// 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; } }