/*! \brief Wait for data to arrive or a timeout to occur.
\details The function waits until \c maxLength data is available or until a timeout occurs.
The function returns success if data is available or XsResultValue::TIMEOUT if a
timeout occurred. A timeout value of 0 indicates that the default timeout stored
in the class should be used.
\param maxLength The maximum number of bytes to wait for
\param data A buffer that will be filled with the read data. It must be able to contain at
least \a maxLength bytes.
\param length An optional pointer to storage for the actual number of bytes read.
\returns XRV_OK if the requested data was read
*/
XsResultValue UsbInterface::waitForData(const XsSize maxLength, void* data, XsSize* length)
{
JLTRACE(gJournal, "timeout=" << d->m_timeout << ", data=" << data << ", length=" << length);
uint32_t timeout = d->m_timeout;
char *bdata = (char *)data;
XsSize ln;
if (length == NULL)
length = &ln;
uint32_t eTime = XsTime::getTimeOfDay() + timeout;
XsSize newLength = 0;
*length = 0;
while ((*length < maxLength) && (XsTime::getTimeOfDay() <= eTime))
{
if (readData(maxLength - *length, bdata + *length, &newLength))
return d->m_lastResult;
*length += newLength;
}
JLTRACE(gJournal, "read " << length[0] << " of " << maxLength << " bytes");
if (length[0] < maxLength)
return (d->m_lastResult = XRV_TIMEOUT);
else
return (d->m_lastResult = XRV_OK);
}
/*! \brief Wait for data to arrive or a timeout to occur.
\details The function waits until \c maxLength data is available or until a timeout occurs.
The function returns success if data is available or XsResultValue::TIMEOUT if a
timeout occurred. A timeout value of 0 indicates that the default timeout stored
in the class should be used.
\param maxLength The maximum number of bytes to read before returning
\param data The buffer to put the read data in.
\returns XRV_OK if \a maxLength bytes were read, XRV_TIMEOUT if less was read, XRV_TIMEOUTNODATA if nothing was read
*/
XsResultValue SerialInterface::waitForData(XsSize maxLength, XsByteArray& data)
{
data.clear();
data.reserve(maxLength);
//char *data = (char *)&_data[0];
JLTRACE(gJournal, "timeout=" << m_timeout << ", maxLength=" << maxLength);
uint32_t timeout = m_timeout;
uint32_t eTime = XsTime_getTimeOfDay(NULL, NULL) + timeout;
// uint32_t newLength = 0;
while ((data.size() < maxLength) && (XsTime_getTimeOfDay(NULL, NULL) <= eTime))
{
XsByteArray raw;
if (readData(maxLength - data.size(), raw) != XRV_OK)
return m_lastResult;
data.append(raw);
}
JLTRACE(gJournal, "Read " << data.size() << " of " << maxLength << " bytes");
if (data.size() < maxLength)
return (m_lastResult = XRV_TIMEOUT);
else
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 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);
}
/*! \copydoc IProtocolHandler::findMessage
\todo Since the assumption is that we receive a stream of valid messages without garbage, the scan
is implemented in a rather naive and simple way. If we can expect lots of garbage in the data
stream, this should probably be looked into.
