RS232Device.cpp

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/******************************************************************************
 * 
 * Copyright (c) 2012 
 * 
 * SCHUNK GmbH & Co. KG
 *  
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
 *                                                                        
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Email:robotics@schunk.com
 * 
 * ToDo: 
 * 
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met: 
 * 
 *  * Redistributions of source code must retain the above copyright 
 *    notice, this list of conditions and the following disclaimer. 
 *  * Redistributions in binary form must reproduce the above copyright 
 *    notice, this list of conditions and the following disclaimer in the 
 *    documentation and/or other materials provided with the distribution. 
 *  * Neither the name of SCHUNK GmbH & Co. KG nor the names of its 
 *    contributors may be used to endorse or promote products derived from 
 *    this software without specific prior written permission. 
 * 
 * This program is free software: you can redistribute it and/or modify 
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version. 
 * 
 * This program is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
 * GNU Lesser General Public License LGPL for more details. 
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 * 
 ******************************************************************************/


#include "RS232Device.h"
#if defined (_WIN32)
#endif
#if defined(__LINUX__)
        #include <fcntl.h>
        #include <termios.h>
        #include <unistd.h>
#endif
#if defined (__QNX__)
        #include <fcntl.h>
        #include <termios.h>    
#endif

#define RSID_SENDDAT                    0x04
#define RSID_RECVDAT                    0x08    
#define STX                                             0x02
#define ETX                                             0x03
#define DLE                                             0x10

// ========================================================================== ;
//                                                                            ;
// ---- private auxiliary functions ----------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

// ========================================================================== ;
//                                                                            ;
// ---- protected auxiliary functions --------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

int CRS232Device::getDeviceError(int iErrorState)
{
        m_iErrorState = 0;
        return iErrorState;
}

int CRS232Device::setBaudRate()
{
        m_iErrorState = 0;
        return m_iErrorState;
}

int CRS232Device::setMessageId(unsigned long uiMessageId)
{
        m_iErrorState = 0;
        return m_iErrorState;
}

int CRS232Device::clearReadQueue()
{
        m_iErrorState = 0;
        return m_iErrorState;
}

int CRS232Device::reinit(unsigned char ucBaudRateId)
{
        m_iErrorState = 0;
        return m_iErrorState;
}

int CRS232Device::readDevice(CProtocolMessage& rclProtocolMessage)
{
        unsigned char aucMessageBuffer[22] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
        unsigned char aucReadBuffer[22] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
        unsigned char ucChar;
        unsigned char aucDecodeBuffer[11] = {0,0,0,0,0,0,0,0,0,0,0};
        unsigned char ucMessageLength = 0;
        unsigned int i = 0;
        unsigned int k = 0;
        unsigned int uiMessageBufferIndex = 0;
        unsigned int uiReadBufferIndex = 0;
        double fTime = 0;
        bool bExit = false;
        bool bMessageComplete = false;
        bool bDecodeError = false;
        int iRetVal;
        m_iErrorState = 0;
#if defined(_WIN32)                                     
        DWORD iErrorCode = 0;
        DWORD iReadLength = 0;
        m_clTimer.start();

        do
        {       
                iRetVal = ReadFile( m_hDevice, &ucChar, 1, &iReadLength, NULL );
                if (iRetVal == 0)
                {       
                        void* lpMsgBuf;
                        FormatMessage( 
                                FORMAT_MESSAGE_ALLOCATE_BUFFER | 
                                FORMAT_MESSAGE_FROM_SYSTEM | 
                                FORMAT_MESSAGE_IGNORE_INSERTS,
                                NULL,
                                GetLastError(),
                                MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
                                (LPTSTR) &lpMsgBuf,
                                0,
                                NULL 
                                );
                        debug(1,"COMERROR:%s\n",lpMsgBuf);
                        warning( "Receive Error. ReadFile failed.\n" );
                        ClearCommError( m_hDevice, &iErrorCode, NULL );
                        m_iErrorState = ERRID_DEV_READERROR;
                        return m_iErrorState;
                }
                if( iReadLength == 1 )
                {       
                        aucReadBuffer[uiReadBufferIndex++] = ucChar;
                        if( ucChar == ETX )
                                bExit = true;
                }
                m_clTimer.stop();
                fTime = m_clTimer.executionTime() * 1000;
                if( fTime > m_uiTimeOut + 10 * m_iModuleCount)
                {       
                        bExit = true;
                        warning( "Receive Error. Timeout %f. %d bytes received.\n", fTime, uiReadBufferIndex);
                        m_iErrorState = ERRID_DEV_READTIMEOUT;
                        return m_iErrorState;
                }
        } while( !bExit );

