apstring::apstring(const apstring & str)
//description: copy constructor
//postcondition: copy of str has been constructed
{
myLength = str.length();
myCapacity = myLength + 1;
myCstring = new char[myCapacity];
strcpy(myCstring,str.myCstring);
}
//Purpose: Send command to Khepera and return response.
//Preconditions: Commands are in the form of a capital letter,
// followed by any parameters needed, ending with
// a carriage return and line feed.
//Postconditions: Responses are in the form of a lowercase letter
// corresponding to the capital letter command, then
// any data it needs to transmit and a carriage return.
apstring Serial::Talk(apstring send, int size)
{
if (VERBOSE)
cout << "Serial::Entering Serial Talk" << endl;
apstring receive = "";
char cSend[send.length()+1];
int i;
for (i=0; i<send.length(); i++)
cSend[i] = send[i];
cSend[i] = '\0';
if (VERBOSE)
cout << "El Comando enviado al puerto es "<< cSend << endl;
int tries = 0;
do {
//if write succeeds, read response
if (write(SERIAL_ID,cSend,send.length()) == send.length())
{
receive = Readline(size);
if (VERBOSE){
cout << "Serial::receive="<< receive << endl;
cout << "Serial::Talk done" << endl;
}
return receive;
}
tries ++;
} while (tries < DEFAULT_RETRY);
//if reach this point, talk failed
if (VERBOSE)
cout << "Serial::Talk Timeout" << endl;
//perror("Serial::Readline()");
return receive;
}//end Talk(apstring)
//Purpose: Open connection to Khepera on port passed
// as a parameter e.g., "ttya".
//Preconditions: Port name is defined
//Postconditions: Connection open to given port. Returns true if successful,
// false otherwise.
bool Serial::Open(apstring portname)
{
if (VERBOSE)
cout << "Serial::Entering Serial Open" << endl;
int i;
char buffer[64];
//if (VERBOSE)
//cout << "Serial::buffer=";
// convert apstring to a c string
for (i=0; i<portname.length(); i++){
//if (VERBOSE)
//cout << portname[i];
buffer[i] = portname[i];
}
buffer[i] = '\0';
SERIAL_ID = open(buffer,O_RDWR|O_EXCL);
//cerr << "Serial ID: " << SERIAL_ID << endl;
if (SERIAL_ID == -1)
{
if (VERBOSE)
cout << "Serial::Serial Port Failed to Open --> Serial ID" << endl;
return false;
}
if (!Configure())
return false;
if (!Drain())
return false;
if (Talk("G,0,0\n") == "")
{
if (VERBOSE)
cout << "Serial::Serial Port Failed to Open --> unable to talk" << endl;
return false;
}
if (VERBOSE)
cout << "Serial::Serial Port Opened" << endl;
return true;
}//end Open(apstring)