*/
MessageLocation ProtocolHandler::findMessage(XsMessage& rcv, const XsByteArray& raw) const
{
JLTRACE(gJournal, "Entry");
MessageLocation rv(-1,0);
rcv.clear();
int bufferSize = (int) raw.size();
if (bufferSize == 0)
return rv;
const unsigned char* buffer = raw.data();
// loop through the buffer to find a preamble
for (int pre = 0; pre < bufferSize; ++pre)
{
if (buffer[pre] == XS_PREAMBLE)
{
JLTRACE(gJournal, "Preamble found at " << pre);
// we found a preamble, see if we can read a message from here
if (rv.m_startPos == -1)
rv.m_startPos = (int32_t) pre;
int remaining = bufferSize-pre; // remaining bytes in buffer INCLUDING preamble
if (remaining < XS_LEN_MSGHEADERCS)
{
JLTRACE(gJournal, "Not enough header data read");
if (rv.m_startPos != pre)
continue;
rv.m_size = -expectedMessageSize(&buffer[pre], remaining);
return rv;
}
// read header
const uint8_t* msgStart = &(buffer[pre]);
const XsMessageHeader* hdr = (const XsMessageHeader*) msgStart;
if (hdr->m_length == XS_EXTLENCODE)
{
if (remaining < XS_LEN_MSGEXTHEADERCS)
{
JLTRACE(gJournal, "Not enough extended header data read");
if (rv.m_startPos != pre)
continue;
rv.m_size = -expectedMessageSize(&buffer[pre], remaining);
return rv;
}
}
else if (hdr->m_busId == 0 && hdr->m_messageId == 0)
{
// found 'valid' message that isn't actually valid... happens inside GPS raw data
// skip to next preamble
continue;
}
// check the reported size
int target = expectedMessageSize(&buffer[pre], remaining);
JLTRACE(gJournal, "Bytes in buffer=" << remaining << ", full target = " << target);
if (target > (XS_LEN_MSGEXTHEADERCS + XS_MAXDATALEN))
{
// skip current preamble
JLALERT(gJournal, "Invalid message length: " << target);
rv.m_startPos = -1;
continue;
}
if (remaining < target)
{
// not enough data read, skip current preamble
JLTRACE(gJournal, "Not enough data read: " << remaining << " / " << target);
if (rv.m_size == 0)
rv.m_size = -target;
continue;
}
// we have read enough data to fulfill our target so we'll try to parse the message
// and check the checksum
//if (rcv->loadFromString(msgStart, (uint16_t) target) == XRV_OK)
if (rcv.loadFromString(msgStart, (uint16_t)target))
{
JLTRACE(gJournal,
"OK, size = " << (int) rcv.getTotalMessageSize()
<< std::hex << std::setfill('0')
<< " First bytes " << std::setw(2) << (int) msgStart[0]
<< " " << std::setw(2) << (int) msgStart[1]
<< " " << std::setw(2) << (int) msgStart[2]
<< " " << std::setw(2) << (int) msgStart[3]
<< " " << std::setw(2) << (int) msgStart[4]
<< std::dec << std::setfill(' '));
rv.m_size = (int) rcv.getTotalMessageSize();
rv.m_startPos = pre; // we do this again here because this may not be the first preamble encountered (the check for -1 at the start of the loop is necessary)
return rv;
}
// we could not read the message, clear message and try next preamble
rcv.clear();
if (rv.m_startPos == pre)
{
rv.m_startPos = -1;
JLALERT(gJournal,
"Invalid checksum"
<< std::hex << std::setfill('0')
<< " First bytes " << std::setw(2) << (int) msgStart[0]
<< " " << std::setw(2) << (int) msgStart[1]
<< " " << std::setw(2) << (int) msgStart[2]
<< " " << std::setw(2) << (int) msgStart[3]
<< " " << std::setw(2) << (int) msgStart[4]
<< std::dec << std::setfill(' '));
}
}
}
JLTRACE(gJournal, "Exit");
return rv;
}
void UsbInterfacePrivate::threadFunc()
{
HANDLE handles[1+m_oCount];
handles[0] = m_quitEvent;
handles[m_oCount] = m_waitEvents[m_oCount-1];
//= { m_quitEvent, m_waitEvents[0], m_waitEvents[1] };
// start first read operation