#endif

#if defined(__QNX__)                                    
        struct timeval clTimeout;
        fd_set fdReadSet;
        clTimeout.tv_sec=0;     // seconds to wait
        clTimeout.tv_usec=m_uiTimeOut * 1000;
        m_clTimer.start();
        ssize_t bytesRead = 0;
        do
        {       
                FD_ZERO( &fdReadSet );
                FD_SET( m_hDevice, &fdReadSet );

                iRetVal=select( FD_SETSIZE, &fdReadSet, NULL, NULL, &clTimeout );
                if(iRetVal < 0)
                {
                        warning("Receive Error in select");
                        return ERRID_IO_READERROR;
                }
                else if (iRetVal>0 && FD_ISSET(m_hDevice,&fdReadSet))
                {
                        bytesRead = read( m_hDevice, &ucChar, 1 );
                        if( bytesRead < 0 )
                        {       warning( "Receive Error. Read error.\n" );
                                m_iErrorState = ERRID_DEV_READERROR;
                                return m_iErrorState;
                        }
                        else if( bytesRead == 1 )
                        {       
                                aucReadBuffer[uiReadBufferIndex++] = ucChar;
                                if( ucChar == ETX )
                                        bExit = true;
                        }
                        else if( bytesRead == 0 )
                        {
                                warning( "Receive Error. Timeout\n");
                                m_iErrorState = ERRID_DEV_READTIMEOUT;
                                return m_iErrorState;
                        }
                }
                m_clTimer.stop();
                fTime = m_clTimer.executionTime() * 1000;
                if( fTime > m_uiTimeOut * m_iModuleCount)
                {       bExit = true;
                        warning( "Receive Error. Timeout. %d bytes received.\n", uiReadBufferIndex );
                        m_iErrorState = ERRID_DEV_READTIMEOUT;
                        return m_iErrorState;
                }
        } while( !bExit );
        
#endif

#if defined(__LINUX__)                                  
        ssize_t bytesRead = 0;
        struct timeval clTimeout;
        fd_set fdReadSet;
        clTimeout.tv_sec=0;     // seconds to wait
        clTimeout.tv_usec=m_uiTimeOut * 1000;
        m_clTimer.start();
        
        do
        {       
                FD_ZERO( &fdReadSet );
                FD_SET( m_hDevice, &fdReadSet );

                iRetVal=select( FD_SETSIZE, &fdReadSet, NULL, NULL, &clTimeout );
                if(iRetVal < 0)
                {
                        warning("Receive Error in select");
                        return ERRID_IO_READERROR;
                }
                else if (iRetVal>0 && FD_ISSET(m_hDevice,&fdReadSet))
                {
                        bytesRead = read( m_hDevice, &ucChar, 1 );
                        if( bytesRead < 0 )
                        {       warning( "Receive Error. Read error.\n" );
                                m_iErrorState = ERRID_DEV_READERROR;
                                return m_iErrorState;
                        }
                        else if( bytesRead == 1 )
                        {       
                                aucReadBuffer[uiReadBufferIndex++] = ucChar;
                                if( ucChar == ETX )
                                        bExit = true;
                        }
                        else if( bytesRead == 0 )
                        {
                                warning( "Receive Error. Timeout\n");
                                m_iErrorState = ERRID_DEV_READTIMEOUT;
                                return m_iErrorState;
                        }
                }
                m_clTimer.stop();
                fTime = m_clTimer.executionTime() * 1000;
                if( fTime > m_uiTimeOut * m_iModuleCount)
                {       bExit = true;
                        warning( "Receive Error. Timeout. %d bytes received.\n", uiReadBufferIndex );
                        m_iErrorState = ERRID_DEV_READTIMEOUT;
                        return m_iErrorState;
                }
        } while( !bExit );

