MacOS Compilable

example/YConsole.h

@@ -1,44 +1,115 @@
 #ifndef YCONSOLE_HEADER_INCLUDED
 #define YCONSOLE_HEADER_INCLUDED
 
+enum {
+    UP = 65536,
+    DOWN,
+    LEFT,
+    RIGHT,
+    SPACE,
+    ESCAPE,
+};
+
+
 #ifdef __cplusplus
 namespace net {
 	namespace ysuga {
 #endif
 
 #ifdef WIN32
 #include <conio.h>
+#else
+#include <termios.h>
+        struct termios m_oldTermios;
 #endif
 
 
 static void init_scr() {
 #ifdef WIN32
 	system("cls");
+#else
+
 #endif
 }
 
 static void clear_scr() {
 #ifdef WIN32
 	system("cls");
+#else
+    system("clear");
 #endif
 }
 
 static void exit_scr() {
 #ifdef WIN32
 	system("cls");
+#else
+  	struct termios myTermios;
+	tcgetattr(fileno(stdin), &m_oldTermios);
+	tcgetattr(fileno(stdin), &myTermios);
+
+	myTermios.c_cc[VTIME] = 0;
+#ifdef linux
+	myTermios.c_cc[VMIN] = 0;
+#else // MacOS
+	myTermios.c_cc[VMIN] = 1;
+#endif
+	myTermios.c_lflag &= (~ECHO & ~ICANON);
+	tcsetattr(fileno(stdin), TCSANOW, &myTermios);
 #endif
 }
 
 static int myKbhit() {
 #ifdef WIN32
 	return _kbhit();
+#else
+    int key = getchar();
+    if(key == -1 || key == 0) {
+        return 1;
+    }
+    return 0;
 #endif
 }
 
 
 static int myGetch() {
 #ifdef WIN32
 	return _getch();
+#else
+    int keys[5] = {-1, -1, -1, -1, -1};
+	int key = getchar();
+	switch(key) {
+        case -1:
+        case 0:
+            return -1;
+
+        case ' ':
+            return SPACE;
+        case 27:
+            key = getchar();
+            switch(key) {
+                case -1:
+                    return ESCAPE;
+                case 79:
+                    key = getchar();
+                    return key;
+                case '[':
+                    for(int i = 0;i < 5;i++) {
+                        if(key == -1 || key == 27) break;
+                        keys[i] = key = getchar();
+                    }
+                    ungetc(key, stdin);
+
+                    switch(keys[0]) {
+                        case 65: return UP;
+                        case 66: return DOWN;
+                        case 67: return RIGHT;
+                        case 68: return LEFT;
+                        default: return keys[0];
+                    }
+            }
+	}
+	return key;
 #endif
 }
 

example/demo.cpp

@@ -7,13 +7,20 @@
 using namespace net::ysuga;
 using namespace net::ysuga::roomba;
 
+void usage() {
+  std::cout << "USAGE: demo /dev/ttyUSB0" << std::endl;
+}
 
 
-int main(void) {
+int main(const int argc, const char* argv[]) {
+  if(argc != 2) {
+    usage();
+    return 0;
+  }
 	try {
 		bool endflag = false;
 		init_scr();
-		Roomba roomba("\\\\.\\COM16");
+		Roomba roomba(argv[1]);
 
 		roomba.safeControl();
 		roomba.runAsync();
@@ -199,4 +206,4 @@ int main(void) {
 	std::cout << "Hit Enter Key to Exit." << std::endl;
 	getchar();
 	return 0;
-}
+}

include/RoombaException.h

@@ -21,12 +21,12 @@ namespace net {
 					this->m_msg = msg;
 				}
 
-				virtual ~RoombaException() {
+				virtual ~RoombaException() throw() {
 				}
 
 
 			public:
-				const char* what() const {
+				const char* what() const throw() {
 					return m_msg.c_str();
 				}
 			};
@@ -40,7 +40,7 @@ namespace net {
 				PreconditionNotMetError() : RoombaException("Pre-Condition Not Met") {
 				}
 
-				~PreconditionNotMetError() {
+		    ~PreconditionNotMetError() throw() {
 				}
 			};
 
