//////////////////////////////////////////////////////////////////////////////////////////
// Open a communication channel to the given serial port name.
XsensResultValue Cmt1s::open( const char *portName,
const uint32_t baudRate,
uint32_t readBufSize,
uint32_t writeBufSize)
{
MRPT_UNUSED_PARAM(readBufSize); MRPT_UNUSED_PARAM(writeBufSize);
m_endTime = 0;
CMT1LOG("L1: Open port %s at %d baud\n", portName, baudRate);
if (m_isOpen)
{
CMT1LOG("L1: Port already open\n");
return (m_lastResult = XRV_ALREADYOPEN);
}
m_baudrate = baudRate;
#ifdef _WIN32
char winPortName[32];
// Open port
sprintf(winPortName, "\\\\.\\%s", portName);
m_handle = CreateFileA(winPortName, GENERIC_READ | GENERIC_WRITE, 0, NULL,
OPEN_EXISTING, 0, NULL);
if (m_handle == INVALID_HANDLE_VALUE)
{
CMT1LOG("L1: Port cannot be opened\n");
return (m_lastResult = XRV_INPUTCANNOTBEOPENED);
}
// Once here, port is open
m_isOpen = true;
//Get the current state & then change it
GetCommState(m_handle, &m_commState); // Get current state
m_commState.BaudRate = baudRate; // Setup the baud rate
m_commState.Parity = NOPARITY; // Setup the Parity
m_commState.ByteSize = 8; // Setup the data bits
m_commState.StopBits = TWOSTOPBITS; // Setup the stop bits
m_commState.fDsrSensitivity = FALSE; // Setup the flow control
m_commState.fOutxCtsFlow = FALSE; // NoFlowControl:
m_commState.fOutxDsrFlow = FALSE;
m_commState.fOutX = FALSE;
m_commState.fInX = FALSE;
if (!SetCommState(m_handle, (LPDCB)&m_commState)) {// Set new state
// Bluetooth ports cannot always be opened with 2 stopbits
// Now try to open port with 1 stopbit.
m_commState.StopBits = ONESTOPBIT;
if (!SetCommState(m_handle, (LPDCB)&m_commState)) {
CloseHandle(m_handle);
m_handle = INVALID_HANDLE_VALUE;
m_isOpen = false;
return (m_lastResult = XRV_INPUTCANNOTBEOPENED);
}
}
m_port = atoi(&portName[3]);
sprintf(m_portname, "%s", portName);
setTimeout(m_timeout);
// Other initialization functions
EscapeCommFunction(m_handle, SETRTS); // Enable RTS (for Xbus Master use)
// Set DTR (Calibration sensors need DTR to startup, won't hurt otherwise
EscapeCommFunction(m_handle, SETDTR);
SetupComm(m_handle,readBufSize,writeBufSize); // Set queue size
// Remove any 'old' data in buffer
//PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
PurgeComm(m_handle, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR);
#else // !_WIN32
// Open port
m_handle = ::open(portName, O_RDWR | O_NOCTTY);
// O_RDWR: Read+Write
// O_NOCTTY: Raw input, no "controlling terminal"
// O_NDELAY: Don't care about DCD signal
if (m_handle < 0) {
// Port not open
return m_lastResult = XRV_INPUTCANNOTBEOPENED;
}
// Once here, port is open
m_isOpen = true;
/* Start configuring of port for non-canonical transfer mode */
// Get current options for the port
tcgetattr(m_handle, &m_commState);
// Set baudrate.
cfsetispeed(&m_commState, baudRate);
cfsetospeed(&m_commState, baudRate);
// Enable the receiver and set local mode
m_commState.c_cflag |= (CLOCAL | CREAD);
// Set character size to data bits and set no parity Mask the characte size bits
m_commState.c_cflag &= ~(CSIZE|PARENB);
m_commState.c_cflag |= CS8; // Select 8 data bits
m_commState.c_cflag |= CSTOPB; // send 2 stop bits
// Disable hardware flow control
m_commState.c_cflag &= ~CRTSCTS;
m_commState.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN);
// Disable software flow control
m_commState.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON);
// Set Raw output
m_commState.c_oflag &= ~OPOST;
// Timeout 0.001 sec for first byte, read minimum of 0 bytes
m_commState.c_cc[VMIN] = 0;
m_commState.c_cc[VTIME] = (m_timeout+99)/100; // 1
// Set the new options for the port
tcsetattr(m_handle,TCSANOW, &m_commState);
m_port = 0;
sprintf(m_portname, "%s", portName);
tcflush(m_handle, TCIOFLUSH);
// setting RTS and DTR; RTS for Xbus Master, DTR for calibration sensors
int cmbits;
if (ioctl(m_handle, TIOCMGET, &cmbits) < 0)
{
return (m_lastResult = XRV_ERROR);
}
cmbits |= TIOCM_RTS|TIOCM_DTR;
if (ioctl(m_handle, TIOCMSET, &cmbits) < 0)
{
return (m_lastResult = XRV_ERROR);
}
#endif // !_WIN32
CMT1LOG("L1: Port opened\n");
return (m_lastResult = XRV_OK);
}
void PanelDOF::OnSlider1CmdScroll(wxScrollEvent& event)
{
MRPT_UNUSED_PARAM(event);
}