#endif

        for( i = 0; i < uiReadBufferIndex; i++ )
        {       
                if( aucReadBuffer[i] == STX )
                {       
                        uiMessageBufferIndex = 0;
                        bMessageComplete = false;
                }
                if( aucReadBuffer[i] == ETX )
                        bMessageComplete = true;
                if( uiMessageBufferIndex > 22 )
                {       
                        uiMessageBufferIndex = 0;
                        bMessageComplete = false;
                        warning( "More than 22 bytes!" );
                }
                aucMessageBuffer[uiMessageBufferIndex] = aucReadBuffer[i];
                uiMessageBufferIndex++;
        }

        if( bMessageComplete )
        {       // save net m_aucMessageData in aucDecodeBuffer[]
                if( (aucMessageBuffer[0] == STX) && (aucMessageBuffer[uiMessageBufferIndex-1] == ETX) )
                {       // Message frame begins with STX and ending with ETX
                        for( i = 1; i < uiMessageBufferIndex-1; i++ )
                        { 
                                if( aucMessageBuffer[i] == DLE )
                                {       
                                        i++;
                                        aucDecodeBuffer[k] = aucMessageBuffer[i] - 0x80;
                                }
                                else if( aucMessageBuffer[i] == ETX || aucMessageBuffer[i] == STX )
                                {       
                                        bDecodeError = true;
                                        break;
                                }
                                else
                                        aucDecodeBuffer[k] = aucMessageBuffer[i];
                                k++;
                        }
                }
                else
                {       // Anfang kein STX / Ende kein ETX
                        warning( "Receive Error: STX/ETX framing incorrect.\n" );
                        m_iErrorState = ERRID_DEV_READERROR;
                        return m_iErrorState;
                }

                // Calculate net Len of Message 
                ucMessageLength = aucDecodeBuffer[1] & 0x0F;
                if( aucDecodeBuffer[0] & RSID_RECVDAT )
                {       // Message comes from Module
                        if( !bDecodeError )
                        {       
                                if( ucMessageLength == k-3 )
                                {       
                                        rclProtocolMessage.m_ucMessageLength = ucMessageLength;
                                        rclProtocolMessage.m_iModuleId = (((aucDecodeBuffer[0]&0x03)<<3)+((aucDecodeBuffer[1]&0xE0)>>5));
                                        for( i = 0; i < ucMessageLength; i++ )
                                                rclProtocolMessage.m_aucMessageData[i] = aucDecodeBuffer[i+2];
                                        rclProtocolMessage.m_uiMessageId = MSGID_ACK + rclProtocolMessage.m_iModuleId;
                                        m_iErrorState = 0;
                                        return m_iErrorState;
                                }
                                warning( "Receive Error: Length incorrect received %d instead of %d\n", k-3, ucMessageLength );
                                m_iErrorState = ERRID_DEV_READERROR;
                                return m_iErrorState;
                        }
                        // Decoder-Fehler: mittendrin STX oder ETX                              
                        warning( "Receive Error: STX/ETX inside message.\n" );
                        m_iErrorState = ERRID_DEV_READERROR;
                        return m_iErrorState;
                }
                // Message kommt nicht vom Modul (TelId != TELID_RECVDAT)
                warning( "Receive Error: MessageId incorrect.\n" );
                m_iErrorState = ERRID_DEV_READERROR;
                return m_iErrorState;
        }
        // Kein ETX empfangen...
        warning( "Receive Error: ETX not received.\n" );
        m_iErrorState = ERRID_DEV_READERROR;
        return m_iErrorState;
}

