summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
-rw-r--r--2003/i/buzz/src/serial/Makefile.defs8
-rw-r--r--2003/i/buzz/src/serial/serial.cc60
-rw-r--r--2003/i/buzz/src/serial/serial.h25
-rw-r--r--2003/i/buzz/src/serial/test_serial.cc30
4 files changed, 123 insertions, 0 deletions
diff --git a/2003/i/buzz/src/serial/Makefile.defs b/2003/i/buzz/src/serial/Makefile.defs
new file mode 100644
index 0000000..ddafe5c
--- /dev/null
+++ b/2003/i/buzz/src/serial/Makefile.defs
@@ -0,0 +1,8 @@
+LIBS += serial.a
+TARGETS += test_serial
+test_serial_SOURCES = test_serial.cc serial.a erreur.a
+serial_a_SOURCES = serial.cc
+
+serial.a: ${serial_a_SOURCES:%.cc=serial.a(%.o)}
+
+test_serial: $(test_serial_SOURCES:%.cc=%.o)
diff --git a/2003/i/buzz/src/serial/serial.cc b/2003/i/buzz/src/serial/serial.cc
new file mode 100644
index 0000000..d603c63
--- /dev/null
+++ b/2003/i/buzz/src/serial/serial.cc
@@ -0,0 +1,60 @@
+// serial.cc
+// buzz - Programme du robot Efrei Robotique I1-I2 2003
+// Copyright (C) 2003 Nicolas Schodet
+//
+#include "serial.h"
+#include "erreur/erreur.h"
+
+#include <fcntl.h>
+
+// Constructeur.
+Serial::Serial (const char *name)
+{
+ struct termios tios;
+ // Ouvre le port série.
+ m_fd = open (name, O_RDWR | O_NOCTTY | O_NONBLOCK);
+ if (m_fd < 0)
+ throw ErreurFatale ("Erreur d'ouverture du port série.\n");
+ // Rendre le port série asynchrone.
+ //fcntl (m_fd, F_SETFL, FASYNC);
+ // Sauver la configuration courante du port série.
+ tcgetattr (m_fd, &m_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.
+ tios.c_cc[VMIN] = 0;
+ tios.c_cc[VTIME] = 0;
+ //cfsetspeed (&tios, B115200);
+ cfsetspeed (&tios, B9600);
+ // Vider et configuer le port série.
+ tcflush (m_fd, TCIFLUSH);
+ tcsetattr (m_fd, TCSANOW, &tios);
+}
+
+// Destructeur.
+Serial::~Serial (void)
+{
+ tcsetattr (m_fd, TCSANOW, &m_old);
+}
+
+// Lit un caractère, ou -1.
+int
+Serial::getchar (void)
+{
+ char c;
+ if (read (m_fd, &c, 1) == 1)
+ return c;
+ else
+ return -1;
+}
+
+// Ecrit un bloc.
+ssize_t
+Serial::write (const void *buf, size_t size)
+{
+ return ::write (m_fd, buf, size);
+}
+
diff --git a/2003/i/buzz/src/serial/serial.h b/2003/i/buzz/src/serial/serial.h
new file mode 100644
index 0000000..439ce3f
--- /dev/null
+++ b/2003/i/buzz/src/serial/serial.h
@@ -0,0 +1,25 @@
+#ifndef serial_h
+#define serial_h
+// serial.h
+// buzz - Programme du robot Efrei Robotique I1-I2 2003
+// Copyright (C) 2003 Nicolas Schodet
+
+#include <unistd.h>
+#include <termios.h>
+
+class Serial
+{
+ struct termios m_old;
+ int m_fd;
+ public:
+ // Constructeur.
+ Serial (const char *name);
+ // Destructeur.
+ ~Serial (void);
+ // Lit un caractère, ou -1.
+ int getchar (void);
+ // Ecrit un bloc.
+ ssize_t write (const void *buf, size_t size);
+};
+
+#endif // serial_h
diff --git a/2003/i/buzz/src/serial/test_serial.cc b/2003/i/buzz/src/serial/test_serial.cc
new file mode 100644
index 0000000..74001a1
--- /dev/null
+++ b/2003/i/buzz/src/serial/test_serial.cc
@@ -0,0 +1,30 @@
+// test_serial.cc
+// buzz - Programme du robot Efrei Robotique I1-I2 2003
+// Copyright (C) 2003 Nicolas Schodet
+//
+#include "serial.h"
+#include "erreur/erreur.h"
+
+#include <iostream>
+
+int
+main (void)
+{
+ try
+ {
+ Serial s ("/dev/tty00");
+ //char c;
+ //do
+ //{
+ s.write ("Coucou !\n", 9);
+ //c = s.getchar ();
+ //sleep (1);
+ //}
+ //while (c != 'q');
+ }
+ catch (Erreur &e)
+ {
+ cerr << e.what ();
+ return 1;
+ }
+}