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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 param�tre le port s�rie.
void
SerialStdio::open (const std::string &ttyname)
{
    struct termios tios;
    fdIn_ = 0;
    fdOut_ = 1;
    // Sauver la configuration courante du port s�rie.
    tcgetattr (fdIn_, &old_);
    // Param�trer les options du port s�rie.
    // Attention, affecter des valeurs directement est une mauvaise pratique,
    // regarder SerialDev pour un bon exemple.
    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 s�rie.
    tcflush (fdIn_, TCIFLUSH);
    tcsetattr (fdIn_, TCSANOW, &tios);
}

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