int CRS232Device::writeDevice(CProtocolMessage& rclProtocolMessage)
{
        int i = 0;
        unsigned int uiWriteBufferIndex = 0;
        unsigned long uiWriteLength = 0;
        unsigned char aucWriteBuffer[24];
        unsigned short uiSum = 0;
        unsigned char aucEncodeBuffer[11] = {0,0,0,0,0,0,0,0,0,0,0};
        int iRetVal;
        CRS232Message clRS232Message;

        m_iErrorState = 0;

        clRS232Message.m_aucMessageId[0] = (unsigned char)rclProtocolMessage.m_iModuleId >> 3;
        clRS232Message.m_aucMessageId[0] |= RSID_SENDDAT;
        clRS232Message.m_aucMessageId[1] = (unsigned char)rclProtocolMessage.m_iModuleId << 5;
        clRS232Message.m_aucMessageId[1] |= (unsigned char)rclProtocolMessage.m_ucMessageLength;
        clRS232Message.m_ucMessageLength = (unsigned char)rclProtocolMessage.m_ucMessageLength;
        memcpy(clRS232Message.m_aucMessageData, rclProtocolMessage.m_aucMessageData, rclProtocolMessage.m_ucMessageLength);

        aucEncodeBuffer[0] = clRS232Message.m_aucMessageId[0];
        aucEncodeBuffer[1] = clRS232Message.m_aucMessageId[1];
        for( i = 0; i < clRS232Message.m_ucMessageLength; i++ )
                aucEncodeBuffer[i+2] = clRS232Message.m_aucMessageData[i];
        for( i = 0; i < clRS232Message.m_ucMessageLength+2; i++ )
                uiSum += aucEncodeBuffer[i];
        aucEncodeBuffer[clRS232Message.m_ucMessageLength+2] = uiSum + (uiSum>>8);

        aucWriteBuffer[0] = STX;
        uiWriteBufferIndex = 1;

        for( i = 0; i < clRS232Message.m_ucMessageLength+3; i++ )
        { 
                if( aucEncodeBuffer[i] == DLE || aucEncodeBuffer[i] == STX || aucEncodeBuffer[i] == ETX )
                {       
                        aucWriteBuffer[uiWriteBufferIndex] = DLE;
                        uiWriteBufferIndex++;
                        aucWriteBuffer[uiWriteBufferIndex] = aucEncodeBuffer[i] + 0x80;
                }
                else
                        aucWriteBuffer[uiWriteBufferIndex] = aucEncodeBuffer[i];
                uiWriteBufferIndex++;
        }

        aucWriteBuffer[uiWriteBufferIndex] = ETX;

#if defined(_WIN32)                                     
        DWORD iErrorCode;

        PurgeComm( m_hDevice, PURGE_TXABORT );
        PurgeComm( m_hDevice, PURGE_RXABORT );
        PurgeComm( m_hDevice, PURGE_TXCLEAR );
        PurgeComm( m_hDevice, PURGE_RXCLEAR );

        iRetVal = WriteFile( m_hDevice, aucWriteBuffer, uiWriteBufferIndex+1, &uiWriteLength, NULL );
        if (iRetVal == 0)
        {       
                // Transmission error
                void* lpMsgBuf;
                FormatMessage( 
                        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
                        FORMAT_MESSAGE_FROM_SYSTEM | 
                        FORMAT_MESSAGE_IGNORE_INSERTS,
                        NULL,
                        GetLastError(),
                        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
                        (LPTSTR) &lpMsgBuf,
                        0,
                        NULL 
                        );
                debug(1,"COMERROR:%s\n",lpMsgBuf);
                warning( "Transmission Error. Sent %ld bytes instead of &ld: \n", uiWriteLength, uiWriteBufferIndex+1 );
                ClearCommError( m_hDevice, &iErrorCode, NULL );
                m_iErrorState = ERRID_DEV_WRITEERROR;
                return m_iErrorState;
        }

        if( uiWriteLength != uiWriteBufferIndex+1 )
        {       warning( "Transmission Error. Sent %ld bytes instead of &ld: \n", uiWriteLength, uiWriteBufferIndex+1 );
                m_iErrorState = ERRID_DEV_WRITEERROR;
                return m_iErrorState;
        }
#endif

