int main(int argc, char *argv[])
{
if (argc == 3) {
try {
AHRS *imu = new AHRS(std::string(argv[1]),getBaudrate(argv[2]));
char *buffer = NULL;
size_t bufsize;
// Connect to the AHRS.
imu->openDevice();
printf("Connected to %s.\n", (imu->getInfo()).c_str());
// Prompt the user for a new baudrate.
printf("New speed? (baud) \n");
if (getline(&buffer, &bufsize, stdin) == -1)
{
fprintf(stderr, "Unable to read in new baudrate.\n");
imu->closeDevice();
return -1;
}
// Attempt to read in a baudrate and change to it.
imu->setBaudrate(getBaudrate(buffer));
// Clean up and close resources.
free(buffer);
imu->closeDevice();
// Tell the user of the result.
fprintf(stderr, "Changed speed successfully.\n");
exit(0);
} catch (std::exception& e) {
printError(e);
}
}
printUsage();
}
int main(int argc, char *argv[])
{
if (argc == 3) {
try {
DVL *dvl = new DVL(std::string(argv[1]),getBaudrate(argv[2]));
DVL::SystemConfig config;
char *buffer = NULL;
size_t bufsize;
// Prompt the user for a new baudrate.
printf("New speed? (baud) \n");
if (getline(&buffer, &bufsize, stdin) == -1)
{
fprintf(stderr, "Unable to read in new baudrate.\n");
dvl->closeDevice();
return -1;
}
// Read in the baudrate and change the device speed.
config.speed = getBaudrate(buffer);
// Clean up and close resources.
free(buffer);
dvl->closeDevice();
// Tell the user of the result.
fprintf(stderr, "Changed speed successfully.\n");
exit(0);
} catch (std::exception& e) {
printError(e);
}
}
printUsage();
}
/* Open connection.
* Returns 1 if ESP8266 is responding, 0 otherwise.
*/
bool ArduEsp8266::init(){
// init serial debugging interface
if( useDebug() ){
debug.begin(115200);
debug.println("init esp8266 wifi module ...");
}
if( getEnablePin() >= 0 ){
pinMode( getEnablePin(), OUTPUT );
digitalWrite( getEnablePin(), HIGH );
delay(2000);
}
// init serial port
Serial.begin( getBaudrate() );
if( isConnected() ){
// try to disable echo
setEcho(false);
return true;
}
return false;
}
/*
* Class: abel_serialport_SerialPort
* Method: open
* Signature: (Ljava/lang/String;II)Ljava/io/FileDescriptor;
*/
JNIEXPORT jobject JNICALL Java_abel_serialport_SerialPort_open
(JNIEnv *env, jclass clazz, jstring path, jint baudrate, jint flags)
{
speed_t speed = getBaudrate(baudrate);
if (speed == -1) {
LOGE("Invalid baudrate");
return NULL;
}
int fd;
jboolean iscopy;
const char *path_utf = (*env)->GetStringUTFChars(env, path, &iscopy);
fd = open(path_utf, O_RDWR | O_NOCTTY | flags);
(*env)->ReleaseStringUTFChars(env, path, path_utf);
if (fd == -1)
{
/* Throw an exception */
LOGE("Cannot open port");
/* TODO: throw an exception */
return NULL;
}
struct termios cfg;
if (tcgetattr(fd, &cfg))
{
LOGE("tcgetattr() failed");
close(fd);
return NULL;
}
cfmakeraw(&cfg);
cfsetispeed(&cfg, speed);
cfsetospeed(&cfg, speed);
cfg.c_cflag &= ~(HUPCL | CLOCAL);
LOGD("%s cflag: %X", path_utf, cfg.c_cflag);
LOGD("%s lflag: %X", path_utf, cfg.c_lflag);
LOGD("%s iflag: %X", path_utf, cfg.c_iflag);
LOGD("%s oflag: %X", path_utf, cfg.c_oflag);
