forte_rc_driver: rs232.cpp Source File

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00001 #include <ros/ros.h>
00002 #include "rs232/rs232.h"
00003 
00004 
00005 #if defined(__linux__) || defined(__FreeBSD__)   /* Linux & FreeBSD */
00006 
00007 
00008 int Cport[38],
00009     error;
00010 
00011 struct termios new_port_settings,
00012        old_port_settings[38];
00013 
00014 char comports[1][26]={"/dev/forteRC_arduinoDebug"};
00016 
00017 
00018 int RS232_OpenComport(int comport_number, int baudrate, const char *mode)
00019 {
00020   int baudr,
00021       status;
00022 
00023 //  if((comport_number>37)||(comport_number<0))
00024 //  {
00025 //    printf("illegal comport number\n");
00026 //    return(1);
00027 //  }
00028 
00029   switch(baudrate)
00030   {
00031     case      50 : baudr = B50;
00032                    break;
00033     case      75 : baudr = B75;
00034                    break;
00035     case     110 : baudr = B110;
00036                    break;
00037     case     134 : baudr = B134;
00038                    break;
00039     case     150 : baudr = B150;
00040                    break;
00041     case     200 : baudr = B200;
00042                    break;
00043     case     300 : baudr = B300;
00044                    break;
00045     case     600 : baudr = B600;
00046                    break;
00047     case    1200 : baudr = B1200;
00048                    break;
00049     case    1800 : baudr = B1800;
00050                    break;
00051     case    2400 : baudr = B2400;
00052                    break;
00053     case    4800 : baudr = B4800;
00054                    break;
00055     case    9600 : baudr = B9600;
00056                    break;
00057     case   19200 : baudr = B19200;
00058                    break;
00059     case   38400 : baudr = B38400;
00060                    break;
00061     case   57600 : baudr = B57600;
00062                    break;
00063     case  115200 : baudr = B115200;
00064                    break;
00065     case  230400 : baudr = B230400;
00066                    break;
00067     case  460800 : baudr = B460800;
00068                    break;
00069     case  500000 : baudr = B500000;
00070                    break;
00071     case  576000 : baudr = B576000;
00072                    break;
00073     case  921600 : baudr = B921600;
00074                    break;
00075     case 1000000 : baudr = B1000000;
00076                    break;
00077     case 1152000 : baudr = B1152000;
00078                    break;
00079     case 1500000 : baudr = B1500000;
00080                    break;
00081     case 2000000 : baudr = B2000000;
00082                    break;
00083     case 2500000 : baudr = B2500000;
00084                    break;
00085     case 3000000 : baudr = B3000000;
00086                    break;
00087     case 3500000 : baudr = B3500000;
00088                    break;
00089     case 4000000 : baudr = B4000000;
00090                    break;
00091     default      : printf("invalid baudrate\n");
00092                    return(1);
00093                    break;
00094   }
00095 
00096   int cbits=CS8,
00097       cpar=0,
00098       ipar=IGNPAR,
00099       bstop=0;
00100 
00101   if(strlen(mode) != 3)
00102   {
00103     printf("invalid mode \"%s\"\n", mode);
00104     return(1);
00105   }
00106 
00107   switch(mode[0])
00108   {
00109     case '8': cbits = CS8;
00110               break;
00111     case '7': cbits = CS7;
00112               break;
00113     case '6': cbits = CS6;
00114               break;
00115     case '5': cbits = CS5;
00116               break;
00117     default : printf("invalid number of data-bits '%c'\n", mode[0]);
00118               return(1);
00119               break;
00120   }
00121 
00122   switch(mode[1])
00123   {
00124     case 'N':
00125     case 'n': cpar = 0;
00126               ipar = IGNPAR;
