/*! \brief Read data from the serial port and put it into the data buffer.
\details This function reads up to \a maxLength bytes from the USB port (non-blocking) and
puts it into the \a data buffer.
\param maxLength The maximum number of bytes to read.
\param data Pointer to a buffer that will store the received data.
\param length The number of bytes placed into \c data.
\returns XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be
returned. Check *length for the number of bytes that were read.
*/
XsResultValue UsbInterface::readData (const XsSize maxLength, void *data, XsSize* length)
{
JLTRACE(gJournal, "maxLength=" << maxLength << ", data=0x" << data << ", length=0x" << length);
XsSize ln;
if (length == NULL)
length = &ln;
if (!isOpen())
return (d->m_lastResult = XRV_NOPORTOPEN);
#ifdef USE_WINUSB
XsSize remaining = 0;
::EnterCriticalSection(&d->m_mutex);
remaining = *length = d->m_varBuffer.size();
if (*length > maxLength)
*length = maxLength;
if (*length)
{
memcpy(data, d->m_varBuffer.data(), *length);
d->m_varBuffer.erase(0, *length);
remaining = d->m_varBuffer.size();
}
::LeaveCriticalSection(&d->m_mutex);
JLTRACE(gJournal, "returned success, read " << *length << " of " << maxLength << " bytes, first: " << JLHEXLOG(((char*)data)[0]) << ", " << remaining << " remaining in buffer");
#else
int actual = 0;
JLTRACE(gJournal, "starting bulk read, timeout = " << d->m_timeout);
int res = UsbInterfacePrivate::getContextManager().m_libUsb.bulk_transfer(d->m_deviceHandle, (d->m_dataInEndPoint|LIBUSB_ENDPOINT_IN), (unsigned char *)data, maxLength, &actual, d->m_timeout);
JLTRACE(gJournal, "bulk read returned: " << d->libusbErrorToString(res) << ". " << actual << " bytes received");
if ((res != LIBUSB_SUCCESS && res != LIBUSB_ERROR_TIMEOUT) || (res == LIBUSB_ERROR_TIMEOUT && actual <= 0))
return d->m_lastResult = d->libusbErrorToXrv(res);
*length = actual;
#endif
#ifdef LOG_RX_TX
if (*length > 0)
{
if (d->rx_log == NULL)
{
char fname[XS_MAX_FILENAME_LENGTH];
sprintf(fname,"rx_USB%03u_%03u.log", usbBus(), usbAddress());
d->rx_log = fopen(fname,"wb");
}
fwrite(data,1,*length,d->rx_log);
#ifdef LOG_RX_TX_FLUSH
fflush(d->rx_log);
#endif
}
#endif
return (d->m_lastResult = XRV_OK);
}
/*! \brief Read data from the serial port and put it into the data buffer.
\details This function reads up to \a maxLength bytes from the port (non-blocking) and
puts it into the \a data buffer.
\param maxLength The maximum amount of data read.
\param data The buffer that will store the received data.
\returns XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be
returned. Check data.size() for the number of bytes that were read.
