void Configure(SerialSettings& arSettings, boost::asio::serial_port& arPort, error_code& ec)
{
//Set all the various options
arPort.set_option(ConvertBaud(arSettings.mBaud), ec); if(ec) return;
arPort.set_option(ConvertDataBits(arSettings.mDataBits), ec); if(ec) return;
arPort.set_option(ConvertParity(arSettings.mParity), ec); if(ec) return;
arPort.set_option(ConvertStopBits(arSettings.mStopBits), ec); if(ec) return;
arPort.set_option(ConvertFlow(arSettings.mFlowType), ec); if(ec) return;
}
serial(const char* dev_name):ios(),port(ios,dev_name)
{
port.set_option(boost::asio::serial_port_base::baud_rate(9600));
port.set_option(boost::asio::serial_port_base::character_size(8));
port.set_option(boost::asio::serial_port_base::stop_bits(serial_port_base::stop_bits::one));
port.set_option(boost::asio::serial_port_base::parity(serial_port_base::parity::none));
port.set_option(boost::asio::serial_port_base::flow_control(serial_port_base::flow_control::none));
read_some();
boost::thread td(boost::bind(&boost::asio::io_service::run,&ios));
}
ComClient(boost::asio::io_service& io_service, unsigned int baud, const string& device)
: active_(true), io_service_(io_service), serialPort(io_service, device)
{
if (!serialPort.is_open())
{
cerr << "Failed to open serial port\n";
return;
}
cout << "Open " << device << " successfully.\n";
boost::asio::serial_port_base::baud_rate baud_option(baud);
serialPort.set_option(baud_option); // set the baud rate after the port has been opened
read_start();
}
void Gps::initialize(boost::asio::serial_port& serial_port, boost::asio::io_service& io_service)
{
if (worker_) return;
initialize(boost::shared_ptr<Worker>(new AsyncWorker<boost::asio::serial_port>(serial_port, io_service)));
configured_ = false;
boost::asio::serial_port_base::baud_rate current_baudrate;
serial_port.set_option(boost::asio::serial_port_base::baud_rate(4800));
boost::this_thread::sleep(boost::posix_time::milliseconds(500));
if (debug) { serial_port.get_option(current_baudrate); std::cout << "Set baudrate " << current_baudrate.value() << std::endl; }
configured_ = setBaudrate(baudrate_);
if (configured_) return;
serial_port.set_option(boost::asio::serial_port_base::baud_rate(9600));
boost::this_thread::sleep(boost::posix_time::milliseconds(500));
if (debug) { serial_port.get_option(current_baudrate); std::cout << "Set baudrate " << current_baudrate.value() << std::endl; }
configured_ = setBaudrate(baudrate_);
if (configured_) return;
serial_port.set_option(boost::asio::serial_port_base::baud_rate(19200));
boost::this_thread::sleep(boost::posix_time::milliseconds(500));
if (debug) { serial_port.get_option(current_baudrate); std::cout << "Set baudrate " << current_baudrate.value() << std::endl; }
configured_ = setBaudrate(baudrate_);
if (configured_) return;
serial_port.set_option(boost::asio::serial_port_base::baud_rate(38400));
boost::this_thread::sleep(boost::posix_time::milliseconds(500));
if (debug) { serial_port.get_option(current_baudrate); std::cout << "Set baudrate " << current_baudrate.value() << std::endl; }
configured_ = setBaudrate(baudrate_);
if (configured_) return;
serial_port.set_option(boost::asio::serial_port_base::baud_rate(baudrate_));
boost::this_thread::sleep(boost::posix_time::milliseconds(500));
if (debug) { serial_port.get_option(current_baudrate); std::cout << "Set baudrate " << current_baudrate.value() << std::endl; }
configured_ = setBaudrate(baudrate_);
if (configured_) return;
}
/*
Attempts to close and reopen the serial port
Sleeps for one second before returning if an exception is caught
*/
void open()
{
try
{
p.close();
p.open(port);
p.set_option(boost::asio::serial_port::baud_rate(baudrate));
return;
}
catch (const std::exception &exc)
{
ROS_ERROR("DVL: error on open(port=%s): %s; reopening after delay", port.c_str(), exc.what());
boost::this_thread::sleep(boost::posix_time::seconds(1));
}
}
void SetOption(boost::asio::serial_port& arPort, const T& arOption)
{
error_code ec;
arPort.set_option(arOption, ec);
if(ec) throw Exception(LOCATION, ec.message());
}
