diff --git a/control/src/.idea/workspace.xml b/control/src/.idea/workspace.xml
index a95e56f..911e858 100644
--- a/control/src/.idea/workspace.xml
+++ b/control/src/.idea/workspace.xml
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diff --git a/control/src/drv/usart.cpp b/control/src/drv/usart.cpp
index f148c91..6f06858 100644
--- a/control/src/drv/usart.cpp
+++ b/control/src/drv/usart.cpp
@@ -1,111 +1,109 @@
#include "usart.h"
-void USART::openDevice(std::string device)
-{
- file_desc = open(device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY /* | O_NONBLOCK*/);
- if(file_desc <= 0)
+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)
+ 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; // #bytes read returns at least
+ options.c_cc[VMIN] = 0; // #bytes read returns at least
options.c_cc[VTIME] = timeout;
code = cfsetspeed(&options, baudrate);
- if(code)
+ if (code)
throw USARTException("Fehler beim Setzen der Baudrate");
code = tcsetattr(file_desc, TCSANOW, &options);
- if(code)
+ if (code)
throw USARTException("Fehler beim Setzen der Geräteparameter");
clearOutputBuffer();
clearInputBuffer();
}
-void USART::closeDevice()
-{
- int code = close(file_desc);
- if(code)
- throw USARTException("Fehler beim Schließen des Gerätes");
+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()
-{
+void USART::clearInputBuffer() {
int code = tcflush(file_desc, TCIFLUSH);
- if(code)
+ if (code)
throw USARTException("Fehler beim Leeren des Eingangspuffers");
}
-void USART::clearOutputBuffer()
-{
+void USART::clearOutputBuffer() {
int code = tcflush(file_desc, TCOFLUSH);
- if(code)
+ if (code)
throw USARTException("Fehler beim Leeren des Ausgangspuffers");
}
-void USART::flushOutputBuffer()
-{
+void USART::flushOutputBuffer() {
int code = tcdrain(file_desc);
- if(code)
+ if (code)
throw USARTException("Fehler beim Versenden des Ausgangspuffers");
}
-void USART::writeByte(uint8_t b)
-{
+void USART::writeByte(uint8_t b) {
int sent = write(file_desc, &b, 1);
- if(sent != 1)
- {
+ if (sent != 1) {
std::cout << "WARNUNG: Fehler beim Senden (" << sent << "): writeByte(), wiederhole..." << std::endl;
usleep(100000);
sent = write(file_desc, &b, 1);
- if(sent != 1)
+ if (sent != 1)
throw USARTException("Fehler beim Senden: writeByte()");
}
}
-void USART::writeInt(uint16_t d)
-{
- int sent = write(file_desc, reinterpret_cast(&d), 2);
- if(sent != 2)
+void USART::writeInt(uint16_t d) {
+ int sent = write(file_desc, reinterpret_cast(&d), 2);
+ if (sent != 2)
throw USARTException("Fehler beim Senden: writeInt()");
}
-void USART::writeU32(uint32_t w)
-{
- int sent = write(file_desc, reinterpret_cast(&w), 4);
- if(sent != 4)
+void USART::writeU32(uint32_t w) {
+ int sent = write(file_desc, reinterpret_cast(&w), 4);
+ if (sent != 4)
throw USARTException("Fehler beim Senden: writeU32()");
}
-void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len)
-{
+void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len) {
int n = read(file_desc, buffer + offset, len);
- if(n != len)
- throw USARTException(std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__));
+ if (n != len)
+ throw USARTException(
+ std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__));
}
-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 n = write(file_desc, buffer + offset, len);
- if(n != len)
- throw USARTException(std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__));
+ if (n != len)
+ throw USARTException(
+ std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__));
}
-uint8_t USART::readByte(void)
-{
+
+uint8_t USART::readByte(void) {
char b;
auto start = std::chrono::steady_clock::now();
auto end = start;
uint16_t elapsed = 0;
- while(elapsed < timeout * 100)
- {
+ while (elapsed < timeout * 100) {
int code = read(file_desc, &b, 1);
if (code > 0)
return static_cast(b);
@@ -117,27 +115,22 @@ uint8_t USART::readByte(void)
throw TimeoutException("Verbindung unterbrochen.", timeout);
}
-uint16_t USART::readInt(void)
-{
+uint16_t USART::readInt(void) {
return readByte() | readByte() << 8;
}
-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;
}
diff --git a/control/src/drv/usart.h b/control/src/drv/usart.h
index 39e2ff5..81600d2 100644
--- a/control/src/drv/usart.h
+++ b/control/src/drv/usart.h
@@ -23,6 +23,8 @@ public:
* Methoden für die Verwaltung der Schnittstelle *
*************************************************/
+ ~USART(void);
+
/**
* Öffnet die USART Schnittstelle
* \param device Linux-Gerätepfad