summaryrefslogtreecommitdiff
path: root/2004/i/nono/src/serial/serial_dev.cc
blob: e4270500763fc92be090e80f4fc2811a39b66954 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
// 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 "utils/errno_exception.h"

#include <fcntl.h>

/// Constructeur.
SerialDev::SerialDev (bool blocking/*false*/)
    : blocking_ (blocking)
{
}

/// Destructeur.
SerialDev::~SerialDev (void)
{
    close ();
}

/// Ouvre et param�tre le port s�rie.
void
SerialDev::open (const char *ttyname, int speed/*0*/)
{
    struct termios tios;
    // Ouvre le port s�rie.
    fdIn_ = ::open (ttyname, O_RDWR | O_NOCTTY | O_NONBLOCK);
    if (fdIn_ < 0)
	throw errno_exception (ttyname, errno);
    // Rendre le port s�rie asynchrone.
    //fcntl (fd_, F_SETFL, FASYNC);
    // Sauver la configuration courante du port s�rie.
    tcgetattr (fdIn_, &old_);
    // Param�trer les options du port s�rie.
    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);
	break;
      case 0:
      case 9660:
	cfsetspeed (&tios, B9600);
	break;
      case 19200:
	cfsetspeed (&tios, B19200);
	break;
      case 38400:
	cfsetspeed (&tios, B38400);
	break;
      case 57600:
	cfsetspeed (&tios, B57600);
	break;
      case 115200:
	cfsetspeed (&tios, B115200);
	break;
      default:
	throw ErreurFatale ("Vitesse de port s�rie non support�e\n");
      }
    // Vider et configurer le port s�rie.
    tcflush (fdIn_, TCIFLUSH);
    tcsetattr (fdIn_, TCSANOW, &tios);
    fdOut_ = fdIn_;
}

/// Ferme le port s�rie, appell� automatiquement dans le destructeur de la
/// classe SerialBase.
void
SerialDev::close (void)
{
    if (fdIn_ != -1)
      {
	tcsetattr (fdIn_, TCSANOW, &old_);
	::close (fdIn_);
	fdIn_ = -1;
	fdOut_ = -1;
      }
}