#if defined(__QNX__)                                    
        tcflush( m_hDevice, TCIOFLUSH );
        
        uiWriteLength = write(m_hDevice, aucWriteBuffer, uiWriteBufferIndex+1);
        if( uiWriteLength != uiWriteBufferIndex+1 )
        {       warning( "Transmission Error %d. Sent %ld bytes instead of %ld.\n", errno, uiWriteLength, uiWriteBufferIndex+1 );
                m_iErrorState = ERRID_DEV_WRITEERROR;
                return m_iErrorState;
        }
        tcdrain( m_hDevice );
#endif

#if defined(__LINUX__)                                  
        tcflush( m_hDevice, TCIOFLUSH );
        
        uiWriteLength = write(m_hDevice, aucWriteBuffer, uiWriteBufferIndex+1);
        if( uiWriteLength != uiWriteBufferIndex+1 )
        {       warning( "Transmission Error. Sent %ld bytes instead of %ld.\n", uiWriteLength, uiWriteBufferIndex+1 );
                m_iErrorState = ERRID_DEV_WRITEERROR;
                return m_iErrorState;
        }
        tcdrain( m_hDevice );
#endif

        return m_iErrorState;
}

// ========================================================================== ;
//                                                                            ;
// ---- constructors / destructor ------------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

CRS232Device::CRS232Device() : m_hDevice(0), m_iDeviceId(-1), m_uiBaudRate(0), m_uiTimeOut(30), m_clTimer(util_REAL_TIME)
{
        initMessage("CRS232Device", g_iDebugLevel, g_bDebug, g_bDebugFile);
}

CRS232Device::CRS232Device(const CRS232Device& rclRS232Device)
{
        error(-1, "Sorry constructor is not implemented");
}

CRS232Device::~CRS232Device()
{
        exit();
}

// ========================================================================== ;
//                                                                            ;
// ---- operators ----------------------------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

CRS232Device& CRS232Device::operator=(const CRS232Device& rclRS232Device)
{
        error(-1, "Sorry operator= is not implemented");
        return *this;
}

// ========================================================================== ;
//                                                                            ;
// ---- query functions ----------------------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

// ========================================================================== ;
//                                                                            ;
// ---- modify functions ---------------------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

void CRS232Device::setTimeOut(unsigned long uiTimeOut)
{
        m_uiTimeOut= uiTimeOut;
}

// ========================================================================== ;
//                                                                            ;
// ---- I/O functions ------------------------------------------------------- ;
//                                                                            ;
// ========================================================================== ;

// ========================================================================== ;
//                                                                            ;
// ---- exec functions ------------------------------------------------------ ;
//                                                                            ;
// ========================================================================== ;

int CRS232Device::init()
{
        return init(m_acInitString);
}

int CRS232Device::init(const char* acInitString)
{
        InitializeCriticalSection(&m_csDevice);
        char* pcToken;
        char acString[128];
        char acDevice[128];
        if(m_bInitFlag)
        {
                warning("device already initialized");
                m_iErrorState = ERRID_DEV_ISINITIALIZED;
                return m_iErrorState;
        }
        m_iDeviceId = -1;
        m_iErrorState = 0;
        strncpy(m_acInitString,acInitString,128);
        strncpy(acString,acInitString,128);

        pcToken = strtok( acString, ":" );
        if( !pcToken )
        {       m_iErrorState = ERRID_DEV_BADINITSTRING;
                return m_iErrorState;
        }
        if( strcmp( pcToken, "RS232" ) != 0 )
        {       m_iErrorState = ERRID_DEV_BADINITSTRING;
                return m_iErrorState;
        }

        pcToken = strtok( NULL, "," );
        if( !pcToken )
        {       m_iErrorState = ERRID_DEV_BADINITSTRING;
                return m_iErrorState;
        }
        m_iDeviceId = atoi(pcToken);

        pcToken = strtok( NULL, "," );
        if( !pcToken )
        {       m_iErrorState = ERRID_DEV_BADINITSTRING;
                return m_iErrorState;
        }
        m_iBaudRate = atoi(pcToken);