if (tcsetattr(fd, TCSANOW, &cfg))
{
LOGE("tcsetattr() failed");
close(fd);
/* TODO: throw an exception */
return NULL;
}
jclass cFileDescriptor = (*env)->FindClass(env, "java/io/FileDescriptor");
jmethodID iFileDescriptor = (*env)->GetMethodID(env, cFileDescriptor, "<init>", "()V");
jfieldID descriptorID = (*env)->GetFieldID(env, cFileDescriptor, "descriptor", "I");
jobject fileDescriptor = (*env)->NewObject(env, cFileDescriptor, iFileDescriptor);
(*env)->SetIntField(env, fileDescriptor, descriptorID, (jint)fd);
return fileDescriptor;
}
JNIEXPORT jint JNICALL
Java_firich_com_firichsdk_SerialPort_openSerialPort(JNIEnv *env, jobject instance, jstring path_,
jint baudrate) {
const char *path = (*env)->GetStringUTFChars(env, path_, 0); //Android Java String convert to C char*
struct termios tio;
memset(&tio,0,sizeof(tio));
tio.c_iflag=0;
tio.c_oflag=0;
tio.c_cflag=CS8|CREAD|CLOCAL; // 8n1, see termios.h for more information
tio.c_lflag=0;
tio.c_cc[VMIN]=1;
tio.c_cc[VTIME]=5;
int tty_fd=open(path, O_RDWR | O_NONBLOCK);
cfsetospeed(&tio,getBaudrate(baudrate));
cfsetispeed(&tio,getBaudrate(baudrate));
tcsetattr(tty_fd,TCSANOW,&tio);
return tty_fd; // C char convert to Android Java String
}
int main(int argc, char *argv[])
{
if (argc == 3) {
try {
AHRS *ahrs = new AHRS(std::string(argv[1]),getBaudrate(argv[2]));
AHRS::AcqConfig config;
AHRS::FilterData filters;
long unsigned int i;
ahrs->openDevice();
printf("Connected to %s.\n", (ahrs->getInfo()).c_str());
ahrs->sendAHRSDataFormat();
printf("AHRS Configuration data:\n");
config = ahrs->getAcqConfig();
printf("Acqusition mode: %d\n", config.poll_mode);
printf("Flush Filter: %d\n", config.flush_filter);
printf("Sample delay: %f\n", config.sample_delay);
filters = ahrs->getFIRFilters();
printf("Number of filters: %lu\n", filters.size());
for (i=0; i < filters.size(); i++)
printf("Filter #%.2lu: %f\n",i, filters[i]);
printf("Mag Truth Method: %d\n", ahrs->getMagTruthMethod());
printf("Functional mode: %d\n", ahrs->getAHRSMode());
printf("Declination: %f\n", ahrs->getDeclination());
printf("UserCalNumPoints: %d\n", ahrs->getCalPoints());
printf("Mag Setting: %d\n", ahrs->getMagCalID());
printf("Accel setting: %d\n", ahrs->getAccelCalID());
printf("Mounting mode: %d\n", ahrs->getMounting());
printf("Baudrate: %d\n", ahrs->getBaudrate().baud);
printf("True north? %d\n", ahrs->getTrueNorth());
printf("Big endian? %d\n", ahrs->getBigEndian());
printf("Auto sampling? %d\n", ahrs->getAutoCalibration());
printf("Mils/Degrees? %d\n", ahrs->getMils());
printf("HPR During Cal? %d\n", ahrs->getHPRCal());
ahrs->closeDevice();
exit(0);
}
catch (std::exception& e)
{
printError(e);
}
}
printUsage();
}
/* first parse all options, and save arguments in the sessions struct
* exit on any error encountered, if none present, proceed and return */
void setOptions(int argc, const char * argv[]) {
int ret;
bool printVersion = false;
poptContext optCon = poptGetContext(NULL, argc, argv, options, 0);
