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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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68
wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
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@@ -14,19 +14,11 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SerialPortJNI;
/**
* Driver for the RS-232 serial port on the roboRIO.
*
* <p>The current implementation uses the VISA formatted I/O mode. This means that all traffic goes
* through the formatted buffers. This allows the intermingled use of print(), readString(), and the
* raw buffer accessors read() and write().
*
* <p>More information can be found in the NI-VISA User Manual here: http://www.ni
* .com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here:
* http://www.ni.com/pdf/manuals/370132c.pdf
* Driver for the serial ports (USB, MXP, Onboard) on the roboRIO.
*/
@SuppressWarnings("PMD.TooManyMethods")
public class SerialPort implements AutoCloseable {
private byte m_port;
private int m_portHandle;
public enum Port {
kOnboard(0), kMXP(1), kUSB(2), kUSB1(2), kUSB2(3);
@@ -82,7 +74,7 @@ public class SerialPort implements AutoCloseable {
}
/**
* Represents which type of buffer mode to use when writing to a serial m_port.
* Represents which type of buffer mode to use when writing to a serial port.
*/
public enum WriteBufferMode {
kFlushOnAccess(1), kFlushWhenFull(2);
@@ -98,6 +90,9 @@ public class SerialPort implements AutoCloseable {
/**
* Create an instance of a Serial Port class.
*
* <p>Prefer to use the constructor that doesn't take a port name, but in some
* cases the automatic detection might not work correctly.
*
* @param baudRate The baud rate to configure the serial port.
* @param port The Serial port to use
* @param portName The direct portName to use
@@ -106,16 +101,13 @@ public class SerialPort implements AutoCloseable {
* @param stopBits The number of stop bits to use as defined by the enum StopBits.
* @deprecated Will be removed for 2019
*/
@Deprecated
public SerialPort(final int baudRate, String portName, Port port, final int dataBits,
Parity parity, StopBits stopBits) {
m_port = (byte) port.value;
SerialPortJNI.serialInitializePortDirect(m_port, portName);
SerialPortJNI.serialSetBaudRate(m_port, baudRate);
SerialPortJNI.serialSetDataBits(m_port, (byte) dataBits);
SerialPortJNI.serialSetParity(m_port, (byte) parity.value);
SerialPortJNI.serialSetStopBits(m_port, (byte) stopBits.value);
m_portHandle = SerialPortJNI.serialInitializePortDirect((byte) port.value, portName);
SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate);
SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits);
SerialPortJNI.serialSetParity(m_portHandle, (byte) parity.value);
SerialPortJNI.serialSetStopBits(m_portHandle, (byte) stopBits.value);
// Set the default read buffer size to 1 to return bytes immediately
setReadBufferSize(1);
@@ -142,13 +134,11 @@ public class SerialPort implements AutoCloseable {
*/
public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity,
StopBits stopBits) {
m_port = (byte) port.value;
SerialPortJNI.serialInitializePort(m_port);
SerialPortJNI.serialSetBaudRate(m_port, baudRate);
SerialPortJNI.serialSetDataBits(m_port, (byte) dataBits);
SerialPortJNI.serialSetParity(m_port, (byte) parity.value);
SerialPortJNI.serialSetStopBits(m_port, (byte) stopBits.value);
m_portHandle = SerialPortJNI.serialInitializePort((byte) port.value);
SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate);
SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits);
SerialPortJNI.serialSetParity(m_portHandle, (byte) parity.value);
SerialPortJNI.serialSetStopBits(m_portHandle, (byte) stopBits.value);
// Set the default read buffer size to 1 to return bytes immediately
setReadBufferSize(1);
@@ -197,7 +187,7 @@ public class SerialPort implements AutoCloseable {
@Override
public void close() {
SerialPortJNI.serialClose(m_port);
SerialPortJNI.serialClose(m_portHandle);
}
/**
@@ -208,7 +198,7 @@ public class SerialPort implements AutoCloseable {
* @param flowControl the FlowControl m_value to use
*/
public void setFlowControl(FlowControl flowControl) {
SerialPortJNI.serialSetFlowControl(m_port, (byte) flowControl.value);
SerialPortJNI.serialSetFlowControl(m_portHandle, (byte) flowControl.value);
}
/**
@@ -221,7 +211,7 @@ public class SerialPort implements AutoCloseable {
* @param terminator The character to use for termination.
