From da4a77ff094a0dc74414ec1de2cac08e8b7b60f4 Mon Sep 17 00:00:00 2001 From: haller Date: Thu, 17 Nov 2005 11:10:17 +0000 Subject: Importation brut du code récupérable de robert --- i/marvin/src/serial/serial_stdio.cc | 81 +++++++++++++++++++++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 i/marvin/src/serial/serial_stdio.cc (limited to 'i/marvin/src/serial/serial_stdio.cc') diff --git a/i/marvin/src/serial/serial_stdio.cc b/i/marvin/src/serial/serial_stdio.cc new file mode 100644 index 0000000..ff652a2 --- /dev/null +++ b/i/marvin/src/serial/serial_stdio.cc @@ -0,0 +1,81 @@ +// 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 + +/// Constructeur. +SerialStdio::SerialStdio (bool blocking/*false*/) + : blocking_ (blocking) +{ +} + +/// Destructeur. +SerialStdio::~SerialStdio (void) +{ + close (); +} + +/// Ouvre et paramètre le port série. +void +SerialStdio::open (const std::string &ttyname) +{ + struct termios tios; + fdIn_ = 0; + fdOut_ = 1; + // Sauver la configuration courante du port série. + tcgetattr (fdIn_, &old_); + // Paramètrer les options du port série. + // 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 série. + tcflush (fdIn_, TCIFLUSH); + tcsetattr (fdIn_, TCSANOW, &tios); +} + +/// Ferme le port série, appellé automatiquement dans le destructeur de la +/// classe SerialBase. +void +SerialStdio::close (void) +{ + if (fdIn_ != -1) + { + tcsetattr (fdIn_, TCSANOW, &old_); + fdIn_ = -1; + fdOut_ = -1; + } +} + -- cgit v1.2.3