for (m_readIdx = 0 ; m_readIdx < (m_oCount-1); ++m_readIdx)
{
handles[m_readIdx+1] = m_waitEvents[m_readIdx];
//m_readIdx = 0;
m_overlapped[m_readIdx] = OVERLAPPED();
::ResetEvent(m_waitEvents[m_readIdx]); //lint !e534
m_overlapped[m_readIdx].hEvent = m_waitEvents[m_readIdx];
m_winUsb.ReadPipe(m_usbHandle[1],
m_bulkInPipe,
m_fixedBuffer[m_readIdx],
(ULONG)m_fixedBufferSize,
0,
&m_overlapped[m_readIdx]); //lint !e534
}
int fastCount = 0;
//m_readIdx = 1;
bool policyFast = false;
bool run = true;
while (run)
{
// start follow-up read operation
m_overlapped[m_readIdx] = OVERLAPPED();
::ResetEvent(m_waitEvents[m_readIdx]); //lint !e534
m_overlapped[m_readIdx].hEvent = m_waitEvents[m_readIdx];
m_winUsb.ReadPipe(m_usbHandle[1],
m_bulkInPipe,
m_fixedBuffer[m_readIdx],
(ULONG)m_fixedBufferSize,
0,
&m_overlapped[m_readIdx]); //lint !e534
m_readIdx = (m_readIdx + 1) % m_oCount;
int64_t tBegin = XsTime_timeStampNow(0);
DWORD waitResult = ::WaitForMultipleObjects(1+m_oCount, handles, FALSE, INFINITE);
#if 0 // not sure if this causes problems, but it should help in catching up
int64_t tEnd = XsTime_timeStampNow(0);
switch (tEnd - tBegin)
{
case 0:
if (++fastCount > m_fastPolicyThreshold && !policyFast)
{
policyFast = true;
// set fast policy
UCHAR enable = TRUE;
m_winUsb.SetPipePolicy(m_usbHandle[1], m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
}
break;
case 1:
if (fastCount)
--fastCount;
if (policyFast && fastCount <= m_fastPolicyThreshold)
{
// reset policy
policyFast = false;
UCHAR enable = FALSE;
m_winUsb.SetPipePolicy(m_usbHandle[1], m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
}
break;
default:
fastCount = 0;
if (policyFast)
{
// reset policy
policyFast = false;
UCHAR enable = FALSE;
m_winUsb.SetPipePolicy(m_usbHandle[1], m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
}
break;
}
#endif
// handle data
switch (waitResult)
{
case WAIT_TIMEOUT:
case WAIT_FAILED:
case WAIT_OBJECT_0:
run = false;
break;
default:
if (waitResult >= WAIT_ABANDONED_0)
{
JLDEBUG(gJournal, "WFMO abandoned: " << (waitResult - WAIT_OBJECT_0));
break;
}
#ifndef XSENS_RELEASE
JLDEBUG(gJournal, "WFMO trigger: " << (waitResult - WAIT_OBJECT_0));
#endif
{
// put data into buffer
int idx = m_readIdx;
DWORD dataRead = 0;
if (!m_winUsb.GetOverlappedResult(m_usbHandle[0], &m_overlapped[idx], &dataRead, FALSE))
{
// error
DWORD err = ::GetLastError();
switch (err)
{
case ERROR_SEM_TIMEOUT:
case ERROR_IO_INCOMPLETE:
//JLDEBUG(gJournal, "m_winUsb.GetOverlappedResult resulted in acceptable windows error " << err);
break;
default:
JLALERT(gJournal, "m_winUsb.GetOverlappedResult resulted in windows error " << err);
run = false;
break;
}
//assert (err == ERROR_IO_INCOMPLETE);
}
else
{
// append unread data to var buffer
JLTRACE(gJournal, "m_winUsb.GetOverlappedResult resulted in " << dataRead << " bytes being read");
XsByteArray ref(&m_fixedBuffer[idx][0], dataRead, XSDF_None);
::EnterCriticalSection(&m_mutex);
m_varBuffer.append(ref);
::LeaveCriticalSection(&m_mutex);
}
} break;
}
}
}
/*! \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_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)
{
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);
}
/*! \brief Open a communication channel to the given port info.
\details If the baudrate in \a portInfo is set to XBR_Invalid, the baud rate is automatically
detected if possible.
\param portInfo The details of the port that should be opened. Depending on the type of interface,
parts of this parameter may be ignored.
