2018-04-20 22:03:29 +00:00
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#include "Serial.h"
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#include "Launcher.h"
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#include "Utilities.h"
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#include "Stream.h"
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2018-04-22 09:23:08 +00:00
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#include "ReliableStream.h"
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2018-04-20 22:03:29 +00:00
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <arpa/inet.h>
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#include <poll.h>
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2018-04-23 23:42:36 +00:00
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#include <iostream>
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2018-04-20 22:03:29 +00:00
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namespace po = boost::program_options;
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class SerialStream : public Stream
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{
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static const long kReadBufferSize = 4096;
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uint8_t readBuffer[kReadBufferSize];
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public:
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int fd;
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virtual void write(const void* p, size_t n) override;
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void wait();
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SerialStream(po::variables_map &options);
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~SerialStream();
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};
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class SerialLauncher : public Launcher
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{
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SerialStream stream;
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2018-04-22 09:23:08 +00:00
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ReliableStream rStream;
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2018-04-20 22:03:29 +00:00
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public:
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SerialLauncher(po::variables_map& options);
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virtual ~SerialLauncher();
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virtual bool Go(int timeout = 0);
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private:
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2018-04-23 23:42:36 +00:00
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void write(const void *p, size_t n);
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2018-04-20 22:03:29 +00:00
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ssize_t read(void * p, size_t n);
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};
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SerialStream::SerialStream(po::variables_map &options)
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{
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std::string port = options["serial-port"].as<std::string>();
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fd = open(port.c_str(), O_RDWR | O_NOCTTY | O_NDELAY );
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if(fd < 0)
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throw std::runtime_error("Cannot open serial port.\n");
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struct termios tios;
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tcgetattr(fd,&tios);
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tios.c_cflag = B19200 | CRTSCTS | CS8 | CLOCAL | CREAD;
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tios.c_iflag = 0;//IGNPAR | ICRNL;
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tios.c_lflag = 0;
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tios.c_oflag = 0;
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tios.c_cc[VTIME] = 0; /* inter-character timer unused */
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2018-04-22 09:23:08 +00:00
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tios.c_cc[VMIN] = 1; /* blocking read until 1 chars received */
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2018-04-20 22:03:29 +00:00
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tcsetattr(fd,TCSANOW,&tios);
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usleep(500000);
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}
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SerialStream::~SerialStream()
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{
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2018-04-23 23:42:36 +00:00
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tcdrain(fd);
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usleep(500000);
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2018-04-20 22:03:29 +00:00
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close(fd);
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}
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void SerialStream::write(const void* p, size_t n)
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{
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while(n)
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{
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struct pollfd pfd;
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pfd.fd = fd;
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pfd.events = POLLOUT;
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pfd.revents = 0;
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poll(&pfd, 1, 1000);
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if(pfd.revents & POLLOUT)
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{
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ssize_t written = ::write(fd, p, n);
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if(written > 0)
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{
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p = (const void*) ( (const char*)p + written );
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n -= written;
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}
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}
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}
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}
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void SerialStream::wait()
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{
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struct pollfd pfd;
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pfd.fd = fd;
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pfd.events = POLLIN;
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pfd.revents = 0;
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poll(&pfd, 1, 1000);
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if(pfd.revents & POLLIN)
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{
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ssize_t n = ::read(fd, readBuffer, kReadBufferSize);
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if(n > 0)
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{
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notifyReceive(readBuffer, n);
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2018-04-20 22:03:29 +00:00
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}
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}
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}
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SerialLauncher::SerialLauncher(po::variables_map &options)
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: Launcher(options), stream(options), rStream(&stream)
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2018-04-20 22:03:29 +00:00
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{
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}
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SerialLauncher::~SerialLauncher()
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{
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}
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ssize_t SerialLauncher::read(void *p, size_t n)
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{
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ssize_t available = rStream.read(p, n);
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while(!available)
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{
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rStream.flushWrite();
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stream.wait();
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available = rStream.read(p, n);
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2018-04-20 22:03:29 +00:00
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}
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return available;
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}
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2018-04-23 23:42:36 +00:00
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void SerialLauncher::write(const void *p, size_t n)
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{
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while(!rStream.readyToWrite())
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stream.wait();
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rStream.write(p, n);
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}
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2018-04-20 22:03:29 +00:00
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bool SerialLauncher::Go(int timeout)
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{
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uint32_t tmp;
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2018-04-23 23:42:36 +00:00
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rStream.reset(1);
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std::cout << "reset send.\n";
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while(!rStream.resetResponseArrived())
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stream.wait();
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std::cout << "reset response received.\n";
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2018-04-20 22:03:29 +00:00
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{
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std::ostringstream rsrcOut;
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app.resources.writeFork(rsrcOut);
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std::string rsrc = rsrcOut.str();
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std::string& data = app.data;
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tmp = htonl(data.size());
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write(&tmp, 4);
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tmp = htonl(rsrc.size());
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write(&tmp, 4);
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write(data.data(), data.size());
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write(rsrc.data(), rsrc.size());
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}
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2018-04-23 23:42:36 +00:00
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while(!rStream.allDataArrived())
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stream.wait();
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2018-04-20 22:03:29 +00:00
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read(&tmp, 4);
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tmp = ntohl(tmp);
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2018-04-23 19:32:43 +00:00
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return true;
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2018-04-20 22:03:29 +00:00
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}
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void Serial::GetOptions(options_description &desc)
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{
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desc.add_options()
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("serial-port", po::value<std::string>()->default_value("/dev/ttyUSB0"), "serial port to use")
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;
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}
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bool Serial::CheckOptions(variables_map &options)
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{
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return true;
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}
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std::unique_ptr<Launcher> Serial::MakeLauncher(variables_map &options)
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{
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return std::unique_ptr<Launcher>(new SerialLauncher(options));
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}
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