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https://github.com/wpilibsuite/allwpilib
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Add OS level serial port (#426)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
15e58acc76
commit
2e3503517d
232
hal/lib/athena/OSSerialPort.cpp
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232
hal/lib/athena/OSSerialPort.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/OSSerialPort.h"
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <chrono>
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#include <cstring>
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#include <string>
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#include "HAL/Errors.h"
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#include "HAL/cpp/SerialHelper.h"
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static int portHandles[4]{-1, -1, -1, -1};
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static std::chrono::milliseconds portTimeouts[4]{
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std::chrono::milliseconds(0), std::chrono::milliseconds(0),
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std::chrono::milliseconds(0), std::chrono::milliseconds(0)};
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extern "C" {
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void HAL_InitializeOSSerialPort(HAL_SerialPort port, int32_t* status) {
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std::string portName;
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hal::SerialHelper serialHelper;
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portName = serialHelper.GetOSSerialPortName(port, status);
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if (*status < 0) {
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return;
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}
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int fs = open(portName.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
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if (fs == -1) {
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*status = HAL_SERIAL_PORT_OPEN_ERROR;
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return;
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}
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portHandles[port] = fs;
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struct termios options;
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tcgetattr(fs, &options);
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options.c_cflag = B9600 | CS8 | CLOCAL | CREAD;
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options.c_iflag = 0;
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options.c_oflag = 0;
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options.c_lflag = 0;
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tcflush(fs, TCIFLUSH);
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tcsetattr(fs, TCSANOW, &options);
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}
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void HAL_SetOSSerialBaudRate(HAL_SerialPort port, int32_t baud,
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int32_t* status) {
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int baudRate = -1;
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switch (baud) {
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case 9600:
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baudRate = B9600;
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break;
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case 19200:
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baudRate = B19200;
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break;
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case 38400:
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baudRate = B38400;
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break;
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case 57600:
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baudRate = B57600;
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break;
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case 115200:
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baudRate = B115200;
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break;
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default:
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*status = PARAMETER_OUT_OF_RANGE;
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return;
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}
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struct termios options;
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tcgetattr(portHandles[port], &options);
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auto set = cfsetospeed(&options, baudRate);
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if (set != 0) {
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*status = HAL_SERIAL_PORT_ERROR;
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return;
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}
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set = tcsetattr(portHandles[port], TCSANOW, &options);
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if (set != 0) {
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*status = HAL_SERIAL_PORT_ERROR;
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return;
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}
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}
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void HAL_SetOSSerialDataBits(HAL_SerialPort port, int32_t bits,
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int32_t* status) {
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int numBits = -1;
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switch (bits) {
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case 5:
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numBits = CS5;
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break;
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case 6:
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numBits = CS6;
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break;
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case 7:
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numBits = CS7;
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break;
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case 8:
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numBits = CS8;
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break;
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default:
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*status = PARAMETER_OUT_OF_RANGE;
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return;
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}
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struct termios options;
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tcgetattr(portHandles[port], &options);
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= numBits;
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auto set = tcsetattr(portHandles[port], TCSANOW, &options);
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if (set != 0) {
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*status = HAL_SERIAL_PORT_ERROR;
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return;
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}
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}
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void HAL_SetOSSerialParity(HAL_SerialPort port, int32_t parity,
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int32_t* status) {
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// Just set none parity
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struct termios options;
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tcgetattr(portHandles[port], &options);
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options.c_cflag &= ~PARENB;
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auto set = tcsetattr(portHandles[port], TCSANOW, &options);
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if (set != 0) {
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*status = HAL_SERIAL_PORT_ERROR;
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return;
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}
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}
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void HAL_SetOSSerialStopBits(HAL_SerialPort port, int32_t stopBits,
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int32_t* status) {
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// Force 1 stop bit
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struct termios options;
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tcgetattr(portHandles[port], &options);
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options.c_cflag &= ~CSTOPB;
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auto set = tcsetattr(portHandles[port], TCSANOW, &options);
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if (set != 0) {
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*status = HAL_SERIAL_PORT_ERROR;
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return;
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}
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}
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void HAL_SetOSSerialWriteMode(HAL_SerialPort port, int32_t mode,
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int32_t* status) {
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// No op
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}
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void HAL_SetOSSerialFlowControl(HAL_SerialPort port, int32_t flow,
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int32_t* status) {
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// No op
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}
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void HAL_SetOSSerialTimeout(HAL_SerialPort port, double timeout,
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int32_t* status) {
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// Convert to millis
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int t = timeout / 1000;
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portTimeouts[port] = std::chrono::milliseconds(t);
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}
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void HAL_EnableOSSerialTermination(HAL_SerialPort port, char terminator,
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int32_t* status) {
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// \n is hardcoded for now. Will fix later
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// Seems like a VISA only setting, need to check
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}
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void HAL_DisableOSSerialTermination(HAL_SerialPort port, int32_t* status) {
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// Seems like a VISA only setting, need to check
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}
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void HAL_SetOSSerialReadBufferSize(HAL_SerialPort port, int32_t size,
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int32_t* status) {
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// No op
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}
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void HAL_SetOSSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
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int32_t* status) {
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// No op
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}
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int32_t HAL_GetOSSerialBytesReceived(HAL_SerialPort port, int32_t* status) {
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int bytes = 0;
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ioctl(portHandles[port], FIONREAD, &bytes);
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return bytes;
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}
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int32_t HAL_ReadOSSerial(HAL_SerialPort port, char* buffer, int32_t count,
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int32_t* status) {
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auto endTime = std::chrono::steady_clock::now() + portTimeouts[port];
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int bytesRead = 0;
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unsigned char buf[256];
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do {
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int rx = read(portHandles[port], buf, count - bytesRead);
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std::memcpy(&buffer[bytesRead], buf, rx);
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bytesRead += rx;
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if (bytesRead >= count) break;
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llvm::StringRef tmp(buffer, bytesRead);
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auto loc = tmp.find('\n');
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if (loc != llvm::StringRef::npos) {
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bytesRead = loc;
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break;
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}
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} while (std::chrono::steady_clock::now() < endTime);
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return bytesRead;
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}
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int32_t HAL_WriteOSSerial(HAL_SerialPort port, const char* buffer,
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int32_t count, int32_t* status) {
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return write(portHandles[port], buffer, count);
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}
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void HAL_FlushOSSerial(HAL_SerialPort port, int32_t* status) {
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tcdrain(portHandles[port]);
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}
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void HAL_ClearOSSerial(HAL_SerialPort port, int32_t* status) {
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tcflush(portHandles[port], TCIOFLUSH);
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}
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void HAL_CloseOSSerial(HAL_SerialPort port, int32_t* status) {
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close(portHandles[port]);
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}
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}
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