serialIO.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_light
 * Description: Switch robots led color by sending data to
 * the led-µC over serial connection.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
 * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
 *
 * Date of creation: August 2012
 * 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 the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) 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 "serialIO.h"
#include "sys/select.h"
#include <iostream>
#include <cstring>

SerialIO::SerialIO() :
         _fd(-1)
{
}

SerialIO::~SerialIO()
{
        closePort();
}

// Open Serial Port
int SerialIO::openPort(std::string devicestring, int baudrate)
{
        if(_fd != -1) return _fd;

        speed_t baud = getBaudFromInt(baudrate);
        std::memset(&port_settings,0,sizeof(port_settings));
        port_settings.c_iflag = 0;
        port_settings.c_oflag = 0;
        port_settings.c_cflag = CS8|CREAD|CLOCAL;
        port_settings.c_lflag = 0;
        port_settings.c_cc[VMIN]=1;
        port_settings.c_cc[VTIME]=5;

        _fd=open(devicestring.c_str(), O_RDWR | O_NONBLOCK);
        cfsetospeed(&port_settings, baud);
        cfsetispeed(&port_settings, baud);

        tcsetattr(_fd, TCSANOW, &port_settings);

        return _fd;
}

// Send Data to Serial Port
int SerialIO::sendData(std::string value)
{
        int wrote = -1;
        if(_fd != -1)
                wrote = write(_fd, value.c_str(), value.length());
        return wrote;
}

// Send Data to Serial Port
int SerialIO::sendData(const char* data, size_t len)
{
        int wrote = -1;
        if(_fd != -1)
                wrote = write(_fd, data, len);
        return wrote;
}

// Read Data from Serial Port
int SerialIO::readData(std::string &value, size_t nBytes)
{
        fd_set fds;
        FD_ZERO(&fds);
        FD_SET(_fd, &fds);
        struct timeval timeout = {0, 100000};
        char buffer[32];
        size_t rec = -1;
        if(select(_fd+1, &fds, NULL, NULL, &timeout))
        {
                rec = read(_fd, buffer, nBytes);
                value = std::string(buffer);
        }
        
        return rec;
}

// Check if Serial Port is opened
bool SerialIO::isOpen()
{
        return (_fd != -1);
}

// Close Serial Port
void SerialIO::closePort()
{
        if(_fd != -1)
                close(_fd);
}


speed_t SerialIO::getBaudFromInt(int baud)
{
        speed_t ret;
        switch(baud)
        {
                case 0:         ret=B0;         break;
                case 50:        ret=B50;        break;
                case 75:        ret=B75;        break;
                case 110:       ret=B110;       break;
                case 134:       ret=B134;       break;
                case 150:       ret=B150;       break;
                case 200:       ret=B200;       break;
                case 300:       ret=B300;       break;
                case 1200:      ret=B1200;      break;
                case 1800:      ret=B1800;      break;
                case 2400:      ret=B2400;      break;
                case 4800:      ret=B4800;      break;
                case 9600:      ret=B9600;      break;
                case 19200: ret=B19200; break;
                case 38400: ret=B38400; break;
                case 57600: ret=B57600; break;
                case 115200: ret=B115200; break;
                case 230400: ret=B230400; break;
                default:
                        ret=B230400;
                        break;
        }
        return ret;
}