serial_device.cpp

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#include <stdio.h>
#include <termios.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/time.h>
#include <sys/select.h>

#include <string>
#include <iostream>

#include <cob_3d_mapping_demonstrator/serial_device.h>

SerialDevice::SerialDevice()
{

}

SerialDevice::~SerialDevice()
{
 /*std::cout << "destructor" << std::endl;
  PutString("L\n");
  FlushInBuffer();
  FlushOutBuffer();
  closePort();*/
}

int SerialDevice::openPort(std::string device, int baud, int Parity, int StopBits)
{
        int BAUD, DATABITS, STOPBITS, PARITYON, PARITY;
        struct termios config;

        // Adapt baud to termios.h baudrate enum
        switch(baud)
        {
                case 57600:
                BAUD = B57600;
                break;
                case 38400:
                BAUD = B38400;
                break;
                case 19200:
                BAUD  = B19200;
                break;
                case 9600:
                default:                //If incorrect value is entered, baud will be defaulted to 9600
                BAUD  = B9600;
                break;
        }
        switch (Parity)
        {
                case 0:
                default:                       //none
                PARITYON = 0;
                PARITY = 0;
                break;
                case 1:                        //odd
                PARITYON = PARENB;
                PARITY = PARODD;
                break;
                case 2:                        //even
                PARITYON = PARENB;
                PARITY = 0;
                break;
        }
        device = device.insert(0,"/dev/");      

        fd_ = open(device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);

        if (fd_ == -1 ) {
                return -1;
        }

//      int flags;
//      flags = fcntl(m_fd,F_GETFL,0);

        fcntl(fd_, F_SETFL, 0);// flags | O_NONBLOCK);  /// O_NONBLOCK makes read return even if there is no data

        tcgetattr(fd_, &config);

        cfsetispeed(&config, BAUD);     
        cfsetospeed(&config, BAUD);     

        STOPBITS = StopBits;

        DATABITS = CS8;

        //
        //config.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);    //Raw mode (no processing)

        config.c_cflag &= ~CRTSCTS;     //Disable hw flow ctrl
        config.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
        config.c_iflag |= INPCK | ISTRIP ;      // Enable parity checking and take away partiy bit
        config.c_iflag &= ~(IXON | IXOFF | IXANY );     //SW flow control disabled
        config.c_oflag = 0;
        config.c_lflag |= ICANON | ISIG ;       
        //config.c_cc[VMIN]  = 32;
   // config.c_cc[VTIME] = 1;   //timeout after 3s without receiving new characters*/

        if(tcsetattr(fd_, TCSANOW, &config) < 0)
        {
                return -1;
        }

        FlushInBuffer();
        FlushOutBuffer();
        PutString("E\n");
        return 0;
}

void SerialDevice::closePort()
{
        close(fd_);
}

bool SerialDevice::checkIfStillThere()
{
        return isatty(fd_);
}

int SerialDevice::PutString(std::string str)
{
        int res;

        res = write(fd_, str.c_str(), str.size());

        return res;
}

void SerialDevice::GetString( std::string& rxstr )
{
        char buf[255];
        size_t nbytes;

        nbytes = read(fd_, buf, 255);
        //printf("Nbytes: %d", (int)nbytes);
        for(unsigned int i=0; i<nbytes; i++)
        {
                if(buf[i] == '\n')
                        break;
                rxstr.push_back(buf[i]);
        }
}

void SerialDevice::GetStringWithEndline( std::string& rxstr )
{
        char buf[255];
        size_t nbytes;

        nbytes = read(fd_, buf, 255);
        //printf("Nbytes: %d", (int)nbytes);
        for(unsigned int i=0; i<nbytes; i++)
        {
                //if(buf[i] == '\n')
                //      break;
                rxstr.push_back(buf[i]);
        }
}

bool SerialDevice::FlushInBuffer()
{
        if( tcflush(fd_, TCIFLUSH) == -1 )
                return 0;
        else
                return 1;
}


bool SerialDevice::FlushOutBuffer()
{
        if( tcflush(fd_, TCOFLUSH) == -1 )
                return 0;
        else
                return 1;
}

unsigned char SerialDevice::GetChar()
{
        unsigned char c;
        size_t n_bytes;
        n_bytes = read(fd_, &c, 1);

        return c;
}