPOST postprocess output (if not set RAW output)
178	// when OPOST is disabled all other other option bits of c-Oflag are ignored
179
180	// c_cc control character array (control caracter options and timeouts
181	// Timeout 0.005 sec for first byte, read minimum of 0 bytes
182	// timeouts are ignored in cononical input or when NDELAY option is set.
183	options.c_cc[VMIN] = 0; // VMIN Minimum number of characters to read
184	options.c_cc[VTIME] = WAIT_FOR_DATA_DSEC; // Time to wait for data (tenths of seconds)
185
186	// fcntl(hPort, F_SETFL, FNDELAY); // don't wait for input when reading data
187
188	if (b_rts){ // if we are using RS_485_EXAR type, we clear the RTS signal
189	int msc = TIOCM_RTS;
190	ioctl(hPort, TIOCMBIC, &msc); // Clear RTS signal
191	usleep(100); // WAIT FOR SIGNAL TO BE CLEARD
192	}
193
194
195
196	if (tcsetattr(hPort,TCSANOW, &options)!=0){ // Set the new options for the port now
197	perror("Error: Could not set serial port settings");
198	return false;
199	}
200
201	usleep(100); // additional wait for correct functionality
202	tcflush(hPort, TCIOFLUSH); // flush terminal data
203	}
204
205	// Save port name
206	s_port_name = portname;
207
208	return true;
209	}
210
211	bool LxSerial::is_port_open()
212	{
213	return hPort >= 0;
214	}
215
216	// speedcontrol */
217	bool LxSerial::set_speed( LxSerial::PortSpeed baudrate )
218	{
219	if (b_socket)
220	return false;
221
222	cfsetispeed(&options, baudrate); //set incoming baud rate
223	cfsetospeed(&options, baudrate); //set outgoing baud rate
224
225	if (tcsetattr(hPort,TCSANOW, &options)!=0){ // Set the new options for the port now
226	perror("Error: Could not set serial port baudrate");
227	return false;
228	}
229	usleep(100); // additional wait for correct functionality
230	tcflush(hPort, TCIOFLUSH); // flush terminal data
231	return true;
232	}
233
234	bool LxSerial::set_speed_int(const int baudrate)
235	{
236	LxSerial::PortSpeed baud;
237	// Baud rate conversion from index to real baud rate :(
238	switch (baudrate)
239	{
240	case 4000000: baud = S4000000; break;
241	case 3500000: baud = S3500000; break;
242	case 3000000: baud = S3000000; break;
243	case 2500000: baud = S2500000; break;
244	case 2000000: baud = S2000000; break;
245	case 1500000: baud = S1500000; break;
246	case 1152000: baud = S1152000; break;
247	case 1000000: baud = S1000000; break;
248	case 921600: baud = S921600; break;
249	case 576000: baud = S576000; break;
250	case 500000: baud = S500000; break;
251	case 460800: baud = S460800; break;
252	case 230400: baud = S230400; break;
253	case 115200: baud = S115200; break;
254	case 57600: baud = S57600; break;
255	case 38400: baud = S38400; break;
256	case 19200: baud = S19200; break;
257	case 9600: baud = S9600; break;
258	case 4800: baud = S4800; break;
259	case 2400: baud = S2400; break;
260	case 1800: baud = S1800; break;
261	case 1200: baud = S1200; break;
262	case 600: baud = S600; break;
263	case 300: baud = S300; break;
264	case 200: baud = S200; break;
265	case 150: baud = S150; break;
266	case 134: baud = S134; break;
267	case 110: baud = S110; break;
268	case 75: baud = S75; break;
269	case 50: baud = S50; break;
270	default:
271	printf("This is not a legal portspeed!\n");
272	return false;
273	}
274
275	set_speed(baud);
276	return true;
277	}
278
279	// clear echoed characters from input and detect collisions on write, use for EXAR RS485
280	void LxSerial::set_clear_echo(bool clear)
281	{
282	b_clear_echo = clear;
283	}
284
285	// close the serial port
286	bool LxSerial::port_close()
287	{
288	if (hPort==INVALID_DEVICE_HANDLE)
289	return true;
290
291	if (!b_socket)
292	{
293	if (tcsetattr(hPort,TCSANOW, &old_options)!=0) { // restore the old port settings
294	perror("Warning: Could not restore serial port settings.");
295	}
296	}
297
298	if(close(hPort) == -1) { //close serial port
299	perror("Error: Could not close serial port.");
300	return false;
301	}
302	hPort = INVALID_DEVICE_HANDLE;
303	return true;
304	}
305
306	int LxSerial::port_read(unsigned char* buffer, int numBytes) const
