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Use OS for serial port instead of NI VISA (#1875)

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This commit is contained in:
Thad House
2019-09-28 16:49:11 -07:00
committed by Peter Johnson
parent b23baf611a
commit 9f740e5905
10 changed files with 703 additions and 386 deletions
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116
hal/src/main/native/include/hal/SerialPort.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -38,39 +38,51 @@ extern "C" {
*
* @param port the serial port to initialize
*/
void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status);
HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
int32_t* status);
/**
* Initializes a serial port with a direct name.
*
* This name is the VISA name for a specific port (find this in the web dash).
* This name is the /dev name for a specific port.
* Note these are not always consistent between roboRIO reboots.
*
* @param port the serial port to initialize
* @param portName the VISA port name
* @param portName the dev port name
*/
void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
int32_t* status);
HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
const char* portName,
int32_t* status);
/**
* Gets the raw serial port file descriptor from a handle.
*
* @param handle the serial port handle
* @return the raw port descriptor
*/
int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status);
/**
* Sets the baud rate of a serial port.
*
* Any value between 0 and 0xFFFFFFFF may be used. Default is 9600.
*
* @param port the serial port
* @param baud the baud rate to set
* @param handle the serial port handle
* @param baud the baud rate to set
*/
void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status);
void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
int32_t* status);
/**
* Sets the number of data bits on a serial port.
*
* Defaults to 8.
*
* @param port the serial port
* @param bits the number of data bits (5-8)
* @param handle the serial port handle
* @param bits the number of data bits (5-8)
*/
void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status);
void HAL_SetSerialDataBits(HAL_SerialPortHandle handle, int32_t bits,
int32_t* status);
/**
* Sets the number of parity bits on a serial port.
@@ -82,10 +94,11 @@ void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status);
* 3: Mark - Means exists and always 1
* 4: Space - Means exists and always 0
*
* @param port the serial port
* @param handle the serial port handle
* @param parity the parity bit mode (see remarks for valid values)
*/
void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status);
void HAL_SetSerialParity(HAL_SerialPortHandle handle, int32_t parity,
int32_t* status);
/**
* Sets the number of stop bits on a serial port.
@@ -95,10 +108,10 @@ void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status);
* 15: One and a half stop bits
* 20: Two stop bits
*
* @param port the serial port
* @param handle the serial port handle
* @param stopBits the stop bit value (see remarks for valid values)
*/
void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
void HAL_SetSerialStopBits(HAL_SerialPortHandle handle, int32_t stopBits,
int32_t* status);
/**
@@ -108,10 +121,11 @@ void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
* 1: Flush on access
* 2: Flush when full (default)
*
* @param port the serial port
* @param mode the mode to set (see remarks for valid values)
* @param handle the serial port handle
* @param mode the mode to set (see remarks for valid values)
*/
void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode, int32_t* status);
void HAL_SetSerialWriteMode(HAL_SerialPortHandle handle, int32_t mode,
int32_t* status);
/**
* Sets the flow control mode of a serial port.
@@ -122,63 +136,65 @@ void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode, int32_t* status);
* 2: RTS-CTS
* 3: DTR-DSR
*
* @param port the serial port
* @param flow the mode to set (see remarks for valid values)
* @param handle the serial port handle
* @param flow the mode to set (see remarks for valid values)
*/
void HAL_SetSerialFlowControl(HAL_SerialPort port, int32_t flow,
void HAL_SetSerialFlowControl(HAL_SerialPortHandle handle, int32_t flow,
int32_t* status);
/**
* Sets the minimum serial read timeout of a port.
*
* @param port the serial port
* @param handle the serial port handle
