118 lines
2.6 KiB
C++
118 lines
2.6 KiB
C++
#ifndef SERIAL_PORT_H
|
|
#define SERIAL_PORT_H
|
|
|
|
#include <termios.h>
|
|
#include <sys/select.h>
|
|
#include <string>
|
|
#include <string.h>
|
|
#include <fcntl.h>
|
|
#include <sys/ioctl.h>
|
|
#include <linux/serial.h>
|
|
#include <unistd.h>
|
|
#include <iostream>
|
|
#include <memory>
|
|
#include <chrono>
|
|
#include <queue>
|
|
#include <array> // recv_buf below is a std::array; without this, any TU that doesn't
|
|
// pull <array> in transitively (e.g. via Eigen) fails to compile.
|
|
|
|
class SerialPort
|
|
{
|
|
public:
|
|
using SharedPtr = std::shared_ptr<SerialPort>;
|
|
|
|
SerialPort(std::string port, speed_t baudrate, int timeout_ms = 2)
|
|
{
|
|
set_timeout(timeout_ms);
|
|
Init(port, baudrate);
|
|
}
|
|
|
|
~SerialPort()
|
|
{
|
|
close(fd_);
|
|
}
|
|
|
|
ssize_t send(const uint8_t* data, size_t len)
|
|
{
|
|
ssize_t ret = ::write(fd_, data, len);
|
|
return ret;
|
|
}
|
|
|
|
ssize_t recv(uint8_t* data, size_t len)
|
|
{
|
|
FD_ZERO(&rSet_);
|
|
FD_SET(fd_, &rSet_);
|
|
ssize_t recv_len = 0;
|
|
timeval tv = timeout_; // local copy: select() mutates the timeval, keep timeout_ intact
|
|
|
|
switch (select(fd_ + 1, &rSet_, NULL, NULL, &tv))
|
|
{
|
|
case -1: // error
|
|
// std::cout << "communication error" << std::endl;
|
|
break;
|
|
case 0: // timeout
|
|
// std::cout << "timeout" << std::endl;
|
|
break;
|
|
default:
|
|
recv_len = ::read(fd_, data, len);
|
|
break;
|
|
}
|
|
|
|
return recv_len;
|
|
}
|
|
|
|
void set_timeout(int timeout_ms)
|
|
{
|
|
timeout_.tv_sec = timeout_ms / 1000;
|
|
timeout_.tv_usec = (timeout_ms % 1000) * 1000;
|
|
}
|
|
|
|
void flush() { tcflush(fd_, TCIFLUSH); } // discard buffered/echoed input
|
|
|
|
private:
|
|
void Init(std::string port, speed_t baudrate)
|
|
{
|
|
int ret;
|
|
// Open serial port
|
|
fd_ = open(port.c_str(), O_RDWR | O_NOCTTY);
|
|
if (fd_ < 0)
|
|
{
|
|
printf("Open serial port %s failed\n", port.c_str());
|
|
exit(-1);
|
|
}
|
|
|
|
// Set attributes
|
|
struct termios option;
|
|
memset(&option, 0, sizeof(option));
|
|
ret = tcgetattr(fd_, &option);
|
|
|
|
option.c_oflag = 0;
|
|
option.c_lflag = 0;
|
|
option.c_iflag = 0;
|
|
|
|
cfsetispeed(&option, baudrate);
|
|
cfsetospeed(&option, baudrate);
|
|
|
|
option.c_cflag &= ~CSIZE;
|
|
option.c_cflag |= CS8; // 8
|
|
option.c_cflag &= ~PARENB; // no parity
|
|
option.c_iflag &= ~INPCK; // no parity
|
|
option.c_cflag &= ~CSTOPB; // 1 stop bit
|
|
|
|
option.c_cc[VTIME] = 0;
|
|
option.c_cc[VMIN] = 0;
|
|
option.c_lflag |= CBAUDEX;
|
|
|
|
ret = tcflush(fd_, TCIFLUSH);
|
|
ret = tcsetattr(fd_, TCSANOW, &option);
|
|
}
|
|
|
|
int fd_;
|
|
fd_set rSet_;
|
|
timeval timeout_;
|
|
|
|
std::queue<uint8_t> recv_queue;
|
|
std::array<uint8_t, 1024> recv_buf;
|
|
};
|
|
|
|
#endif // SERIAL_PORT_H
|