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// serial_dev.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_dev.hh"
#include "utils/errno_exception.hh"

#include <stdexcept>
#include <fcntl.h>
#include <cstdlib>

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

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

/// Ouvre et param�tre le port s�rie, accepte plusieurs param�tres s�par�s par
/// des virgules : tty, vitesse, parit� (none, odd, even). Par exemple :
/// "/dev/ttyS00,115200,even" (par defaut).
void
SerialDev::open (const std::string &ttyname)
{
    struct termios tios;
    std::string tty;
    int speed = 115200;
    char par = 'e';
    // D�code le ttyname.
    decode (ttyname, tty, speed, par);
    // Ouvre le port s�rie.
    fdIn_ = ::open (tty.c_str (), 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_);
    tcgetattr (fdIn_, &tios);
    // Param�trer les options du port s�rie.
    //  V�rification de la parit� en entr�e, remplace toute erreur de
    //  transmission par un caract�re nul. Pas de Xon Xoff. Entr�e crue.
    tios.c_iflag &= ~(IGNPAR | PARMRK | ISTRIP | IGNBRK | BRKINT | IGNCR |
		      ICRNL | INLCR | IXON | IXOFF | IXANY | IMAXBEL);
    tios.c_iflag |= INPCK;
    //  Sortie crue.
    tios.c_oflag &= ~(OPOST);
    //  Pas de status line, 1 bit de stop, 8 bits de donn�es, r�gle la parit�.
    tios.c_cflag &= ~(HUPCL | CSTOPB | PARENB | PARODD | CSIZE);
    tios.c_cflag |= CS8 | CLOCAL | CREAD;
    if (par != 'n') tios.c_cflag |= PARENB;
    if (par == 'o') tios.c_cflag |= PARODD;
    //  Cru.
    tios.c_lflag &= ~(ICANON | ECHO | ISIG | NOFLSH | TOSTOP);
    // 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 9600:
	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;
      case 230400:
	cfsetspeed (&tios, B230400);
	break;
      case 460800:
	cfsetspeed (&tios, B460800);
	break;
      default:
	throw std::runtime_error ("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;
      }
}

/// D�code le ttyname, voir open.
void
SerialDev::decode (const std::string &ttyname, std::string &tty, int &speed,
		   char &par) const
{
    std::string::size_type a, b, d;
    int i;
    a = 0;
    b = ttyname.find (',');
    while (a != std::string::npos)
      {
	d = b == std::string::npos ? std::string::npos : b - a;
	std::string s (ttyname, a, d);
	i = atoi (s.c_str ());
	if (i)
	    speed = i;
	else
	  {
	    if (s == "e" || s == "even")
		par = 'e';
	    else if (s == "o" || s == "odd")
		par = 'o';
	    else if (s == "n" || s == "none")
		par = 'n';
	    else if (tty.empty ())
		tty = s;
	    else
		throw std::runtime_error ("error in ttyname: " + s);
	  }
	a = b == std::string::npos ? b : b + 1;
	b = ttyname.find (',', a);
      }
}