* @param timeout the timeout in milliseconds
*/
void HAL_SetSerialTimeout(HAL_SerialPort port, double timeout, int32_t* status);
void HAL_SetSerialTimeout(HAL_SerialPortHandle handle, double timeout,
int32_t* status);
/**
* Sets the termination character that terminates a read.
*
* By default this is disabled.
*
* @param port the serial port
* @param handle the serial port handle
* @param terminator the termination character to set
*/
void HAL_EnableSerialTermination(HAL_SerialPort port, char terminator,
void HAL_EnableSerialTermination(HAL_SerialPortHandle handle, char terminator,
int32_t* status);
/**
* Disables a termination character for reads.
*
* @param port the serial port
* @param handle the serial port handle
*/
void HAL_DisableSerialTermination(HAL_SerialPort port, int32_t* status);
void HAL_DisableSerialTermination(HAL_SerialPortHandle handle, int32_t* status);
/**
* Sets the size of the read buffer.
*
* @param port the serial port
* @param size the read buffer size
* @param handle the serial port handle
* @param size the read buffer size
*/
void HAL_SetSerialReadBufferSize(HAL_SerialPort port, int32_t size,
void HAL_SetSerialReadBufferSize(HAL_SerialPortHandle handle, int32_t size,
int32_t* status);
/**
* Sets the size of the write buffer.
*
* @param port the serial port
* @param size the write buffer size
* @param handle the serial port handle
* @param size the write buffer size
*/
void HAL_SetSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
void HAL_SetSerialWriteBufferSize(HAL_SerialPortHandle handle, int32_t size,
int32_t* status);
/**
* Gets the number of bytes currently in the read buffer.
*
* @param port the serial port
* @return the number of bytes in the read buffer
* @param handle the serial port handle
* @return the number of bytes in the read buffer
*/
int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status);
int32_t HAL_GetSerialBytesReceived(HAL_SerialPortHandle handle,
int32_t* status);
/**
* Reads data from the serial port.
@@ -186,44 +202,44 @@ int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status);
* Will wait for either timeout (if set), the termination char (if set), or the
* count to be full. Whichever one comes first.
*
* @param port the serial port
* @param count the number of bytes maximum to read
* @return the number of bytes actually read
* @param handle the serial port handle
* @param count the number of bytes maximum to read
* @return the number of bytes actually read
*/
int32_t HAL_ReadSerial(HAL_SerialPort port, char* buffer, int32_t count,
int32_t HAL_ReadSerial(HAL_SerialPortHandle handle, char* buffer, int32_t count,
int32_t* status);
/**
* Writes data to the serial port.
*
* @param port the serial port
* @param handle the serial port handle
* @param buffer the buffer to write
* @param count the number of bytes to write from the buffer
* @return the number of bytes actually written
*/
int32_t HAL_WriteSerial(HAL_SerialPort port, const char* buffer, int32_t count,
int32_t* status);
int32_t HAL_WriteSerial(HAL_SerialPortHandle handle, const char* buffer,
int32_t count, int32_t* status);
/**
* Flushes the serial write buffer out to the port.
*
* @param port the serial port
* @param handle the serial port handle
*/
void HAL_FlushSerial(HAL_SerialPort port, int32_t* status);
void HAL_FlushSerial(HAL_SerialPortHandle handle, int32_t* status);
/**
* Clears the receive buffer of the serial port.
*
* @param port the serial port
* @param handle the serial port handle
*/
void HAL_ClearSerial(HAL_SerialPort port, int32_t* status);
void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status);
/**
* Closes a serial port.
*
* @param port the serial port to close
* @param handle the serial port handle to close
*/
void HAL_CloseSerial(HAL_SerialPort port, int32_t* status);
void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif

2
hal/src/main/native/include/hal/Types.h
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@@ -49,6 +49,8 @@ typedef HAL_Handle HAL_RelayHandle;
typedef HAL_Handle HAL_SolenoidHandle;
typedef HAL_Handle HAL_SerialPortHandle;
typedef HAL_Handle HAL_CANHandle;
typedef HAL_CANHandle HAL_PDPHandle;

3
hal/src/main/native/include/hal/handles/HandlesInternal.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -65,6 +65,7 @@ enum class HAL_HandleEnum {
Vendor = 17,
SimulationJni = 18,
CAN = 19,
SerialPort = 20,
};
/**