00127               break;
00128     case 'E':
00129     case 'e': cpar = PARENB;
00130               ipar = INPCK;
00131               break;
00132     case 'O':
00133     case 'o': cpar = (PARENB | PARODD);
00134               ipar = INPCK;
00135               break;
00136     default : printf("invalid parity '%c'\n", mode[1]);
00137               return(1);
00138               break;
00139   }
00140 
00141   switch(mode[2])
00142   {
00143     case '1': bstop = 0;
00144               break;
00145     case '2': bstop = CSTOPB;
00146               break;
00147     default : printf("invalid number of stop bits '%c'\n", mode[2]);
00148               return(1);
00149               break;
00150   }
00151 
00152 /*
00153 http://pubs.opengroup.org/onlinepubs/7908799/xsh/termios.h.html
00154 
00155 http://man7.org/linux/man-pages/man3/termios.3.html
00156 */
00157 
00158   Cport[comport_number] = open(comports[comport_number], O_RDWR | O_NOCTTY | O_NDELAY);
00159   if(Cport[comport_number]==-1)
00160   {
00161     perror("unable to open comport ");
00162     return(1);
00163   }
00164 
00165   error = tcgetattr(Cport[comport_number], old_port_settings + comport_number);
00166   if(error==-1)
00167   {
00168     close(Cport[comport_number]);
00169     perror("unable to read portsettings ");
00170     return(1);
00171   }
00172   memset(&new_port_settings, 0, sizeof(new_port_settings));  /* clear the new struct */
00173 
00174   new_port_settings.c_cflag = cbits | cpar | bstop | CLOCAL | CREAD;
00175   new_port_settings.c_iflag = ipar;
00176   new_port_settings.c_oflag = 0;
00177   new_port_settings.c_lflag = 0;
00178   new_port_settings.c_cc[VMIN] = 0;      /* block untill n bytes are received */
00179   new_port_settings.c_cc[VTIME] = 0;     /* block untill a timer expires (n * 100 mSec.) */
00180 
00181   cfsetispeed(&new_port_settings, baudr);
00182   cfsetospeed(&new_port_settings, baudr);
00183 
00184   error = tcsetattr(Cport[comport_number], TCSANOW, &new_port_settings);
00185   if(error==-1)
00186   {
00187     close(Cport[comport_number]);
00188     perror("unable to adjust portsettings ");
00189     return(1);
00190   }
00191 
00192   if(ioctl(Cport[comport_number], TIOCMGET, &status) == -1)
00193   {
00194     perror("unable to get portstatus");
00195     return(1);
00196   }
00197 
00198   status |= TIOCM_DTR;    /* turn on DTR */
00199   status |= TIOCM_RTS;    /* turn on RTS */
00200 
00201   if(ioctl(Cport[comport_number], TIOCMSET, &status) == -1)
00202   {
00203     perror("unable to set portstatus");
00204     return(1);
00205   }
00206 
00207   return(0);
00208 }
00209 
00210 
00211 int RS232_BufferSize(int comport_number)
00212 {
00213   int n;
00214   
00215   ioctl(Cport[comport_number], FIONREAD, &n);
00216 
00217   return(n);
00218 }
00219 
00220 
00221 
00222 int RS232_PollComport(int comport_number, unsigned char *buf, int size)
00223 {
00224   int n;
00225 
00226   n = read(Cport[comport_number], buf, size);
00227 
00228   return(n);
00229 }
00230 
00231 
00232 int RS232_SendByte(int comport_number, unsigned char byte)
00233 {
00234   int n;
00235 
00236   n = write(Cport[comport_number], &byte, 1);
00237   if(n<0)  return(1);
00238 
00239   return(0);
00240 }
00241 
00242 
00243 int RS232_SendBuf(int comport_number, unsigned char *buf, int size)
00244 {
00245   return(write(Cport[comport_number], buf, size));
00246 }
00247 
00248 
00249 void RS232_CloseComport(int comport_number)
00250 {
00251   int status;
00252 
00253   if(ioctl(Cport[comport_number], TIOCMGET, &status) == -1)
00254   {
00255     perror("unable to get portstatus");
00256   }
00257 
00258   status &= ~TIOCM_DTR;    /* turn off DTR */
00259   status &= ~TIOCM_RTS;    /* turn off RTS */
00260 
00261   if(ioctl(Cport[comport_number], TIOCMSET, &status) == -1)
00262   {