options[0].arg = elbowOptionsTable;
while ((ret = poptGetNextOpt(optCon)) > 0) {
switch (ret) {
case PR_EOL:
settings.eol = getEndOfLine(settings.eol);
break;
case PR_BAUDRATE:
settings.rate = getBaudrate(settings.rate);
break;
case PR_VERSION:
printVersion = true;
break;
}
}
/* report parsing error if present and exit */
if (ret < -1) {
printf("\n%s: %s\n\n", poptStrerror(ret), poptBadOption(optCon, 0));
poptPrintHelp(optCon, stdout, 0);
exit(EXIT_FAILURE);
}
/* print version information and exit */
if (printVersion) {
printf("Elbow version %s\n", VERSION);
printf("Copyright (C) %s %s\n", YEAR, AUTHOR);
printf("Released under the %s license.\n", LICENSE);
printf("\n%s\n", DISCLAIMER);
}
optCon = poptFreeContext(optCon);
}
/*
* Class: android_serialport_SerialPort
* Method: open
* Signature: (Ljava/lang/String;II)Ljava/io/FileDescriptor;
*/
JNIEXPORT jobject JNICALL Java_com_bw_serial_SerialPort_open
(JNIEnv *env, jclass thiz, jstring path, jint baudrate, jint flags)
{
int fd;
speed_t speed;
jobject mFileDescriptor;
/* Check arguments */
{
speed = getBaudrate(baudrate);
if (speed == -1) {
/* TODO: throw an exception */
LOGE("Invalid baudrate");
return NULL;
}
}
/* Opening device */
{
jboolean iscopy;
const char *path_utf = (*env)->GetStringUTFChars(env, path, &iscopy);
LOGD("Opening serial port %s with flags 0x%x", path_utf, O_RDWR | flags);
fd = open(path_utf, O_RDWR | flags);
LOGD("open() fd = %d", fd);
(*env)->ReleaseStringUTFChars(env, path, path_utf);
if (fd == -1)
{
/* Throw an exception */
LOGE("Cannot open port");
/* TODO: throw an exception */
return NULL;
}
}
/* Configure device */
{
struct termios cfg;
LOGD("Configuring serial port");
if (tcgetattr(fd, &cfg))
{
LOGE("tcgetattr() failed");
close(fd);
/* TODO: throw an exception */
return NULL;
}
cfmakeraw(&cfg);
cfsetispeed(&cfg, speed);
cfsetospeed(&cfg, speed);
if (tcsetattr(fd, TCSANOW, &cfg))
{
LOGE("tcsetattr() failed");
close(fd);
/* TODO: throw an exception */
return NULL;
}
}
/* Create a corresponding file descriptor */
{
jclass cFileDescriptor = (*env)->FindClass(env, "java/io/FileDescriptor");
jmethodID iFileDescriptor = (*env)->GetMethodID(env, cFileDescriptor, "<init>", "()V");
jfieldID descriptorID = (*env)->GetFieldID(env, cFileDescriptor, "descriptor", "I");
mFileDescriptor = (*env)->NewObject(env, cFileDescriptor, iFileDescriptor);
(*env)->SetIntField(env, mFileDescriptor, descriptorID, (jint)fd);
}
return mFileDescriptor;
}
static int set_opt(int fd,int nSpeed, int nBits, char nEvent, int nStop)
{
struct termios newtio,oldtio;
speed_t speedbt;
/*保存测试现有串口参数设置，在这里如果串口号等出错，会有相关的出错信息*/
if ( tcgetattr( fd,&oldtio) != 0)
{
perror("SetupSerial 1");
return -1;
}
bzero( &newtio, sizeof( newtio ) );
/*步骤一，设置字符大小*/
newtio.c_cflag |= CLOCAL | CREAD;
newtio.c_cflag &= ~CSIZE;
/*设置停止位*/
switch( nBits )
{
case 7:
newtio.c_cflag |= CS7;
break;
case 8:
newtio.c_cflag |= CS8;
break;
}
/*设置奇偶校验位*/
switch( nEvent )
{
case 'O': //奇数
newtio.c_cflag |= PARENB;