\param readBufSize The size of the read buffer in bytes (if appliccable to the device)
\param writeBufSize The size of the write buffer in bytes (if appliccable to the device)
\param options The options to enable (flow control, stop bits)
\returns XRV_OK if the device was opened successfully
*/
XsResultValue SerialInterface::open(const XsPortInfo& portInfo,
uint32_t readBufSize,
uint32_t writeBufSize,
PortOptions options)
{
m_endTime = 0;
JLDEBUG(gJournal, portInfo);
if (isOpen())
{
JLALERT(gJournal, "Port " << portInfo.portName() << " is already open");
return (m_lastResult = XRV_ALREADYOPEN);
}
m_baudrate = portInfo.baudrate();
if (options&PO_RtsCtsFlowControl)
JLTRACE(gJournal, "Requested RTS/CTS flow control");
if (options&PO_DtrDsrFlowControl)
JLTRACE(gJournal, "Requested DTR/DSR flow control");
if (options&PO_XonXoffFlowControl)
JLTRACE(gJournal, "Requested Xon/Xoff flow control");
#ifdef _WIN32
XsResultValue fail = XRV_OK;
char winPortName[256];
// Open port
sprintf(winPortName, "\\\\.\\%s", portInfo.portName().c_str());
m_handle = CreateFileA(winPortName, GENERIC_READ | GENERIC_WRITE, 0, NULL,
OPEN_EXISTING, 0, NULL);
if (m_handle == INVALID_HANDLE_VALUE)
{
JLDEBUG(gJournal, "Port " << portInfo.portName() << " cannot be opened");
return (m_lastResult = XRV_INPUTCANNOTBEOPENED);
}
DCB commState; //!< Stored settings about the serial port
commState.DCBlength = sizeof(DCB);
//Get the current state & then change it
if (!GetCommState(m_handle, &commState)) // Get current state
fail = XRV_ERROR;
commState.BaudRate = (int) portInfo.baudrate(); // Setup the baud rate
commState.Parity = NOPARITY; // Setup the Parity
commState.ByteSize = 8; // Setup the data bits
commState.StopBits = (options&PO_TwoStopBits)?TWOSTOPBITS:ONESTOPBIT;
// Setup flow control
commState.fDsrSensitivity = (options&PO_DtrDsrFlowControl)?TRUE:FALSE;
commState.fOutxDsrFlow = (options&PO_DtrDsrFlowControl)?DTR_CONTROL_HANDSHAKE:DTR_CONTROL_DISABLE;
commState.fOutxCtsFlow = (options&PO_RtsCtsFlowControl)?TRUE:FALSE;
commState.fRtsControl = (options&PO_RtsCtsFlowControl)?RTS_CONTROL_HANDSHAKE:RTS_CONTROL_ENABLE;
commState.fOutX = (options&PO_XonXoffFlowControl)?TRUE:FALSE;
commState.fInX = commState.fOutX;
if (!SetCommState(m_handle, (LPDCB)&commState)) // Set new state
{
// Bluetooth ports cannot always be opened with 2 stopbits
// Now try to open port with 1 stopbit.
commState.StopBits = ONESTOPBIT;
if (!SetCommState(m_handle, (LPDCB)&commState))
fail = XRV_INPUTCANNOTBEOPENED;
}
std::string tmp = portInfo.portName().toStdString();
m_port = atoi(&tmp.c_str()[3]);
sprintf(m_portname, "%s", tmp.c_str());
if (setTimeout(20))
fail = m_lastResult;
// Other initialization functions
if ((options&PO_DtrDsrFlowControl) == 0)
{
if (!EscapeCommFunction(m_handle, SETDTR)) // Set DTR (Calibration sensors need DTR to startup, won't hurt otherwise
fail = XRV_ERROR;
}
if (!SetupComm(m_handle,readBufSize,writeBufSize)) // Set queue size
fail = XRV_ERROR;
// Remove any 'old' data in buffer
//PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
if (!PurgeComm(m_handle, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR))
fail = XRV_ERROR;
if (fail != XRV_OK)
{
CloseHandle(m_handle); //lint !e534
m_handle = INVALID_HANDLE_VALUE;
return (m_lastResult = fail);
}
#else // !_WIN32
(void)readBufSize;
(void)writeBufSize;
// Open port
std::string pn = portInfo.portName().toStdString();
m_handle = ::open(pn.c_str(), 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;
}
// Check if the file is already opened by someome else (other thread/process)
if (flock(m_handle, LOCK_EX | LOCK_NB))
{
closeLive();
return m_lastResult = XRV_INPUTCANNOTBEOPENED;
}
/* Start configuring of port for non-canonical transfer mode */
// Get current options for the port
if (tcgetattr(m_handle, &m_commState) != 0)
return XRV_ERROR;
// Set baudrate.