307	{
308	int nBytesRead = read(hPort, buffer, numBytes);
309
310	#ifdef __DBG__
311	printf("read ");
312	for (int i=0;i<nBytesRead;i++)
313	{ printf("%02X ",buffer[i]); }
314	printf("(%d)\n",nBytesRead);
315	#endif
316
317	return nBytesRead;
318	}
319
320	int LxSerial::port_read(unsigned char* buffer, int numBytes, int seconds, int microseconds)
321	{
322	// Init time variables (they are decreased by wait_for_input)
323	int s = seconds;
324	int us = microseconds;
325	int nBytesRead = 0;
326	while (nBytesRead < numBytes)
327	{
328	if( wait_for_input( &s, &us) )
329	{
330	int partialRead = read(hPort, buffer + nBytesRead, numBytes - nBytesRead); // Read data
331	nBytesRead += partialRead;
332	}
333	else if (nBytesRead < 0)
334	{
335	#ifdef __DBG__
336	printf("Read Timeout... \n");
337	#endif
338	return READ_ERROR;
339	}
340	else
341	break;
342	}
343
344	#ifdef __DBG__
345	printf("read ");
346	for (int i=0;i<nBytesRead;i++)
347	{ printf("%02X ",buffer[i]); }
348	printf("(%d)\n",nBytesRead);
349	#endif
350
351	return nBytesRead;
352	}
353
354	bool LxSerial::wait_for_input(int seconds, int microseconds)
355	{
356	fd_set readset;
357	timeval timeout;
358	timeout.tv_sec = *seconds; // seconds
359	timeout.tv_usec = *microseconds; // microseconds
360	FD_ZERO(&readset); // clear file discriptor
361	FD_SET(hPort, &readset); // set filediscripter for port
362	int res = select(hPort+1, &readset, NULL, NULL, &timeout); // wait till readable data is in the buffer
363	*seconds = timeout.tv_sec;
364	*microseconds = timeout.tv_usec;
365	return res == 1;
366	}
367
368	int LxSerial::port_write(unsigned char* buffer, int numBytes)
369	{
370	int msc = TIOCM_RTS;
371	if (b_rts){ // control the RTS signal if needed
372	ioctl(hPort, TIOCMBIS, &msc); // before you write set RTS signal
373	usleep(1000); // wait until the RTS signal is high
374	}
375
376	int numBytesWritten = write(hPort, buffer, numBytes); // write data
377
378	if (numBytes != numBytesWritten){
379	perror("Error while writing to serial port");
380	assert(numBytes == numBytesWritten);
381	}
382
383	#ifdef __DBG__
384	printf("write ");
385	for (int i=0;i<numBytes;i++)
386	{ printf("%02X ",buffer[i]); }
387	printf("(%d)",numBytesWritten);
388	printf("\n");
389	#endif
390
391	tcdrain(hPort); // Wait till all the data in the buffer is transmitted
392
393	if (b_rts){ // control the RTS signal if needed
394	ioctl(hPort, TIOCMBIC, &msc); // Clear Ready To Send signal
395	}
396
397	if (b_clear_echo)
398	{ // Read echo from line and detect collisions if neened
399	unsigned char* echo_buffer = new unsigned char[numBytes];
400	int nBytesRead = 0;
401	int s = ECHO_WAIT_TIME_SEC;
402	int us = ECHO_WAIT_TIME_USEC;
403	while (nBytesRead < numBytesWritten)
404	{
405	if (wait_for_input(&s , &us))
406	nBytesRead = read(hPort, echo_buffer + nBytesRead, numBytes - nBytesRead); // Read back ECHO of sended data
407	else
408	{
409	#ifdef __DBG__
410	printf("echo read back timeout\n");
411	#endif
412	delete[] echo_buffer;
413	return ECHO_TIMEOUT_ERROR;
414	}
415	}
416
417
418	#ifdef __DBG__
419	printf("echo ");
420	for (int i=0;i<nBytesRead;i++)
421	{ printf("%02X ",buffer[i]); }
422	printf("(%d)\n",nBytesRead);
423	#endif
424
425	if (nBytesRead!=numBytesWritten)
426	{
427	#ifdef __DBG__
428	printf("Warning: nr. of characters echoed not correct\n");
429	#endif
430	delete[] echo_buffer;
431	return READ_ERROR;
432	}
433
434	if (memcmp(buffer,echo_buffer, numBytes)!=0)
435	{
436	#ifdef __DBG__
437	printf("collition detect\n");
438	#endif
439	usleep(COLLISION_WAIT_TIME_USEC); //wait for a while
440	tcflush(hPort, TCIFLUSH); //empty all data that was in read buffer but has not been read
441	delete[] echo_buffer;
442	return COLLISION_DETECT_ERROR;
443	}
444	delete[] echo_buffer;
445	}
446
447	return numBytesWritten;
448	}
449
450	void LxSerial::flush_buffer()
451	{
452	tcflush(hPort, TCIOFLUSH); // flush data buffer
453	}
454
455	LxSerial::~LxSerial()
456	{
457	if (hPort != INVALID_DEVICE_HANDLE)
458	port_close();
459	}

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