#if defined(_WIN32)                                     
        COMMTIMEOUTS commtimeouts;
        DCB dcb;
        sprintf( acDevice, "COM%d", m_iDeviceId );
        m_hDevice = CreateFile( acDevice, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL );
        if( m_hDevice == INVALID_HANDLE_VALUE )
        {       warning( "Could not initialize %s\n", acDevice );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }

        if( !GetCommState( m_hDevice, &dcb ) )
        {       warning( "GetCommState-Error %d\n", GetLastError() );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }

        switch( m_iBaudRate )
        {
        case 1200:
                dcb.BaudRate = CBR_1200;        
                break;
        case 2400:
                dcb.BaudRate = CBR_2400;        
                break;
        case 4800:
                dcb.BaudRate = CBR_4800;        
                break;
        case 9600:
                dcb.BaudRate = CBR_9600;        
                break;
        case 19200:
                dcb.BaudRate = CBR_19200;       
                break;
        case 38400:
                dcb.BaudRate = CBR_38400;       
                break;
        case 57600:
                dcb.BaudRate = CBR_57600;       
                break;
        case 115200:
                dcb.BaudRate = CBR_115200;      
                break;
        default:
                dcb.BaudRate = CBR_9600;        
                break;
        }

        dcb.ByteSize = 8;
        dcb.StopBits = ONESTOPBIT;
        dcb.Parity = NOPARITY;
        dcb.fRtsControl = RTS_CONTROL_DISABLE; //RTS_CONTROL_TOGGLE; //RTS_CONTROL_HANDSHAKE; //RTS_CONTROL_ENABLE;
        dcb.fDtrControl = DTR_CONTROL_HANDSHAKE; //DTR_CONTROL_HANDSHAKE; //DTR_CONTROL_ENABLE;
        
        if( !SetCommState( m_hDevice, &dcb) )
        {       warning( "SetCommState-Error %d\n", GetLastError() );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }
        commtimeouts.ReadIntervalTimeout = 0;
        commtimeouts.ReadTotalTimeoutMultiplier = 0; 
        commtimeouts.ReadTotalTimeoutConstant = m_uiTimeOut;  
        commtimeouts.WriteTotalTimeoutMultiplier = 0; 
        commtimeouts.WriteTotalTimeoutConstant = m_uiTimeOut;  
        SetCommTimeouts(m_hDevice,&commtimeouts);

#endif

#if defined(__QNX__)                                    
        sprintf(acDevice,"/dev/ser%d",m_iDeviceId);
        m_hDevice = open(acDevice, O_RDWR|O_NONBLOCK );
        if( m_hDevice <=0 )   
        {       warning( "Could not initialize %s\n", acDevice );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }

        struct termios clPortOptions;
        tcgetattr(m_hDevice, &clPortOptions);           //get current port-options

        switch( m_iBaudRate )
        {
        case 1200:
                cfsetispeed(&clPortOptions, B1200);
                cfsetospeed(&clPortOptions, B1200);
                break;
        case 2400:
                cfsetispeed(&clPortOptions, B2400);
                cfsetospeed(&clPortOptions, B2400);
                break;
        case 4800:
                cfsetispeed(&clPortOptions, B4800);
                cfsetospeed(&clPortOptions, B4800);
                break;
        case 9600:
                cfsetispeed(&clPortOptions, B9600);
                cfsetospeed(&clPortOptions, B9600);
                break;
        case 19200:
                cfsetispeed(&clPortOptions, B19200);
                cfsetospeed(&clPortOptions, B19200);
                break;
        case 38400:
                cfsetispeed(&clPortOptions, B38400);
                cfsetospeed(&clPortOptions, B38400);
                break;
        case 57600:
                cfsetispeed(&clPortOptions, B57600);
                cfsetospeed(&clPortOptions, B57600);
                break;
        case 115200:
                cfsetispeed(&clPortOptions, B115200);
                cfsetospeed(&clPortOptions, B115200);
                break;
        default:
                cfsetispeed(&clPortOptions, B9600);
                cfsetospeed(&clPortOptions, B9600);
                break;
        }

        clPortOptions.c_cflag |= CREAD|CS8;
        clPortOptions.c_lflag = 0;
        if( tcsetattr(m_hDevice, TCSANOW, &clPortOptions) != 0 )
        {       warning( "open: Could not set attributes\n" );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }       
        
