linux/net_serial.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. 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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */
 
#include "arch/linux/arch_linux.h"
#include "arch/linux/net_serial.h"
#include <termios.h>
#include <sys/select.h>
 
namespace rp
{
namespace arch
{
namespace net
{
raw_serial::raw_serial()
        : rp::hal::serial_rxtx(), _baudrate(0), _flags(0), serial_fd(-1)
{
        _init();
}
 
raw_serial::~raw_serial() { close(); }
bool raw_serial::open() { return open(_portName, _baudrate, _flags); }
bool raw_serial::bind(const char* portname, uint32_t baudrate, uint32_t flags)
{
        strncpy(_portName, portname, sizeof(_portName));
        _baudrate = baudrate;
        _flags = flags;
        return true;
}
 
bool raw_serial::open(const char* portname, uint32_t baudrate, uint32_t flags)
{
        if (isOpened()) close();
 
        serial_fd = ::open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
 
        if (serial_fd == -1) return false;
 
        struct termios options, oldopt;
        tcgetattr(serial_fd, &oldopt);
        bzero(&options, sizeof(struct termios));
 
        _u32 termbaud = getTermBaudBitmap(baudrate);
 
        if (termbaud == (_u32)-1)
        {
                close();
                return false;
        }
        cfsetispeed(&options, termbaud);
        cfsetospeed(&options, termbaud);
 
        // enable rx and tx
        options.c_cflag |= (CLOCAL | CREAD);
 
        options.c_cflag &= ~PARENB;  // no checkbit
        options.c_cflag &= ~CSTOPB;  // 1bit stop bit
 
        options.c_cflag &= ~CSIZE;
        options.c_cflag |= CS8; /* Select 8 data bits */
 
#ifdef CNEW_RTSCTS
        options.c_cflag &= ~CNEW_RTSCTS;  // no hw flow control
#endif
 
        options.c_iflag &= ~(IXON | IXOFF | IXANY);  // no sw flow control
 
        // raw input mode
        options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
        // raw output mode
        options.c_oflag &= ~OPOST;
 
        tcflush(serial_fd, TCIFLUSH);
 
        if (fcntl(serial_fd, F_SETFL, FNDELAY))
        {
                close();
                return false;
        }
        if (tcsetattr(serial_fd, TCSANOW, &options))
        {
                close();
                return false;
        }
 
        _is_serial_opened = true;
 
        // Clear the DTR bit to let the motor spin
        clearDTR();
 
        return true;
}
 
void raw_serial::close()
{
        if (serial_fd != -1) ::close(serial_fd);
        serial_fd = -1;
 
        _is_serial_opened = false;
}
 
int raw_serial::senddata(const unsigned char* data, size_t size)
{
        // FIXME: non-block io should be used
        if (!isOpened()) return 0;
 
        if (data == nullptr || size == 0) return 0;
 
        size_t tx_len = 0;
        required_tx_cnt = 0;
        do
        {
                int ans = ::write(serial_fd, data + tx_len, size - tx_len);
 
                if (ans == -1) return tx_len;
 
                tx_len += ans;
                required_tx_cnt = tx_len;
        } while (tx_len < size);
 
        return tx_len;
}
 
int raw_serial::recvdata(unsigned char* data, size_t size)
{
        if (!isOpened()) return 0;
 
        int ans = ::read(serial_fd, data, size);
 
        if (ans == -1) ans = 0;
        required_rx_cnt = ans;
        return ans;
}
 
void raw_serial::flush(_u32 flags) { tcflush(serial_fd, TCIFLUSH); }
int raw_serial::waitforsent(_u32 timeout, size_t* returned_size)
{
        if (returned_size) *returned_size = required_tx_cnt;
        return 0;
}
 
int raw_serial::waitforrecv(_u32 timeout, size_t* returned_size)
{
        if (!isOpened()) return -1;
 
        if (returned_size) *returned_size = required_rx_cnt;
        return 0;
}
 
int raw_serial::waitfordata(
        size_t data_count, _u32 timeout, size_t* returned_size)
{
        size_t length = 0;
        if (returned_size == nullptr) returned_size = (size_t*)&length;
        *returned_size = 0;
 
        int max_fd;
        fd_set input_set;
        struct timeval timeout_val;
 