*/
XsResultValue SerialInterface::readData(XsSize maxLength, XsByteArray& data)
{
if (!isOpen())
return (m_lastResult = XRV_NOPORTOPEN);
#ifdef _WIN32
DWORD length;
data.setSize(maxLength);
BOOL rres = ::ReadFile(m_handle, data.data(), (DWORD) maxLength, &length, NULL);
data.pop_back(maxLength-length);
JLTRACE(gJournal, "ReadFile result " << rres << ", length " << length);
if (!rres)
{
DWORD wErr = ::GetLastError();
JLALERT(gJournal, "ReadFile returned windows error " << wErr);
if (wErr >= ERROR_INVALID_FUNCTION && wErr <= ERROR_INVALID_HANDLE)
return (m_lastResult = XRV_NOFILEORPORTOPEN);
return (m_lastResult = XRV_ERROR);
}
if (length == 0)
return (m_lastResult = XRV_TIMEOUT);
#else
fd_set fd;
fd_set err;
timeval timeout;
FD_ZERO(&fd);
FD_ZERO(&err);
FD_SET(m_handle, &fd);
FD_SET(m_handle, &err);
timeout.tv_sec = m_timeout/1000;
timeout.tv_usec = (m_timeout - (timeout.tv_sec * 1000)) * 1000;
int res = select(FD_SETSIZE, &fd, NULL, &err, &timeout);
if (res < 0 || FD_ISSET(m_handle, &err))
{
data.clear();
return (m_lastResult = XRV_ERROR);
} else if (res == 0) {
data.clear();
return (m_lastResult = XRV_TIMEOUT);
}
data.setSize(maxLength);
int length = read(m_handle, (void*)data.data(), maxLength);
data.pop_back(maxLength - length);
#endif
#ifdef LOG_RX_TX
if (length > 0)
{
if (rx_log == NULL)
{
char fname[XS_MAX_FILENAME_LENGTH];
#ifdef _WIN32
sprintf(fname, "rx_%03d_%d.log", (int32_t) m_port, m_baudrate);
#else
char *devname = strrchr(m_portname, '/');
sprintf(fname, "rx_%s_%d.log", devname + 1, XsBaud::rateToNumeric(m_baudrate));
#endif
makeFilenameUnique(fname);
rx_log = fopen(fname, "wb");
}
fwrite(data.data(), 1, length, rx_log);
#ifdef LOG_RX_TX_FLUSH
fflush(rx_log);
#endif
}
#endif
JLTRACE(gJournal, "returned success, read " << length << " of " << maxLength << " bytes, first: " << JLHEXLOG(data[0]));
return (m_lastResult = XRV_OK);
}
/*! \brief Read data from the serial port and put it into the data buffer.
\details This function reads up to \a maxLength bytes from the port (non-blocking) and
puts it into the \a data buffer.
\param maxLength The maximum amount of data read.
\param data The buffer that will store the received data.
\returns XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be
returned. Check data.size() for the number of bytes that were read.
*/
XsResultValue SerialInterface::readData(XsSize maxLength, XsByteArray& data)
{
if (!isOpen())
return (m_lastResult = XRV_NOPORTOPEN);
#ifdef _WIN32
DWORD length;
data.setSize(maxLength);
BOOL rres = ::ReadFile(m_handle, data.data(), (DWORD) maxLength, &length, NULL);
data.pop_back(maxLength-length);
JLTRACE(gJournal, "ReadFile result " << rres << ", length " << length);
if (!rres)
{
JLALERT(gJournal, "ReadFile returned windows error " << ::GetLastError());
return (m_lastResult = XRV_ERROR);
}
if (length == 0)
return (m_lastResult = XRV_TIMEOUT);
#else
fd_set fd;
fd_set err;
timeval timeout;
FD_ZERO(&fd);
FD_ZERO(&err);
FD_SET(m_handle, &fd);
FD_SET(m_handle, &err);
timeout.tv_sec = m_timeout/1000;
timeout.tv_usec = (m_timeout - (timeout.tv_sec * 1000)) * 1000;
int res = select(FD_SETSIZE, &fd, NULL, &err, &timeout);
if (res < 0 || FD_ISSET(m_handle, &err))
{
data.clear();
return (m_lastResult = XRV_ERROR);
} else if (res == 0) {
data.clear();
return (m_lastResult = XRV_TIMEOUT);
}
data.setSize(maxLength);
int length = read(m_handle, (void*)data.data(), maxLength);
data.pop_back(maxLength - length);
// if (m_callbackHandler != NULL && *length > 0) {
// XsBinary bytes;
// bytes.setPortNumber(m_port);
// bytes.setData(data, *length);
//#ifdef LOG_CALLBACKS
// JLDEBUG(gJournal, "XsensDeviceAPI", "C1: onBytesReceived(%d,(%d,%d),%p)\n",(int32_t) m_onBytesReceivedInstance, (int32_t) bytes->m_size, (int32_t) bytes->m_portNr, m_onBytesReceivedParam);
//#endif
//// m_callbackHandler->onBytesReceived(bytes);
// }
#endif
#ifdef LOG_RX_TX
if (length > 0)
{
if (rx_log == NULL)
{
char fname[XS_MAX_FILENAME_LENGTH];
#ifdef _WIN32
sprintf(fname, "rx_%03d_%d.log", (int32_t) m_port, m_baudrate);
#else
char *devname = strrchr(m_portname, '/');
sprintf(fname, "rx_%s_%d.log", devname + 1, XsBaud::rateToNumeric(m_baudrate));
#endif
rx_log = fopen(fname, "wb");
}
fwrite(data.data(), 1, length, rx_log);
fflush(rx_log);
}
#endif
JLTRACE(gJournal, "returned success, read " << length << " of " << maxLength << " bytes, first: " << JLHEXLOG(data[0]));
return (m_lastResult = XRV_OK);
}
/*! \brief Read data from the serial port and put it into the data buffer.