newtio.c_cflag |= PARODD;
newtio.c_iflag |= INPCK;
break;
case 'E': //偶数
newtio.c_iflag |= INPCK;
newtio.c_cflag |= PARENB;
newtio.c_cflag &= ~PARODD;
break;
case 'N': //无奇偶校验位
newtio.c_cflag &= ~PARENB;
break;
}
/*设置波特率*/
speedbt = getBaudrate(nSpeed);
if (speedbt < 0) {
LOGD("-------------getBaudrate error %d\n", nSpeed);
return -1;
}
cfsetispeed(&newtio, speedbt);
cfsetospeed(&newtio, speedbt);
#if 0
switch( nSpeed )
{
case 2400:
cfsetispeed(&newtio, B2400);
cfsetospeed(&newtio, B2400);
break;
case 4800:
cfsetispeed(&newtio, B4800);
cfsetospeed(&newtio, B4800);
break;
case 9600:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
case 115200:
cfsetispeed(&newtio, B115200);
cfsetospeed(&newtio, B115200);
break;
case 460800:
cfsetispeed(&newtio, B460800);
cfsetospeed(&newtio, B460800);
break;
default:
cfsetispeed(&newtio, B9600);
cfsetospeed(&newtio, B9600);
break;
}
#endif
/*设置停止位*/
if( nStop == 1 )
newtio.c_cflag &= ~CSTOPB;
else if ( nStop == 2 )
newtio.c_cflag |= CSTOPB;
/*设置等待时间和最小接收字符*/
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 0;
/*处理未接收字符*/
tcflush(fd,TCIFLUSH);
/*激活新配置*/
if((tcsetattr(fd,TCSANOW,&newtio))!=0)
{
perror("com set error");
return -1;
}
printf("set done!\n");
return 0;
}
// コンストラクタ
Terminal::Terminal(QWidget *parent) : QMainWindow(parent), m_ds(this){
// 変数初期化
// GUIを作成
m_ui.setupUi(this);
// GUI各部の制御クラスを作成
m_console = new TerminalConsole(m_ui.ConsoleInput, m_ui.ConsoleOutput, m_ui.ConsoleClear);
m_info = new TerminalInfo(m_ui.StatusBar, m_ui.InfoIconDevice, m_ui.InfoLabelName, m_ui.InfoLabelVersion,
m_ui.InfoButtonReboot, m_ui.InfoButtonConnect, m_ui.InfoButtonDisconnect);
m_access = new TerminalAccess(m_ui.ProcessorInput, m_ui.ProcessorOpen, m_ui.ProcessorWrite, m_ui.ProcessorRead,
m_ui.BitstreamInput, m_ui.BitstreamOpen, m_ui.BitstreamSend, m_ui.BitstreamWrite,
m_ui.CoprocessorInput, m_ui.CoprocessorOpen, m_ui.CoprocessorSend, m_ui.CoprocessorWrite);
m_controller = new TerminalController(this, m_ui.ControllerShow);
m_logger = new TerminalLogger(m_ui.LoggerCheckUse, m_ui.LoggerGraph, m_ui.LoggerButtonAdd, m_ui.LoggerButtonRemove, m_ui.LoggerList, m_ui.LoggerSaveList,
m_ui.LoggerLabel, m_ui.LoggerStart, m_ui.LoggerStop, m_ui.LoggerSave);
m_pipe = new TerminalPipe(m_ui.PipeTable);
m_file = new TerminalFile(m_ui.FileTree, m_ui.FileProgress);
// ファイラータブのツールボックスにアイコンを設定
QFileIconProvider icon_provider;
m_ui.FilerToolBox->setItemIcon(0, icon_provider.icon(QFileIconProvider::Network));
m_ui.FilerToolBox->setItemIcon(1, icon_provider.icon(QFileIconProvider::Drive));
// 非同期操作用のスレッドを作成
m_thread = new QThread(this);
m_async = new TerminalAsync(&m_ds);
m_async->moveToThread(m_thread);
// シグナルを接続
connect(&m_ds, SIGNAL(enableConsole(bool)), m_console, SLOT(enable(bool)));
connect(&m_ds, SIGNAL(enableInfo(bool, bool)), m_info, SLOT(enable(bool, bool)));
connect(&m_ds, SIGNAL(enableAccess(char, bool, bool, bool, bool)), m_access, SLOT(enable(char, bool, bool, bool, bool)));
