mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
Use OS for serial port instead of NI VISA (#1875)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
b23baf611a
commit
9f740e5905
@@ -1,5 +1,5 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Copyright (c) 2008-2019 FIRST. 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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@@ -12,9 +12,6 @@
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#include <hal/HAL.h>
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#include <hal/SerialPort.h>
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// static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType
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// eventType, ViEvent event, ViAddr userHandle);
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using namespace frc;
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SerialPort::SerialPort(int baudRate, Port port, int dataBits,
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@@ -22,19 +19,18 @@ SerialPort::SerialPort(int baudRate, Port port, int dataBits,
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SerialPort::StopBits stopBits) {
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int32_t status = 0;
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m_port = port;
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HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
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m_portHandle =
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HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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// Don't continue if initialization failed
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if (status < 0) return;
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HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), baudRate, &status);
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HAL_SetSerialBaudRate(m_portHandle, baudRate, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), dataBits, &status);
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HAL_SetSerialDataBits(m_portHandle, dataBits, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
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HAL_SetSerialParity(m_portHandle, parity, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), stopBits, &status);
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HAL_SetSerialStopBits(m_portHandle, stopBits, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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// Set the default timeout to 5 seconds.
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@@ -43,11 +39,7 @@ SerialPort::SerialPort(int baudRate, Port port, int dataBits,
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// Don't wait until the buffer is full to transmit.
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SetWriteBufferMode(kFlushOnAccess);
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EnableTermination();
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// viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
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// this);
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// viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
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DisableTermination();
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HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
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}
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@@ -57,23 +49,21 @@ SerialPort::SerialPort(int baudRate, const wpi::Twine& portName, Port port,
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SerialPort::StopBits stopBits) {
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int32_t status = 0;
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m_port = port;
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wpi::SmallVector<char, 64> buf;
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const char* portNameC = portName.toNullTerminatedStringRef(buf).data();
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HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port), portNameC,
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&status);
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m_portHandle = HAL_InitializeSerialPortDirect(
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static_cast<HAL_SerialPort>(port), portNameC, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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// Don't continue if initialization failed
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if (status < 0) return;
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HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), baudRate, &status);
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HAL_SetSerialBaudRate(m_portHandle, baudRate, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), dataBits, &status);
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HAL_SetSerialDataBits(m_portHandle, dataBits, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
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HAL_SetSerialParity(m_portHandle, parity, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), stopBits, &status);
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HAL_SetSerialStopBits(m_portHandle, stopBits, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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// Set the default timeout to 5 seconds.
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@@ -82,72 +72,45 @@ SerialPort::SerialPort(int baudRate, const wpi::Twine& portName, Port port,
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// Don't wait until the buffer is full to transmit.
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SetWriteBufferMode(kFlushOnAccess);
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EnableTermination();
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// viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
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// this);
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// viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
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DisableTermination();
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HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
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}
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SerialPort::~SerialPort() {
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int32_t status = 0;
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HAL_CloseSerial(static_cast<HAL_SerialPort>(m_port), &status);
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HAL_CloseSerial(m_portHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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SerialPort::SerialPort(SerialPort&& rhs)
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: ErrorBase(std::move(rhs)),
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m_resourceManagerHandle(std::move(rhs.m_resourceManagerHandle)),
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m_portHandle(std::move(rhs.m_portHandle)),
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m_consoleModeEnabled(std::move(rhs.m_consoleModeEnabled)) {
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std::swap(m_port, rhs.m_port);
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}
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SerialPort& SerialPort::operator=(SerialPort&& rhs) {
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ErrorBase::operator=(std::move(rhs));
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m_resourceManagerHandle = std::move(rhs.m_resourceManagerHandle);
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m_portHandle = std::move(rhs.m_portHandle);
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m_consoleModeEnabled = std::move(rhs.m_consoleModeEnabled);
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std::swap(m_port, rhs.m_port);
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return *this;
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}
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void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
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int32_t status = 0;
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HAL_SetSerialFlowControl(static_cast<HAL_SerialPort>(m_port), flowControl,
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&status);
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HAL_SetSerialFlowControl(m_portHandle, flowControl, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::EnableTermination(char terminator) {
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int32_t status = 0;
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HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(m_port), terminator,
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&status);
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HAL_EnableSerialTermination(m_portHandle, terminator, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::DisableTermination() {
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int32_t status = 0;
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HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(m_port), &status);
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HAL_DisableSerialTermination(m_portHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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int SerialPort::GetBytesReceived() {
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int32_t status = 0;
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int retVal =
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HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(m_port), &status);
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int retVal = HAL_GetSerialBytesReceived(m_portHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return retVal;
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}
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int SerialPort::Read(char* buffer, int count) {
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int32_t status = 0;
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int retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(m_port), buffer,
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count, &status);
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int retVal = HAL_ReadSerial(m_portHandle, buffer, count, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return retVal;
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}
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@@ -158,46 +121,44 @@ int SerialPort::Write(const char* buffer, int count) {
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int SerialPort::Write(wpi::StringRef buffer) {
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int32_t status = 0;
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int retVal = HAL_WriteSerial(static_cast<HAL_SerialPort>(m_port),
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buffer.data(), buffer.size(), &status);
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int retVal =
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HAL_WriteSerial(m_portHandle, buffer.data(), buffer.size(), &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return retVal;
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}
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void SerialPort::SetTimeout(double timeout) {
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int32_t status = 0;
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HAL_SetSerialTimeout(static_cast<HAL_SerialPort>(m_port), timeout, &status);
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HAL_SetSerialTimeout(m_portHandle, timeout, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::SetReadBufferSize(int size) {
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int32_t status = 0;
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HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPort>(m_port), size,
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&status);
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HAL_SetSerialReadBufferSize(m_portHandle, size, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::SetWriteBufferSize(int size) {
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int32_t status = 0;
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HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(m_port), size,
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&status);
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HAL_SetSerialWriteBufferSize(m_portHandle, size, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
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int32_t status = 0;
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HAL_SetSerialWriteMode(static_cast<HAL_SerialPort>(m_port), mode, &status);
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HAL_SetSerialWriteMode(m_portHandle, mode, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::Flush() {
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int32_t status = 0;
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HAL_FlushSerial(static_cast<HAL_SerialPort>(m_port), &status);
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HAL_FlushSerial(m_portHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void SerialPort::Reset() {
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int32_t status = 0;
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HAL_ClearSerial(static_cast<HAL_SerialPort>(m_port), &status);
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HAL_ClearSerial(m_portHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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