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+// serial_base.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_base.hh"
+#include "utils/errno_exception.hh"
+
+#include <sys/types.h>
+#include <sys/time.h>
+
+/// Constructeur.
+SerialBase::SerialBase (void)
+ : fdIn_ (-1), fdOut_ (-1)
+{
+}
+
+/// Destructeur.
+SerialBase::~SerialBase (void)
+{
+}
+
+/// Lit un bloc, retourne le nombre d'octets lus ou <= 0 en cas d'erreur
+/// ou si aucun caractère n'est disponible. Pour le robot, préferer en
+/// général getchar() pour du non-bloquant.
+ssize_t
+SerialBase::read (void *buf, size_t size)
+{
+ return ::read (fdIn_, buf, size);
+}
+
+/// Lit un caractère, ou -1 en cas d'erreur ou si aucun caractère n'est
+/// disponible.
+int
+SerialBase::getchar (void)
+{
+ char c;
+ if (read (&c, 1) == 1)
+ return c & 0xff;
+ else
+ return -1;
+}
+
+/// Ecrit un bloc.
+void
+SerialBase::write (const void *buf, size_t size)
+{
+ ::write (fdOut_, buf, size);
+}
+
+/// Ecrit un caractère.
+void
+SerialBase::putchar (int c)
+{
+ char cc = c;
+ write (&cc, 1);
+}
+
+/// Attend que des caractères soient disponibles pendant un delay en
+/// millisecondes.
+bool
+SerialBase::wait (int timeout/*-1*/)
+{
+ fd_set fds;
+ int r;
+ // Setup fd_set.
+ FD_ZERO (&fds);
+ FD_SET (fdIn_, &fds);
+ if (timeout == -1)
+ {
+ // Without timeout.
+ r = select (FD_SETSIZE, &fds, 0, 0, 0);
+ }
+ else
+ {
+ // With timeout.
+ struct timeval tv;
+ tv.tv_sec = timeout / 1000;
+ tv.tv_usec = (timeout % 1000) * 1000;
+ r = select (FD_SETSIZE, &fds, 0, 0, &tv);
+ }
+ switch (r)
+ {
+ case -1:
+ // Error.
+ throw errno_exception (errno);
+ case 0:
+ // Timeout.
+ return false;
+ default:
+ // Data availlable.
+ return true;
+ }
+}
+