@@ -49,4 +49,4 @@ namespace net {
 		}
 	}
 };
-#endif
+#endif

include/Thread.h

@@ -22,14 +22,19 @@
 #define LIBTHREAD_API __declspec(dllimport)
 #endif
 
+#else
+#define LIBTHREAD_API 
+
+
 #endif // ifdef WIN32
 
 
 #ifdef WIN32
 #include <windows.h>
 #define THREAD_ROUTINE DWORD WINAPI
 #else
-
+#include <pthread.h>
+#define THREAD_ROUTINE void*
 #endif
 
 
@@ -41,22 +46,24 @@ namespace net {
 #ifdef WIN32
 			HANDLE m_Handle;
 #else
-
+			pthread_mutex_t m_Handle;
 #endif
 
 
 		public:
 			Mutex() {
 #ifdef WIN32
 				m_Handle = ::CreateMutex(NULL, 0, NULL);
+#else
+				pthread_mutex_init(&m_Handle, NULL);
 #endif
 			}
 
 			virtual ~Mutex() {
 #ifdef WIN32
 				::CloseHandle(m_Handle);
 #else
-
+			  pthread_mutex_destroy(&m_Handle);
 #endif
 			}
 
@@ -65,15 +72,16 @@ namespace net {
 #ifdef WIN32
 				::WaitForSingleObject(m_Handle, INFINITE);
 #else
-
+
+			  pthread_mutex_lock(&m_Handle);
 #endif
 			}
 
 			void Unlock() {
 #ifdef WIN32
 				::ReleaseMutex(m_Handle);
 #else
-
+			  pthread_mutex_unlock(&m_Handle);
 #endif
 			}
 		};
@@ -85,7 +93,7 @@ namespace net {
 			HANDLE m_Handle;
 			DWORD m_ThreadId;
 #else
-
+			pthread_t m_Handle;
 #endif
 		public:
 			LIBTHREAD_API Thread(void);
@@ -112,4 +120,4 @@ namespace net {
 
 /*******************************************************
  * Copyright  2010, ysuga.net all rights reserved.
- *******************************************************/
+ *******************************************************/

src/Roomba.cpp

@@ -702,4 +702,4 @@ unsigned short Roomba::getLeftEncoderCounts()
 	unsigned short buf;
 	RequestSensor(RIGHT_ENCODER_COUNTS, &buf);
 	return buf;
-}
+}

src/SerialPort.cpp

@@ -20,7 +20,7 @@
 #include <sys/types.h>
 #include <sys/ioctl.h>
 #include <fcntl.h>
-#include <termio.h>
+#include <termios.h>
 #include <errno.h>
 #include <signal.h>
 #define _POSIX_SOURCE 1

src/Thread.cpp

@@ -1,5 +1,13 @@
+
 #include "Thread.h"
 
+#ifndef WIN32
+#include <time.h>
+#include <pthread.h>
+#include <stdio.h>
+#include <errno.h>
+#endif
+
 using namespace net::ysuga;
 
 Thread::Thread(void)
@@ -17,24 +25,36 @@ THREAD_ROUTINE StartRoutine(void* arg)
 {
 	Thread* threadObject = (Thread*)arg;
 	threadObject->Run();
-
+	threadObject->Exit(0);
 #ifdef WIN32
 	ExitThread(0);
 #else 
-
+	pthread_exit(0);
 #endif
 	return 0;
 }
 
 
 void Thread::Start()
 {	
+#ifdef WIN32
 	m_Handle = CreateThread(NULL, 0, StartRoutine, (LPVOID)this, 0, &m_ThreadId);
+#else
+	int ret = pthread_create(&m_Handle, NULL, StartRoutine, (void*)this);
+	if(ret != 0) {
+	  perror("pthread_create");
+	}
+#endif
 }
 
 void Thread::Join()
 {
+#ifdef WIN32
 	WaitForSingleObject(m_Handle, INFINITE);
+#else
+	void* retval;
+	pthread_join(m_Handle, &retval);
+#endif
 }
 
 void Thread::Sleep(unsigned long milliSeconds)
@@ -53,6 +73,6 @@ void Thread::Exit(unsigned long exitCode) {
 #ifdef WIN32
 	ExitThread(exitCode);
 #else
-
+	pthread_exit(0);
 #endif
 }