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This reuses most of the Linux version. I guess we should reintegrate that at some point, but let's make sure it works on both operating systems before we take that step.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| #include "serial_io.h" | ||
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| #include <stdlib.h> | ||
| #include <stdio.h> | ||
| #include <string.h> | ||
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| #include <fcntl.h> | ||
| #include <termios.h> | ||
| #include <unistd.h> | ||
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| #include <sys/ioctl.h> | ||
| #include <sys/select.h> | ||
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| char *default_card_port = "/dev/tty.usbmodem14141"; | ||
| char *default_usb_port = "/dev/tty.usbmodem14131"; | ||
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| struct tstserial { | ||
| int fd; | ||
| char buf[200]; | ||
| int data_start; | ||
| int data_len; | ||
| }; | ||
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| Serial* serial_open(char *portname) { | ||
| Serial *rv = calloc(sizeof(struct tstserial), 1); | ||
| if(!rv) { | ||
| perror("malloc"); | ||
| return NULL; | ||
| } | ||
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| rv->fd = open(portname, O_RDWR | O_NONBLOCK | O_NOCTTY); | ||
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| if(rv->fd < 0) { | ||
| perror("open robot"); | ||
| free(rv); | ||
| return NULL; | ||
| } | ||
| if(ioctl(rv->fd, TIOCEXCL) == -1) { | ||
| perror("ioctl TIOCEXCL"); | ||
| return NULL; | ||
| } | ||
| struct termios ios; | ||
| tcgetattr(rv->fd, &ios); | ||
| cfsetispeed(&ios, B9600); | ||
| cfsetospeed(&ios, B9600); | ||
| ios.c_cflag &= ~PARENB & ~CSTOPB & ~CSIZE; | ||
| ios.c_cflag |= CLOCAL | CREAD | CS8 | CRTSCTS; | ||
| ios.c_lflag |= ICANON; | ||
| tcsetattr(rv->fd, TCSANOW, &ios); | ||
| tcflow(rv->fd, TCOON); | ||
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| return rv; | ||
| } | ||
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| void serial_close(Serial *port) { | ||
| close(port->fd); | ||
| free(port); | ||
| } | ||
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| bool wait_for_data(Serial *port, int time) { | ||
| struct timeval tv; | ||
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| fd_set rb; | ||
| FD_ZERO(&rb); | ||
| FD_SET(port->fd, &rb); | ||
| tv.tv_sec = time; | ||
| tv.tv_usec = 0; | ||
| select(port->fd+1, &rb, NULL, NULL, &tv); | ||
| return FD_ISSET(port->fd, &rb) ? true : false; | ||
| } | ||
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| bool serial_has_data(Serial *port) { | ||
| return wait_for_data(port, 0); | ||
| } | ||
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| char *serial_read_line(Serial *port) { | ||
| if(!port->data_len) { | ||
| port->data_start = 0; | ||
| } else { | ||
| size_t len = strcspn(port->buf + port->data_start, "\r\n"); | ||
| if(len == 0) { | ||
| port->data_len--; | ||
| port->data_start++; | ||
| return serial_read_line(port); | ||
| } | ||
| if(len < port->data_len) { | ||
| char *ptr = port->buf + port->data_start; | ||
| port->data_len -= len + 1; | ||
| port->data_start += len + 1; | ||
| return strndup(ptr, len); | ||
| } | ||
| } | ||
| if(!serial_has_data(port)) { | ||
| wait_for_data(port, 2); | ||
| return serial_read_line(port); | ||
| } | ||
| ssize_t len = read(port->fd, port->buf + port->data_start + port->data_len, sizeof(port->buf) - port->data_start - port->data_len - 1); | ||
| if(len < 0) { | ||
| perror("read"); | ||
| return NULL; | ||
| } | ||
| port->buf[port->data_start + port->data_len + len] = '\0'; | ||
| port->data_len += len; | ||
| return serial_read_line(port); | ||
| } | ||
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| void serial_free_line(char *line) { | ||
| free(line); | ||
| } | ||
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| void serial_clear(Serial *port) { | ||
| while(serial_has_data(port)) { | ||
| char buf[80]; | ||
| if(read(port->fd, buf, 79) < 0) { | ||
| perror("read"); | ||
| exit(EXIT_FAILURE); | ||
| } | ||
| } | ||
| port->data_len = port->data_start = 0; | ||
| } | ||
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| bool serial_writec(Serial *port, char c) { | ||
| return (write(port->fd, &c, 1) == 1) ? true : false; | ||
| } | ||
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| void sr_wait(unsigned int millis) { | ||
| usleep(millis * 1000); | ||
| } |