\details This function reads up to \a maxLength bytes from the port (non-blocking) and
puts it into the \a data buffer.
\param maxLength The maximum amount of data read.
\param data The buffer that will store the received data.
\returns XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be
returned. Check data.size() for the number of bytes that were read.
*/
XsResultValue SerialInterface::readData(XsSize maxLength, XsByteArray& data)
{
if (!isOpen())
return (m_lastResult = XRV_NOPORTOPEN);
#ifdef _WIN32
DWORD length;
data.setSize(maxLength);
BOOL rres = ::ReadFile(m_handle, data.data(), (DWORD) maxLength, &length, NULL);
data.pop_back(maxLength-length);
JLTRACE(gJournal, "ReadFile result " << rres << ", length " << length);
if (!rres)
{
DWORD wErr = ::GetLastError();
JLALERT(gJournal, "ReadFile returned windows error " << wErr);
if (wErr == ERROR_ACCESS_DENIED)
return (m_lastResult = XRV_UNEXPECTED_DISCONNECT);
if (wErr >= ERROR_INVALID_FUNCTION && wErr <= ERROR_INVALID_HANDLE)
return (m_lastResult = XRV_NOFILEORPORTOPEN);
return (m_lastResult = XRV_ERROR);
}
if (length == 0)
return (m_lastResult = XRV_TIMEOUT);
#else
fd_set fd;
fd_set err;
timeval timeout;
FD_ZERO(&fd);
FD_ZERO(&err);
FD_SET(m_handle, &fd);
FD_SET(m_handle, &err);
timeout.tv_sec = m_timeout/1000;
timeout.tv_usec = (m_timeout - (timeout.tv_sec * 1000)) * 1000;
int res = select(FD_SETSIZE, &fd, NULL, &err, &timeout);
if (res < 0 || FD_ISSET(m_handle, &err))
{
data.clear();
return (m_lastResult = XRV_ERROR);
} else if (res == 0) {
data.clear();
return (m_lastResult = XRV_TIMEOUT);
}
data.setSize(maxLength);
int length = read(m_handle, (void*)data.data(), maxLength);
if (length > 0)
{
data.pop_back(maxLength - length);
}
else
{
int err = errno;
data.clear();
switch (err)
{
case EAGAIN:
#if defined(EWOULDBLOCK) && EWOULDBLOCK != EAGAIN
case EWOULDBLOCK:
#endif
return XRV_TIMEOUT;
case EIO:
return XRV_UNEXPECTED_DISCONNECT;
default:
break;
}
}
#if defined(JLLOGLEVEL) && JLLOGLEVEL <= JLL_TRACE && !defined(ANDROID)
serial_icounter_struct ic;
res = ioctl(m_handle, TIOCGICOUNT, &ic);
if (res == 0)
{
JLTRACE(gJournal, "rx: " << ic.rx);
JLTRACE(gJournal, "tx: " << ic.tx);
JLTRACE(gJournal, "frame " << ic.frame);
JLTRACE(gJournal, "overrun " << ic.overrun);
JLTRACE(gJournal, "buf_overrun " << ic.buf_overrun);
}
#endif
#endif
#ifdef LOG_RX_TX
if (length > 0)
{
if (!rx_log.isOpen())
{
char fname[XS_MAX_FILENAME_LENGTH];
#ifdef _WIN32
sprintf(fname, "rx_%03d_%d.log", (int32_t) m_port, m_baudrate);
#else
char *devname = strrchr(m_portname, '/');
sprintf(fname, "rx_%s_%d.log", devname + 1, XsBaud::rateToNumeric(m_baudrate));
#endif
makeFilenameUnique(fname);
rx_log.create(XsString(fname), true);
}
rx_log.write(data.data(), 1, length);
#ifdef LOG_RX_TX_FLUSH
rx_log.flush();
#endif
}
#endif
JLTRACE(gJournal, "returned success, read " << length << " of " << maxLength << " bytes, first: " << JLHEXLOG(data[0]));
return (m_lastResult = XRV_OK);
}