*/
public void enableTermination(char terminator) {
SerialPortJNI.serialEnableTermination(m_port, terminator);
SerialPortJNI.serialEnableTermination(m_portHandle, terminator);
}
/**
@@ -241,7 +231,7 @@ public class SerialPort implements AutoCloseable {
* Disable termination behavior.
*/
public void disableTermination() {
SerialPortJNI.serialDisableTermination(m_port);
SerialPortJNI.serialDisableTermination(m_portHandle);
}
/**
@@ -250,7 +240,7 @@ public class SerialPort implements AutoCloseable {
* @return The number of bytes available to read.
*/
public int getBytesReceived() {
return SerialPortJNI.serialGetBytesReceived(m_port);
return SerialPortJNI.serialGetBytesReceived(m_portHandle);
}
/**
@@ -281,7 +271,7 @@ public class SerialPort implements AutoCloseable {
*/
public byte[] read(final int count) {
byte[] dataReceivedBuffer = new byte[count];
int gotten = SerialPortJNI.serialRead(m_port, dataReceivedBuffer, count);
int gotten = SerialPortJNI.serialRead(m_portHandle, dataReceivedBuffer, count);
if (gotten == count) {
return dataReceivedBuffer;
}
@@ -301,7 +291,7 @@ public class SerialPort implements AutoCloseable {
if (buffer.length < count) {
throw new IllegalArgumentException("buffer is too small, must be at least " + count);
}
return SerialPortJNI.serialWrite(m_port, buffer, count);
return SerialPortJNI.serialWrite(m_portHandle, buffer, count);
}
/**
@@ -323,7 +313,7 @@ public class SerialPort implements AutoCloseable {
* @param timeout The number of seconds to to wait for I/O.
*/
public void setTimeout(double timeout) {
SerialPortJNI.serialSetTimeout(m_port, timeout);
SerialPortJNI.serialSetTimeout(m_portHandle, timeout);
}
/**
@@ -338,7 +328,7 @@ public class SerialPort implements AutoCloseable {
* @param size The read buffer size.
*/
public void setReadBufferSize(int size) {
SerialPortJNI.serialSetReadBufferSize(m_port, size);
SerialPortJNI.serialSetReadBufferSize(m_portHandle, size);
}
/**
@@ -349,7 +339,7 @@ public class SerialPort implements AutoCloseable {
* @param size The write buffer size.
*/
public void setWriteBufferSize(int size) {
SerialPortJNI.serialSetWriteBufferSize(m_port, size);
SerialPortJNI.serialSetWriteBufferSize(m_portHandle, size);
}
/**
@@ -364,7 +354,7 @@ public class SerialPort implements AutoCloseable {
* @param mode The write buffer mode.
*/
public void setWriteBufferMode(WriteBufferMode mode) {
SerialPortJNI.serialSetWriteMode(m_port, (byte) mode.value);
SerialPortJNI.serialSetWriteMode(m_portHandle, (byte) mode.value);
}
/**
@@ -374,7 +364,7 @@ public class SerialPort implements AutoCloseable {
* buffer is full.
*/
public void flush() {
SerialPortJNI.serialFlush(m_port);
SerialPortJNI.serialFlush(m_portHandle);
}
/**
@@ -383,6 +373,6 @@ public class SerialPort implements AutoCloseable {
* <p>Empty the transmit and receive buffers in the device and formatted I/O.
*/
public void reset() {
SerialPortJNI.serialClear(m_port);
SerialPortJNI.serialClear(m_portHandle);
}
}