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authorschodet2004-02-29 17:58:45 +0000
committerschodet2004-02-29 17:58:45 +0000
commitd5d826d6dc8dce514e16e6ac27d59a7fa2e2a356 (patch)
tree32c06ed29eed6c078d3e1e5c370c196c0c7e2f4b /2004/i/nono/src/serial/serial_dev.cc
parent9bde55f8269c5f5187937144053a5ea1e9caa419 (diff)
Mod: Nouveau systeme plus modulaire pour le port série.
Diffstat (limited to '2004/i/nono/src/serial/serial_dev.cc')
-rw-r--r--2004/i/nono/src/serial/serial_dev.cc101
1 files changed, 101 insertions, 0 deletions
diff --git a/2004/i/nono/src/serial/serial_dev.cc b/2004/i/nono/src/serial/serial_dev.cc
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+// serial_dev.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 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 General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "serial_dev.h"
+#include "erreur/erreur.h"
+
+#include <fcntl.h>
+
+/// Constructeur.
+SerialDev::SerialDev (bool blocking/*false*/)
+ : blocking_ (blocking)
+{
+}
+
+/// Destructeur.
+SerialDev::~SerialDev (void)
+{
+ close ();
+}
+
+/// Ouvre et paramètre le port série.
+void
+SerialDev::open (const char *ttyname, int speed/*0*/)
+{
+ struct termios tios;
+ // Ouvre le port série.
+ fd_ = ::open (ttyname, O_RDWR | O_NOCTTY | O_NONBLOCK);
+ if (fd_ < 0)
+ throw ErreurFatale ("Erreur d'ouverture du port série.\n");
+ // Rendre le port série asynchrone.
+ //fcntl (fd_, F_SETFL, FASYNC);
+ // Sauver la configuration courante du port série.
+ tcgetattr (fd_, &old_);
+ // Paramètrer les options du port série.
+ tios.c_cflag = CS8 | CLOCAL | CREAD /*| BAUDRATE*/;
+ tios.c_iflag = IGNBRK | IGNPAR;
+ tios.c_oflag = 0;
+ tios.c_lflag = 0;
+ // On n'attend jamais si on est en non-block. On attend sinon.
+ tios.c_cc[VTIME] = 0;
+ if (blocking_)
+ tios.c_cc[VMIN] = 1;
+ else
+ tios.c_cc[VMIN] = 0;
+ switch (speed)
+ {
+ case 1200:
+ cfsetspeed (&tios, B1200);
+ case 0:
+ case 9660:
+ cfsetspeed (&tios, B9600);
+ case 19200:
+ cfsetspeed (&tios, B19200);
+ case 38400:
+ cfsetspeed (&tios, B38400);
+ case 57600:
+ cfsetspeed (&tios, B57600);
+ case 115200:
+ cfsetspeed (&tios, B115200);
+ default:
+ throw ErreurFatale ("Vitesse de port série non supportée\n");
+ }
+ // Vider et configurer le port série.
+ tcflush (fd_, TCIFLUSH);
+ tcsetattr (fd_, TCSANOW, &tios);
+}
+
+/// Ferme le port série, appellé automatiquement dans le destructeur de la
+/// classe SerialBase.
+void
+SerialDev::close (void)
+{
+ if (fd_ != -1)
+ {
+ tcsetattr (fd_, TCSANOW, &old_);
+ ::close (fd_);
+ fd_ = -1;
+ }
+}
+