#endif

#if defined(__LINUX__)                                  
        sprintf(acDevice,"/dev/ttyS%d",m_iDeviceId-1);
        m_hDevice = open( acDevice, O_RDWR );   //open Port
        if( m_hDevice == -1 )
        {       warning( "open: Could not initialize %s\n", acDevice );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }

        struct termios clPortOptions;
        tcgetattr(m_hDevice, &clPortOptions);           //get current port-options

        switch( m_iBaudRate )
        {
        case 1200:
                cfsetispeed(&clPortOptions, B1200);
                cfsetospeed(&clPortOptions, B1200);
                break;
        case 2400:
                cfsetispeed(&clPortOptions, B2400);
                cfsetospeed(&clPortOptions, B2400);
                break;
        case 4800:
                cfsetispeed(&clPortOptions, B4800);
                cfsetospeed(&clPortOptions, B4800);
                break;
        case 9600:
                cfsetispeed(&clPortOptions, B9600);
                cfsetospeed(&clPortOptions, B9600);
                break;
        case 19200:
                cfsetispeed(&clPortOptions, B19200);
                cfsetospeed(&clPortOptions, B19200);
                break;
        case 38400:
                cfsetispeed(&clPortOptions, B38400);
                cfsetospeed(&clPortOptions, B38400);
                break;
        case 57600:
                cfsetispeed(&clPortOptions, B57600);
                cfsetospeed(&clPortOptions, B57600);
                break;
        case 115200:
                cfsetispeed(&clPortOptions, B115200);
                cfsetospeed(&clPortOptions, B115200);
                break;
        default:
                cfsetispeed(&clPortOptions, B9600);
                cfsetospeed(&clPortOptions, B9600);
                break;
        }

        clPortOptions.c_iflag = 0;
        clPortOptions.c_oflag = 0;
        clPortOptions.c_cflag |= CLOCAL|CREAD|CS8|CSIZE;
        clPortOptions.c_lflag = 0;
        if( tcsetattr(m_hDevice, TCSANOW, &clPortOptions) != 0 )
        {       warning( "open: Could not set attributes\n" );
                m_iErrorState = ERRID_DEV_INITERROR;
                return m_iErrorState;
        }       
#endif

        m_iErrorState = clearReadQueue();
        if(m_iErrorState != 0)
                return m_iErrorState;

        if(m_iErrorState == 0)
                m_bInitFlag = true;
        updateModuleIdMap();
        return m_iErrorState;
}

int CRS232Device::exit()
{
        m_iErrorState = 0;
        if(!m_bInitFlag)
        {
                warning("device not initialized");
                m_iErrorState = ERRID_DEV_NOTINITIALIZED;
                return m_iErrorState;
        }
        EnterCriticalSection(&m_csDevice);
#if defined(_WIN32)                                     
        if( !CloseHandle( m_hDevice ) )
        {       
                warning( "Error closing Device.\n" );
                m_iErrorState = ERRID_DEV_EXITERROR;
                return m_iErrorState;
        }
#endif

#if defined(__QNX__)                                    
        if( close(m_hDevice) < 0 )
        {       warning( "Error closing Device.\n" );
                m_iErrorState = ERRID_DEV_EXITERROR;
                return m_iErrorState;
        }       
#endif

#if defined(__LINUX__)                                  
        if( close(m_hDevice) < 0 )
        {       warning( "Error closing Device.\n" );
                m_iErrorState = ERRID_DEV_EXITERROR;
                return m_iErrorState;
        }
#endif

        m_bInitFlag = false;
        LeaveCriticalSection(&m_csDevice);
        DeleteCriticalSection(&m_csDevice);
        return m_iErrorState;
}