connect(&m_ds, SIGNAL(enableFileTree(bool, bool, bool, bool, bool, bool)), m_file, SLOT(enable(bool, bool, bool, bool, bool, bool)));
connect(&m_ds, SIGNAL(enableController(bool, bool, bool)), m_controller, SLOT(enable(bool, bool, bool)));
connect(&m_ds, SIGNAL(enableLogger(bool, bool, bool)), m_logger, SLOT(enable(bool, bool, bool)));
connect(m_async, SIGNAL(showWarningConst(const wchar_t *, const wchar_t *)), this, SLOT(showWarningConst(const wchar_t *, const wchar_t *)), Qt::QueuedConnection);
connect(m_async, SIGNAL(sendProgress(int)), m_info, SLOT(setProgress(int)), Qt::QueuedConnection);
connect(m_async, SIGNAL(setExclusiveState(bool)), &m_ds, SLOT(setExclusiveState(bool)), Qt::QueuedConnection);
connect(m_console, SIGNAL(send(const QString &)), this, SLOT(transmitDebug(const QString &)));
connect(m_info, SIGNAL(changeConnection(const std::wstring *, bool, bool)), this, SLOT(changeConnection(const std::wstring *, bool, bool)));
connect(m_info, SIGNAL(rebootRequest(const wchar_t *)), &m_ds, SLOT(changeBootMode(const wchar_t *)));
connect(m_access, SIGNAL(operation(char, std::wstring *)), m_async, SLOT(onAccessOperation(char, std::wstring *)), Qt::QueuedConnection);
//connect(m_controller, SIGNAL(operation(const Controller_t &)), &m_ds, SLOT(setController(const Controller_t &)));
connect(m_file, SIGNAL(updateRequest(const std::wstring &)), m_ds.m_dsDir, SLOT(updateRequest(const std::wstring &)));
connect(m_file, SIGNAL(moveRequest(const std::wstring &, const std::wstring &)), m_ds.m_dsDir, SLOT(moveRequest(const std::wstring &, const std::wstring &)));
connect(m_file, SIGNAL(copyRequest(const std::wstring &, const std::wstring &)), m_ds.m_dsDir, SLOT(copyRequest(const std::wstring &, const std::wstring &)));
connect(m_file, SIGNAL(deleteRequest(const std::wstring &)), m_ds.m_dsDir, SLOT(deleteRequest(const std::wstring &)));
connect(m_file, SIGNAL(mkdirRequest(const std::wstring &)), m_ds.m_dsDir, SLOT(mkdirRequest(const std::wstring &)));
connect(m_file, SIGNAL(transfarToDevice(std::wstring *, std::wstring *)), m_async, SLOT(transfarToDevice(std::wstring *, std::wstring *)), Qt::QueuedConnection);
connect(m_file, SIGNAL(transfarFromDevice(std::wstring *, std::wstring *)), m_async, SLOT(transfarFromDevice(std::wstring *, std::wstring *)), Qt::QueuedConnection);
connect(m_logger, SIGNAL(sendLoggingList(char *, unsigned int)), m_async, SLOT(setLoggingList(char *, unsigned int)), Qt::QueuedConnection);
connect(m_async, SIGNAL(sendLog(unsigned short *, unsigned int)), m_logger, SLOT(receiveLog(unsigned short *, unsigned int)), Qt::QueuedConnection);
connect(m_async, SIGNAL(sendLoggingError()), m_logger, SLOT(receiveError()), Qt::QueuedConnection);
connect(m_controller, SIGNAL(setControllerState(ControllerState_t *)), m_async, SLOT(setControllerState(ControllerState_t *)), Qt::QueuedConnection);
connect(m_async, SIGNAL(requestControllerState()), m_controller, SLOT(requestControllerState()), Qt::QueuedConnection);