        /* Initialize the input set */
        FD_ZERO(&input_set);
        FD_SET(serial_fd, &input_set);
        max_fd = serial_fd + 1;
 
        /* Initialize the timeout structure */
        timeout_val.tv_sec = timeout / 1000;
        timeout_val.tv_usec = (timeout % 1000) * 1000;
 
        if (isOpened())
        {
                if (ioctl(serial_fd, FIONREAD, returned_size) == -1) return ANS_DEV_ERR;
                if (*returned_size >= data_count)
                {
                        return 0;
                }
        }
 
        while (isOpened())
        {
                /* Do the select */
                int n = ::select(max_fd, &input_set, nullptr, nullptr, &timeout_val);
 
                if (n < 0)
                {
                        // select error
                        return ANS_DEV_ERR;
                }
                else if (n == 0)
                {
                        // time out
                        return ANS_TIMEOUT;
                }
                else
                {
                        // data avaliable
                        assert(FD_ISSET(serial_fd, &input_set));
 
                        if (ioctl(serial_fd, FIONREAD, returned_size) == -1)
                                return ANS_DEV_ERR;
                        if (*returned_size >= data_count)
                        {
                                return 0;
                        }
                        else
                        {
                                int remain_timeout =
                                        timeout_val.tv_sec * 1000000 + timeout_val.tv_usec;
                                int expect_remain_time =
                                        (data_count - *returned_size) * 1000000 * 8 / _baudrate;
                                if (remain_timeout > expect_remain_time)
                                        usleep(expect_remain_time);
                        }
                }
        }
 
        return ANS_DEV_ERR;
}
 
size_t raw_serial::rxqueue_count()
{
        if (!isOpened()) return 0;
        size_t remaining;
 
        if (::ioctl(serial_fd, FIONREAD, &remaining) == -1) return 0;
        return remaining;
}
 
void raw_serial::setDTR()
{
        if (!isOpened()) return;
 
        uint32_t dtr_bit = TIOCM_DTR;
        ioctl(serial_fd, TIOCMBIS, &dtr_bit);
}
 
void raw_serial::clearDTR()
{
        if (!isOpened()) return;
 
        uint32_t dtr_bit = TIOCM_DTR;
        ioctl(serial_fd, TIOCMBIC, &dtr_bit);
}
 
void raw_serial::_init()
{
        serial_fd = 0;
        _portName[0] = 0;
        required_tx_cnt = required_rx_cnt = 0;
}
 
_u32 raw_serial::getTermBaudBitmap(_u32 baud)
{
#define BAUD_CONV(_baud_) \
        case _baud_:          \
                return B##_baud_
        switch (baud)
        {
                BAUD_CONV(1200);
                BAUD_CONV(1800);
                BAUD_CONV(2400);
                BAUD_CONV(4800);
                BAUD_CONV(9600);
                BAUD_CONV(19200);
                BAUD_CONV(38400);
                BAUD_CONV(57600);
                BAUD_CONV(115200);
                BAUD_CONV(230400);
                BAUD_CONV(460800);
                BAUD_CONV(500000);
                BAUD_CONV(576000);
                BAUD_CONV(921600);
                BAUD_CONV(1000000);
                BAUD_CONV(1152000);
                BAUD_CONV(1500000);
                BAUD_CONV(2000000);
        }
        return -1;
}
}
}
}  // end rp::arch::net
 
// begin rp::hal
namespace rp
{
namespace hal
{
serial_rxtx* serial_rxtx::CreateRxTx()
{
        return new rp::arch::net::raw_serial();
}
 
void serial_rxtx::ReleaseRxTx(serial_rxtx* rxtx) { delete rxtx; }
}
}  // end rp::hal