Example #1
0
/*! \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);
}
Example #2
0
/*! \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);
}
Example #3
0
/*! \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);
}