connect(&m_ds, SIGNAL(setDebugText(QString &)), m_info, SLOT(setDebugText(QString &)));
connect(&m_ds, SIGNAL(sendProgress(int)), m_info, SLOT(setProgress(int)));
connect(&m_ds, SIGNAL(setLogInfo(const std::wstring &)), m_logger, SLOT(setLogInfo(const std::wstring &)));
connect(&m_ds, SIGNAL(changeConnection(const std::wstring *, bool, bool)), this, SLOT(changeConnection(const std::wstring *, bool, bool)));
connect(&m_ds, SIGNAL(updateWidgetsInfo()), this, SLOT(updateWidgetsInfo()));
connect(m_ds.m_dsPipe, SIGNAL(clearPipe()), m_pipe, SLOT(clearPipe()));
connect(m_ds.m_dsPipe, SIGNAL(addPipe(const wchar_t *, int, int, const wchar_t *)), m_pipe, SLOT(addPipe(const wchar_t *, int, int, const wchar_t *)));
connect(m_ds.m_dsDir, SIGNAL(initTree(const std::wstring &)), m_file, SLOT(initTree(const std::wstring &)));
connect(m_ds.m_dsDir, SIGNAL(addDrive(char, const std::wstring &, bool, unsigned long long)), m_file, SLOT(addDrive(char, const std::wstring &, bool, unsigned long long)));
connect(m_ds.m_dsDir, SIGNAL(changeDriveStatus(char, unsigned long long)), m_file, SLOT(changeDriveStatus(char, unsigned long long)));
connect(m_ds.m_dsDir, SIGNAL(moveToItem(const std::wstring &)), m_file, SLOT(moveToItem(const std::wstring &)));
connect(m_ds.m_dsDir, SIGNAL(addItem(const std::wstring &, unsigned long long, bool, unsigned int)), m_file, SLOT(addItem(const std::wstring &, unsigned long long, bool, unsigned int)));
connect(m_ds.m_dsDir, SIGNAL(moveUp()), m_file, SLOT(moveUp()));
connect(m_ds.m_dsFile, SIGNAL(changeFile(std::wstring *, unsigned long long)), m_file, SLOT(changeFile(std::wstring *, unsigned long long)), Qt::QueuedConnection);
// タイマーを作成
QTimer *interval = new QTimer(this);
connect(interval, SIGNAL(timeout()), this, SLOT(onInterval()));
connect(interval, SIGNAL(timeout()), m_logger, SLOT(update()));
interval->start(PERIOD);
// ウィジェットを初期状態に
m_console->enable(false);
m_info->enable(false, false);
m_access->enable('P', false);
m_access->enable('B', false);
m_access->enable('C', false);
m_file->enable(false);
m_controller->enable(false);
m_logger->enable(false);
// 前回の設定の読み込み
int maximized = 0;
clINI setting;
if (setting.Open(g_ApplicationDir.c_str(), L"setting.ini") == true){
// パスの読み込み
wchar_t buf[MAX_PATH];
setting.Read(L"Path", L"Processor", buf);
m_access->setPath('P', buf);
setting.Read(L"Path", L"Bitstream", buf);
m_access->setPath('B', buf);
setting.Read(L"Path", L"Coprocessor", buf);
m_access->setPath('C', buf);
// 設定の読み込み
int baudrate = m_info->getBaudrate();
setting.Read(L"Setting", L"Baudrate", baudrate);
m_info->setBaudrate(baudrate);
// ウィンドウ座標・サイズの読み込み
int pos_x, pos_y, size_w, size_h;
setting.Read(L"Window", L"Maximize", maximized);
setting.Read(L"Window", L"PosX", pos_x);
setting.Read(L"Window", L"PosY", pos_y);
setting.Read(L"Window", L"SizeW", size_w);
setting.Read(L"Window", L"SizeH", size_h);
pos_x -= 500000;
pos_y -= 500000;
size_w -= 500000;
size_h -= 500000;
if ((abs(pos_x) <= 32767) && (abs(pos_y) <= 32767)) this->move(pos_x, pos_y);