00263     perror("unable to set portstatus");
00264   }
00265 
00266   tcsetattr(Cport[comport_number], TCSANOW, old_port_settings + comport_number);
00267   close(Cport[comport_number]);
00268 }
00269 
00270 /*
00271 Constant  Description
00272 TIOCM_LE        DSR (data set ready/line enable)
00273 TIOCM_DTR       DTR (data terminal ready)
00274 TIOCM_RTS       RTS (request to send)
00275 TIOCM_ST        Secondary TXD (transmit)
00276 TIOCM_SR        Secondary RXD (receive)
00277 TIOCM_CTS       CTS (clear to send)
00278 TIOCM_CAR       DCD (data carrier detect)
00279 TIOCM_CD        see TIOCM_CAR
00280 TIOCM_RNG       RNG (ring)
00281 TIOCM_RI        see TIOCM_RNG
00282 TIOCM_DSR       DSR (data set ready)
00283 
00284 http://man7.org/linux/man-pages/man4/tty_ioctl.4.html
00285 */
00286 
00287 int RS232_IsDCDEnabled(int comport_number)
00288 {
00289   int status;
00290 
00291   ioctl(Cport[comport_number], TIOCMGET, &status);
00292 
00293   if(status&TIOCM_CAR) return(1);
00294   else return(0);
00295 }
00296 
00297 int RS232_IsCTSEnabled(int comport_number)
00298 {
00299   int status;
00300 
00301   ioctl(Cport[comport_number], TIOCMGET, &status);
00302 
00303   if(status&TIOCM_CTS) return(1);
00304   else return(0);
00305 }
00306 
00307 int RS232_IsDSREnabled(int comport_number)
00308 {
00309   int status;
00310 
00311   ioctl(Cport[comport_number], TIOCMGET, &status);
00312 
00313   if(status&TIOCM_DSR) return(1);
00314   else return(0);
00315 }
00316 
00317 void RS232_enableDTR(int comport_number)
00318 {
00319   int status;
00320 
00321   if(ioctl(Cport[comport_number], TIOCMGET, &status) == -1)
00322   {
00323     perror("unable to get portstatus");
00324   }
00325 
00326   status |= TIOCM_DTR;    /* turn on DTR */
00327 
00328   if(ioctl(Cport[comport_number], TIOCMSET, &status) == -1)
00329   {
00330     perror("unable to set portstatus");
00331   }
00332 }
00333 
00334 void RS232_disableDTR(int comport_number)
00335 {
00336   int status;
00337 
00338   if(ioctl(Cport[comport_number], TIOCMGET, &status) == -1)
00339   {
00340     perror("unable to get portstatus");
00341   }
00342 
00343   status &= ~TIOCM_DTR;    /* turn off DTR */
00344 
00345   if(ioctl(Cport[comport_number], TIOCMSET, &status) == -1)
00346   {
00347     perror("unable to set portstatus");
00348   }
00349 }
00350 
00351 void RS232_enableRTS(int comport_number)
00352 {
00353   int status;
00354 
00355   if(ioctl(Cport[comport_number], TIOCMGET, &status) == -1)
00356   {
00357     perror("unable to get portstatus");
00358   }
00359 
00360   status |= TIOCM_RTS;    /* turn on RTS */
00361 
00362   if(ioctl(Cport[comport_number], TIOCMSET, &status) == -1)
00363   {
00364     perror("unable to set portstatus");
00365   }
00366 }
00367 
00368 void RS232_disableRTS(int comport_number)
00369 {
00370   int status;
00371 
00372   if(ioctl(Cport[comport_number], TIOCMGET, &status) == -1)
00373   {
00374     perror("unable to get portstatus");
00375   }
00376 
00377   status &= ~TIOCM_RTS;    /* turn off RTS */
00378 
00379   if(ioctl(Cport[comport_number], TIOCMSET, &status) == -1)
00380   {
00381     perror("unable to set portstatus");
00382   }
00383 }
00384 
00385 
00386 #else         /* windows */
00387 
00388 
00389 HANDLE Cport[16];
00390 
00391 
00392 char comports[16][10]={"\\\\.\\COM1",  "\\\\.\\COM2",  "\\\\.\\COM3",  "\\\\.\\COM4",
00393                        "\\\\.\\COM5",  "\\\\.\\COM6",  "\\\\.\\COM7",  "\\\\.\\COM8",
00394                        "\\\\.\\COM9",  "\\\\.\\COM10", "\\\\.\\COM11", "\\\\.\\COM12",
00395                        "\\\\.\\COM13", "\\\\.\\COM14", "\\\\.\\COM15", "\\\\.\\COM16"};
00396 
00397 char mode_str[128];
00398 
00399 
00400 int RS232_OpenComport(int comport_number, int baudrate, const char *mode)
00401 {
00402   if((comport_number>15)||(comport_number<0))
00403   {
00404     printf("illegal comport number\n");
