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broken again

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This commit is contained in:
Tristan Krause 2019-06-04 11:04:22 +02:00
parent 82e5c3ef93
commit d3a229d61f
3 changed files with 266 additions and 95 deletions
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61
control/src/drv/usart.cpp
View file

@ -1,14 +1,12 @@
#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);
file_desc = open(device.c_str(), O_RDWR | O_NOCTTY);// | O_NDELAY
if (file_desc <= 0)
throw USARTException("Fehler beim Öffnen des Gerätes");
@ -21,7 +19,7 @@ void USART::openDevice(std::string device)
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] = 1; // #bytes read returns at least
options.c_cc[VTIME] = timeout;
code = cfsetspeed(&options, baudrate);
if (code)
@ -31,14 +29,16 @@ void USART::openDevice(std::string device)
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)
{
void USART::closeDevice() {
if (file_desc > 0) {
int code = close(file_desc);
if (code)
throw USARTException("Fehler beim Schließen des Gerätes");
@ -46,59 +46,52 @@ 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 n = read(file_desc, buffer + offset, len);
if (n != len && false)
void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len) {
int code = read(file_desc, buffer + offset, len);
if (code != len)
throw USARTException(
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__));
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 n = write(file_desc, buffer + offset, len);
if (n != 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__));
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;
}

3
control/src/drv/usart.h
View file

@ -6,6 +6,7 @@
#include <unistd.h>
#include <termios.h>
#include <sys/ioctl.h>
#include <string.h>
#include "usartexception.h"
/*! C++ Wrapper class for termios usart library. */
@ -123,7 +124,7 @@ private:
int file_desc = -1; //!< Linux Dateideskriptor
uint32_t baudrate = 9600; //!< Standard-Baudrate, sollte mit setBaudrate() überschrieben werden!
uint8_t timeout = 10; //!< in Dezisekunden
uint8_t timeout = 100; //!< in Dezisekunden
};
#endif // USART_H