if ((abs(size_w) <= 32767) && (abs(size_h) <= 32767)) this->resize(size_w, size_h);
}
// 非同期操作用スレッドを開始
m_thread->start();
// タイマーの精度を高める
timeBeginPeriod(1);
// ウィンドウを表示
if (maximized == 0){
this->show();
}else{
this->showMaximized();
}
}
/*
* Class: cedric_serial_SerialPort
* Method: open
* Signature: (Ljava/lang/String;)V
*/
JNIEXPORT jobject JNICALL Java_com_erobbing_mcutool_SerialPort_open(JNIEnv *env, jobject thiz, jstring path,jint baudrate) {
int fd;
speed_t speed;
jobject mFileDescriptor;
LOGD("init native Check arguments");
/* Check arguments */
{
speed = getBaudrate(baudrate);
if (speed == -1) {
/* TODO: throw an exception */
LOGE("Invalid baudrate");
return NULL;
}
}
LOGD("init native Opening device!");
/* Opening device */
{
jboolean iscopy;
const char *path_utf = env->GetStringUTFChars(path, &iscopy);
LOGD("Opening serial port %s", path_utf);
// fd = open(path_utf, O_RDWR | O_DIRECT | O_SYNC);
fd = open(path_utf, O_RDWR | O_NOCTTY | O_NONBLOCK | O_NDELAY);
LOGD("open() fd = %d", fd);
env->ReleaseStringUTFChars(path, path_utf);
if (fd == -1) {
/* Throw an exception */
LOGE("Cannot open port %d",baudrate);
/* TODO: throw an exception */
return NULL;
}
}
LOGD("init native Configure device!");
/* Configure device */
{
struct termios cfg;
if (tcgetattr(fd, &cfg)) {
LOGE("Configure device tcgetattr() failed 1");
close(fd);
return NULL;
}
cfmakeraw(&cfg);
cfsetispeed(&cfg, speed);
cfsetospeed(&cfg, speed);
if (tcsetattr(fd, TCSANOW, &cfg)) {
LOGE("Configure device tcsetattr() failed 2");
close(fd);
/* TODO: throw an exception */
return NULL;
}
}
/* Create a corresponding file descriptor */
{
jclass cFileDescriptor = env->FindClass("java/io/FileDescriptor");
jmethodID iFileDescriptor = env->GetMethodID(cFileDescriptor,"<init>", "()V");
jfieldID descriptorID = env->GetFieldID(cFileDescriptor,"descriptor", "I");
mFileDescriptor = env->NewObject(cFileDescriptor,iFileDescriptor);
env->SetIntField(mFileDescriptor, descriptorID, (jint) fd);
}
return mFileDescriptor;
}
// Opens the connection to the GPS. All old messages in the queue are removed.
bool GpsClient::openGps( const char *deviceIn, const uint ioSpeedIn )
{
// qDebug() << "GpsClient::openGps:" << deviceIn << "," << ioSpeedIn;
device = deviceIn;
ioSpeedDevice = ioSpeedIn;
ioSpeedTerminal = getBaudrate(ioSpeedIn);
badSentences = 0;
unknownsReported.clear();
if( deviceIn == (const char *) 0 || strlen(deviceIn) == 0 )
{
// no valid device has been passed
return false;
}
// reset buffer pointer
datapointer = databuffer;
dbsize = 0;
memset( databuffer, 0, sizeof(databuffer) );
if( fd != -1 )
{
// closes an existing connection before opening a new one
closeGps();
sleep(2);
}
#ifdef BLUEZ
// Define a reg. expression for a Bluetooth address like "XX:XX:XX:XX:XX:XX"
QRegExp regExp("([0-9A-Fa-f]{2,2}:){5,5}[0-9A-Fa-f]{2,2}");
if( QString(deviceIn).contains(QRegExp( regExp )) )
{
fd = socket( AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM );
// NON blocking io is requested!