00405     return(1);
00406   }
00407 
00408   switch(baudrate)
00409   {
00410     case     110 : strcpy(mode_str, "baud=110");
00411                    break;
00412     case     300 : strcpy(mode_str, "baud=300");
00413                    break;
00414     case     600 : strcpy(mode_str, "baud=600");
00415                    break;
00416     case    1200 : strcpy(mode_str, "baud=1200");
00417                    break;
00418     case    2400 : strcpy(mode_str, "baud=2400");
00419                    break;
00420     case    4800 : strcpy(mode_str, "baud=4800");
00421                    break;
00422     case    9600 : strcpy(mode_str, "baud=9600");
00423                    break;
00424     case   19200 : strcpy(mode_str, "baud=19200");
00425                    break;
00426     case   38400 : strcpy(mode_str, "baud=38400");
00427                    break;
00428     case   57600 : strcpy(mode_str, "baud=57600");
00429                    break;
00430     case  115200 : strcpy(mode_str, "baud=115200");
00431                    break;
00432     case  128000 : strcpy(mode_str, "baud=128000");
00433                    break;
00434     case  256000 : strcpy(mode_str, "baud=256000");
00435                    break;
00436     case  500000 : strcpy(mode_str, "baud=500000");
00437                    break;
00438     case 1000000 : strcpy(mode_str, "baud=1000000");
00439                    break;
00440     default      : printf("invalid baudrate\n");
00441                    return(1);
00442                    break;
00443   }
00444 
00445   if(strlen(mode) != 3)
00446   {
00447     printf("invalid mode \"%s\"\n", mode);
00448     return(1);
00449   }
00450 
00451   switch(mode[0])
00452   {
00453     case '8': strcat(mode_str, " data=8");
00454               break;
00455     case '7': strcat(mode_str, " data=7");
00456               break;
00457     case '6': strcat(mode_str, " data=6");
00458               break;
00459     case '5': strcat(mode_str, " data=5");
00460               break;
00461     default : printf("invalid number of data-bits '%c'\n", mode[0]);
00462               return(1);
00463               break;
00464   }
00465 
00466   switch(mode[1])
00467   {
00468     case 'N':
00469     case 'n': strcat(mode_str, " parity=n");
00470               break;
00471     case 'E':
00472     case 'e': strcat(mode_str, " parity=e");
00473               break;
00474     case 'O':
00475     case 'o': strcat(mode_str, " parity=o");
00476               break;
00477     default : printf("invalid parity '%c'\n", mode[1]);
00478               return(1);
00479               break;
00480   }
00481 
00482   switch(mode[2])
00483   {
00484     case '1': strcat(mode_str, " stop=1");
00485               break;
00486     case '2': strcat(mode_str, " stop=2");
00487               break;
00488     default : printf("invalid number of stop bits '%c'\n", mode[2]);
00489               return(1);
00490               break;
00491   }
00492 
00493   strcat(mode_str, " dtr=on rts=on");
00494 
00495 /*
00496 http://msdn.microsoft.com/en-us/library/windows/desktop/aa363145%28v=vs.85%29.aspx
00497 
00498 http://technet.microsoft.com/en-us/library/cc732236.aspx
00499 */
00500 
00501   Cport[comport_number] = CreateFileA(comports[comport_number],
00502                       GENERIC_READ|GENERIC_WRITE,
00503                       0,                          /* no share  */
00504                       NULL,                       /* no security */
00505                       OPEN_EXISTING,
00506                       0,                          /* no threads */
00507                       NULL);                      /* no templates */
00508 
00509   if(Cport[comport_number]==INVALID_HANDLE_VALUE)
00510   {
00511     printf("unable to open comport\n");
00512     return(1);
00513   }
00514 
00515   DCB port_settings;
