summaryrefslogtreecommitdiff
path: root/i/chuck/src/serial/serial_base.cc
diff options
context:
space:
mode:
authorbecquet2007-05-10 18:49:20 +0000
committerbecquet2007-05-10 18:49:20 +0000
commit8f486613be58ced269db1d437e560c16558604e8 (patch)
tree41e94b2122a118cb06abf6fc2a0038cd1dfbec4a /i/chuck/src/serial/serial_base.cc
parent4daa2c76c2a028e4b2c8ab379e7d1e0f535a0a31 (diff)
Création de chuck, le programme du robot 2007.
Diffstat (limited to 'i/chuck/src/serial/serial_base.cc')
-rw-r--r--i/chuck/src/serial/serial_base.cc84
1 files changed, 84 insertions, 0 deletions
diff --git a/i/chuck/src/serial/serial_base.cc b/i/chuck/src/serial/serial_base.cc
new file mode 100644
index 0000000..b92a6b0
--- /dev/null
+++ b/i/chuck/src/serial/serial_base.cc
@@ -0,0 +1,84 @@
+// 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/fd_set.hh"
+
+/// 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*/)
+{
+ FdSet fds;
+ fds.set (fdIn_);
+ return fds.wait (timeout);
+}
+