fcntl( fd, F_SETFL, O_NONBLOCK );
struct sockaddr_rc addr;
memset( &addr, 0, sizeof (addr) );
addr.rc_family = AF_BLUETOOTH;
// 1 is the default channel for a connection to the BT daemon
addr.rc_channel = (uint8_t) 1;
str2ba( deviceIn, &addr.rc_bdaddr );
if( connect( fd, (struct sockaddr *) &addr, sizeof (addr)) == -1 &&
errno != EINPROGRESS )
{
qCritical() << "GpsClient::openGps(): BT connect error"
<< errno << "," << strerror(errno);
close( fd );
fd = -1;
last = QTime();
setShutdownFlag(true);
return false;
}
// Stop supervision control to give the BT daemon time for connection.
// The first data read will activate it again.
last = QTime();
return true;
}
#endif
// create a fifo for the nmea simulator, if device starts not with /dev/
if( strncmp( "/dev/", deviceIn, strlen("/dev/") ) != 0 )
{
int ret = mkfifo( device.data(), S_IRUSR | S_IWUSR );
if( ret && errno != EEXIST )
{
perror("mkfifo");
}
}
fd = open( device.data(), O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK );
if( fd == -1 )
{
perror( "Open GPS device:" );
// Could not open the serial device.
#ifdef ERROR_LOG
qWarning() << "openGps: Unable to open GPS device"
<< device << "at transfer rate"
<< ioSpeedIn;
#endif
last.start(); // store time point for restart control
return false;
}
if( ! isatty(fd) )
{
// Fifo needs no serial initialization.
// Write a notice for the user about that fact
if( device.startsWith("/dev/") )
{
qDebug() << "GpsClient::openGps: Device '"
<< deviceIn
<< "' is not a TTY!";
}
}
else
{
tcgetattr(fd, &oldtio); // get current options from port
// copy current values into new structure for changes
memcpy( &newtio, &oldtio, sizeof(newtio) );
// http://www.mkssoftware.com/docs/man5/struct_termios.5.asp
//
// Prepare serial port settings for raw mode. That is important
// otherwise Flarm binary communication do not work!
//
// - no canonical input (no line oriented input)
// - 8 data bits
// - no parity
// - no interpretation of special characters
// - no hardware control
// Port control modes
// CS8 8 bits per byte
// CLOCAL Ignore modem status lines
// CREAD Enable receiver
newtio.c_cflag = CS8 | CLOCAL | CREAD;
// Port input modes
// raw input without any special handling
newtio.c_iflag = 0;
// Port output modes
// raw output without any special handling
newtio.c_oflag = 0;
// Port local modes
// raw input/output without any special handling
newtio.c_lflag = 0;
// The values of the MIN and TIME members of the c_cc array of the termios
// structure are used to determine how to process the bytes received.
//
// MIN represents the minimum number of bytes that should be received when
// the read() function returns successfully.
//
// TIME is a timer of 0.1 second granularity (or as close to that value as
// can be accommodated) that is used to time out bursty and short-term data
// transmissions.
newtio.c_cc[VMIN] = 1;
newtio.c_cc[VTIME] = 0;
// AP: Note, the setting of the speed must be done at last
// because the manipulation of the c_iflag and c_oflag can
// destroy the already assigned values! Needed me several hours
// to find out that. Setting the baud rate under c_cflag seems
// also to work.
cfsetispeed( &newtio, ioSpeedTerminal ); // set baud rate for input
cfsetospeed( &newtio, ioSpeedTerminal ); // set baud rate for output
tcflush(fd, TCIOFLUSH);
tcsetattr(fd, TCSANOW, &newtio);
fcntl(fd, F_SETFL, FNDELAY); // NON blocking io is requested
}
last.start(); // store time point for supervision control
return true;
}
