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authorschodet2005-02-09 13:48:35 +0000
committerschodet2005-02-09 13:48:35 +0000
commite37750edb0dd75b976c58672b577bb1a4f6079c0 (patch)
tree501a8e46e7d49a58c7548591123d736314cad674 /2005/i/robert/src/serial/serial_stdio.cc
parent9a4696369295d3a2c9389c41a69416bce14e215e (diff)
Ajout de serial.
Diffstat (limited to '2005/i/robert/src/serial/serial_stdio.cc')
-rw-r--r--2005/i/robert/src/serial/serial_stdio.cc79
1 files changed, 79 insertions, 0 deletions
diff --git a/2005/i/robert/src/serial/serial_stdio.cc b/2005/i/robert/src/serial/serial_stdio.cc
new file mode 100644
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--- /dev/null
+++ b/2005/i/robert/src/serial/serial_stdio.cc
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+// serial_stdio.cc
+// robert - programme du robot 2005. {{{
+//
+// Copyright (C) 2005 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2005.
+// 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_stdio.hh"
+#include "utils/errno_exception.hh"
+
+#include <fcntl.h>
+
+/// Constructeur.
+SerialStdio::SerialStdio (bool blocking/*false*/)
+ : blocking_ (blocking)
+{
+}
+
+/// Destructeur.
+SerialStdio::~SerialStdio (void)
+{
+ close ();
+}
+
+/// Ouvre et paramètre le port série.
+void
+SerialStdio::open (const std::string &ttyname)
+{
+ struct termios tios;
+ fdIn_ = 0;
+ fdOut_ = 1;
+ // Sauver la configuration courante du port série.
+ tcgetattr (fdIn_, &old_);
+ // Paramètrer les options du port série.
+ tios.c_cflag = CS8 | CLOCAL | CREAD;
+ 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;
+ // Vider et configurer le port série.
+ tcflush (fdIn_, TCIFLUSH);
+ tcsetattr (fdIn_, TCSANOW, &tios);
+}
+
+/// Ferme le port série, appellé automatiquement dans le destructeur de la
+/// classe SerialBase.
+void
+SerialStdio::close (void)
+{
+ if (fdIn_ != -1)
+ {
+ tcsetattr (fdIn_, TCSANOW, &old_);
+ fdIn_ = -1;
+ fdOut_ = -1;
+ }
+}
+