if (cfsetispeed(&m_commState, portInfo.baudrate()) != 0)
return XRV_ERROR;
if (cfsetospeed(&m_commState, portInfo.baudrate()) != 0)
return XRV_ERROR;
// 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|PARODD);
m_commState.c_cflag |= CS8; // Select 8 data bits
m_commState.c_cflag = setBitsEnabled(m_commState.c_cflag, (tcflag_t)CSTOPB, (options&PO_TwoStopBits) == PO_TwoStopBits);
// Hardware flow control
m_commState.c_cflag = setBitsEnabled(m_commState.c_cflag, (tcflag_t)CRTSCTS, (options&PO_RtsCtsFlowControl) == PO_RtsCtsFlowControl);
#ifdef CDTRDSR
m_commState.c_cflag = setBitsEnabled(m_commState.c_cflag, (tcflag_t)CDTRDSR, (options&PO_DtrDsrFlowControl) == PO_DtrDsrFlowControl);
#endif
m_commState.c_lflag &= ~(ECHO|ECHOE|ECHOK|ECHONL|ICANON|ISIG|IEXTEN);
// Software flow control
m_commState.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|INPCK|ISTRIP|INLCR|IGNCR|ICRNL);
m_commState.c_iflag = setBitsEnabled(m_commState.c_iflag, (tcflag_t)(IXON|IXOFF), options&PO_XonXoffFlowControl);
// 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
if (tcsetattr(m_handle,TCSANOW, &m_commState) != 0)
return XRV_INPUTCANNOTBEOPENED;
#if defined(JLLOGLEVEL) && JLLOGLEVEL <= JLL_ALERT
termios checkCommState;
if (tcgetattr(m_handle, &checkCommState) != 0)
return XRV_ERROR;
if (cfgetispeed(&checkCommState) != portInfo.baudrate())
JLALERT(gJournal, "Set baudrate doesn't match requested baudrate");
if (cfgetospeed(&checkCommState) != portInfo.baudrate())
JLALERT(gJournal, "Set baudrate doesn't match requested baudrate");
if (options&PO_RtsCtsFlowControl && !(checkCommState.c_cflag&CRTSCTS))
JLALERT(gJournal, "Requested RTS/CTS flow control, but could not be set.");
if (options&PO_DtrDsrFlowControl &&
#ifdef CDTRDSR
!(checkCommState.c_cflag&CDTRDSR)
#else
false
#endif
)
JLALERT(gJournal, "Requested DTR/DSR flow control, but could not be set.");
if (options&PO_XonXoffFlowControl && !((checkCommState.c_iflag&(IXON|IXOFF)) == (IXON|IXOFF)))
JLALERT(gJournal, "Requested Xon/Xoff flow control, but could not be set.");
#endif // JLLOGLEVEL < JLL_ALERT
#if defined(JLLOGLEVEL) && JLLOGLEVEL <= JLL_DEBUG
#define CHECK_COMMSTATE(req, res, field)\
if (req.field != res.field) \
{\
JLDEBUG(gJournal, "field " << #field << " does not match");\
JLDEBUG(gJournal, "actual : " << std::oct << (uint64_t)res.field);\
JLDEBUG(gJournal, "expected: " << std::oct << (uint64_t)req.field);\
}
#else
#define CHECK_COMMSTATE(req, res, field)
#endif
CHECK_COMMSTATE(m_commState, checkCommState, c_cflag);
CHECK_COMMSTATE(m_commState, checkCommState, c_iflag);
CHECK_COMMSTATE(m_commState, checkCommState, c_oflag);
CHECK_COMMSTATE(m_commState, checkCommState, c_cc[VMIN]);
CHECK_COMMSTATE(m_commState, checkCommState, c_cc[VTIME]);
m_port = 1;
sprintf(m_portname, "%s", pn.c_str());
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)
{
JLDEBUG(gJournal, "TIOCMGET failed, which is OK for USB connected MkIV devices");
}
if ((options&PO_RtsCtsFlowControl) == 0)
cmbits = setBitsEnabled(cmbits, TIOCM_RTS, true);
// else don't touch them
cmbits = setBitsEnabled(cmbits, TIOCM_DTR, !(options&PO_DtrDsrFlowControl));
if (ioctl(m_handle, TIOCMSET, &cmbits) < 0)
{
JLDEBUG(gJournal, "TIOCMSET failed, which is OK for USB connected MkIV devices");
}
#endif // !_WIN32
JLDEBUG(gJournal, "Port " << portInfo.portName().toStdString() << " opened");
return (m_lastResult = XRV_OK);
}