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fixed

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This commit is contained in:
Tristan Krause 2019-06-06 11:47:13 +02:00
parent e8f33eb0c0
commit 3f0fe49644
76 changed files with 481 additions and 451 deletions
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63
control/src/drv/usart.cpp
View file

@ -1,10 +1,13 @@
#include <stdexcept>
#include "usart.h"
USART::~USART() {
USART::~USART()
{
closeDevice();
}
void USART::openDevice(std::string device) {
void USART::openDevice(std::string device)
{
// Benutze blockierenden Modus
file_desc = open(device.c_str(), O_RDWR | O_NOCTTY);// | O_NDELAY
if (file_desc <= 0)
@ -19,7 +22,7 @@ void USART::openDevice(std::string device) {
options.c_iflag = IGNPAR;
options.c_oflag = 0;
options.c_lflag = 0;
options.c_cc[VMIN] = 1; // #bytes read returns at least
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = timeout;
code = cfsetspeed(&options, baudrate);
if (code)
@ -37,8 +40,10 @@ void USART::openDevice(std::string device) {
clearInputBuffer();
}
void USART::closeDevice() {
if (file_desc > 0) {
void USART::closeDevice()
{
if (file_desc > 0)
{
int code = close(file_desc);
if (code)
throw USARTException("Fehler beim Schließen des Gerätes");
@ -46,52 +51,72 @@ void USART::closeDevice() {
}
}
void USART::clearInputBuffer() {
void USART::clearInputBuffer()
{
int code = tcflush(file_desc, TCIFLUSH);
if (code)
throw USARTException("Fehler beim Leeren des Eingangspuffers");
}
void USART::clearOutputBuffer() {
void USART::clearOutputBuffer()
{
int code = tcflush(file_desc, TCOFLUSH);
if (code)
throw USARTException("Fehler beim Leeren des Ausgangspuffers");
}
void USART::flushOutputBuffer() {
void USART::flushOutputBuffer()
{
int code = tcdrain(file_desc);
if (code)
throw USARTException("Fehler beim Versenden des Ausgangspuffers");
}
void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len) {
int code = read(file_desc, buffer + offset, len);
void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len)
{
int bytes_avail, code;
do
{
code = ioctl(file_desc, FIONREAD, &bytes_avail);
if(code)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + ")");
}
while(bytes_avail < len);
code = read(file_desc, buffer + offset, len);
if (code != len)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
}
void USART::transmit(uint8_t *buffer, uint16_t offset, uint8_t len) {
void USART::transmit(uint8_t *buffer, uint16_t offset, uint8_t len)
{
int code = write(file_desc, buffer + offset, len);
if (code != len)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
}
uint32_t USART::getBaudrate() {
uint32_t USART::getBaudrate()
{
return baudrate;
}
uint8_t USART::getTimeout() {
uint8_t USART::getTimeout()
{
return timeout;
}
void USART::setBaudrate(uint32_t baudrate) {
void USART::setBaudrate(uint32_t baudrate)
{
this->baudrate = baudrate;
}
void USART::setTimeout(uint8_t timeout) {
void USART::setTimeout(uint8_t timeout)
{
this->timeout = timeout;
}

121
control/src/drv/usart.cpp.orig Normal file
View file

@ -0,0 +1,121 @@
#include <stdexcept>
#include "usart.h"
USART::~USART()
{
closeDevice();
}
void USART::openDevice(std::string device)
{
// Benutze blockierenden Modus
file_desc = open(device.c_str(), O_RDWR | O_NOCTTY);// | O_NDELAY
if (file_desc <= 0)
throw USARTException("Fehler beim Öffnen des Gerätes");
struct termios options;
int code = tcgetattr(file_desc, &options);
if (code)
throw USARTException("Fehler beim Lesen der Geräteparameter");
options.c_cflag = CS8 | CLOCAL | CREAD;
options.c_iflag = IGNPAR;
options.c_oflag = 0;
options.c_lflag = 0;
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = timeout;
code = cfsetspeed(&options, baudrate);
if (code)
throw USARTException("Fehler beim Setzen der Baudrate");
code = tcsetattr(file_desc, TCSANOW, &options);
if (code)
throw USARTException("Fehler beim Setzen der Geräteparameter");
code = fcntl(file_desc, F_SETFL, 0); // blockierender Modus
if (code)
throw USARTException("Fehler beim Aktivieren des blockierenden Modus'");
clearOutputBuffer();
clearInputBuffer();
}
void USART::closeDevice()
{
if (file_desc > 0)
{
int code = close(file_desc);
if (code)
throw USARTException("Fehler beim Schließen des Gerätes");
file_desc = -1;
}
}
void USART::clearInputBuffer()
{
int code = tcflush(file_desc, TCIFLUSH);
if (code)
throw USARTException("Fehler beim Leeren des Eingangspuffers");
}
void USART::clearOutputBuffer()
{
int code = tcflush(file_desc, TCOFLUSH);
if (code)
throw USARTException("Fehler beim Leeren des Ausgangspuffers");
}
void USART::flushOutputBuffer()
{
int code = tcdrain(file_desc);
if (code)
throw USARTException("Fehler beim Versenden des Ausgangspuffers");
}
void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len)
{
int bytes_avail, code;
do
{
code = ioctl(file_desc, FIONREAD, &bytes_avail);
if(code)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + ")");
} while(bytes_avail < len);
code = read(file_desc, buffer + offset, len);
if (code != len)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
}
void USART::transmit(uint8_t *buffer, uint16_t offset, uint8_t len)
{
int code = write(file_desc, buffer + offset, len);
if (code != len)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
}
uint32_t USART::getBaudrate()
{
return baudrate;
}
uint8_t USART::getTimeout()
{
return timeout;
}
void USART::setBaudrate(uint32_t baudrate)
{
this->baudrate = baudrate;
}
void USART::setTimeout(uint8_t timeout)
{
this->timeout = timeout;
}

1
control/src/drv/usart.h
View file

@ -5,6 +5,7 @@
#include <fcntl.h>
#include <unistd.h>
#include <termios.h>
#include <iostream>
#include <sys/ioctl.h>
#include <string.h>
#include "usartexception.h"