00516   memset(&port_settings, 0, sizeof(port_settings));  /* clear the new struct  */
00517   port_settings.DCBlength = sizeof(port_settings);
00518 
00519   if(!BuildCommDCBA(mode_str, &port_settings))
00520   {
00521     printf("unable to set comport dcb settings\n");
00522     CloseHandle(Cport[comport_number]);
00523     return(1);
00524   }
00525 
00526   if(!SetCommState(Cport[comport_number], &port_settings))
00527   {
00528     printf("unable to set comport cfg settings\n");
00529     CloseHandle(Cport[comport_number]);
00530     return(1);
00531   }
00532 
00533   COMMTIMEOUTS Cptimeouts;
00534 
00535   Cptimeouts.ReadIntervalTimeout         = MAXDWORD;
00536   Cptimeouts.ReadTotalTimeoutMultiplier  = 0;
00537   Cptimeouts.ReadTotalTimeoutConstant    = 0;
00538   Cptimeouts.WriteTotalTimeoutMultiplier = 0;
00539   Cptimeouts.WriteTotalTimeoutConstant   = 0;
00540 
00541   if(!SetCommTimeouts(Cport[comport_number], &Cptimeouts))
00542   {
00543     printf("unable to set comport time-out settings\n");
00544     CloseHandle(Cport[comport_number]);
00545     return(1);
00546   }
00547 
00548   return(0);
00549 }
00550 
00551 
00552 int RS232_PollComport(int comport_number, unsigned char *buf, int size)
00553 {
00554   int n;
00555 
00556 /* added the void pointer cast, otherwise gcc will complain about */
00557 /* "warning: dereferencing type-punned pointer will break strict aliasing rules" */
00558 
00559   ReadFile(Cport[comport_number], buf, size, (LPDWORD)((void *)&n), NULL);
00560 
00561   return(n);
00562 }
00563 
00564 
00565 int RS232_SendByte(int comport_number, unsigned char byte)
00566 {
00567   int n;
00568 
00569   WriteFile(Cport[comport_number], &byte, 1, (LPDWORD)((void *)&n), NULL);
00570 
00571   if(n<0)  return(1);
00572 
00573   return(0);
00574 }
00575 
00576 
00577 int RS232_SendBuf(int comport_number, unsigned char *buf, int size)
00578 {
00579   int n;
00580 
00581   if(WriteFile(Cport[comport_number], buf, size, (LPDWORD)((void *)&n), NULL))
00582   {
00583     return(n);
00584   }
00585 
00586   return(-1);
00587 }
00588 
00589 
00590 void RS232_CloseComport(int comport_number)
00591 {
00592   CloseHandle(Cport[comport_number]);
00593 }
00594 
00595 /*
00596 http://msdn.microsoft.com/en-us/library/windows/desktop/aa363258%28v=vs.85%29.aspx
00597 */
00598 
00599 int RS232_IsDCDEnabled(int comport_number)
00600 {
00601   int status;
00602 
00603   GetCommModemStatus(Cport[comport_number], (LPDWORD)((void *)&status));
00604 
00605   if(status&MS_RLSD_ON) return(1);
00606   else return(0);
00607 }
00608 
00609 
00610 int RS232_IsCTSEnabled(int comport_number)
00611 {
00612   int status;
00613 
00614   GetCommModemStatus(Cport[comport_number], (LPDWORD)((void *)&status));
00615 
00616   if(status&MS_CTS_ON) return(1);
00617   else return(0);
00618 }
00619 
00620 
00621 int RS232_IsDSREnabled(int comport_number)
00622 {
00623   int status;
00624 
00625   GetCommModemStatus(Cport[comport_number], (LPDWORD)((void *)&status));
00626 
00627   if(status&MS_DSR_ON) return(1);
00628   else return(0);
00629 }
00630 
00631 
00632 void RS232_enableDTR(int comport_number)
00633 {
00634   EscapeCommFunction(Cport[comport_number], SETDTR);
00635 }
00636 
00637 
00638 void RS232_disableDTR(int comport_number)
00639 {
00640   EscapeCommFunction(Cport[comport_number], CLRDTR);
00641 }
00642 
00643 
00644 void RS232_enableRTS(int comport_number)
00645 {
00646   EscapeCommFunction(Cport[comport_number], SETRTS);
00647 }
00648 
00649 
00650 void RS232_disableRTS(int comport_number)
00651 {
00652   EscapeCommFunction(Cport[comport_number], CLRRTS);
00653 }
00654 
00655 
00656 #endif
00657 
00658 
00659 void RS232_cputs(int comport_number, const char *text)  /* sends a string to serial port */
00660 {
00661   while(*text != 0)   RS232_SendByte(comport_number, *(text++));
00662 }
00663 
00664