/* Open the specified serial port, save old communication parameters, and *
* set initial communication parameters (default parameters are appropriate *
* for the Barrett Hand). *
* Returns: E_OKAY if successful. *
* E_OPEN if the port could not be opened. *
* E_INUSE if the port is already open by someone else. *
* E_SYSTEM if any of several system calls failed. */
int ComOpen(ComPort_t *Port , const char *DevName) {
int Stat;
/* If already open, close the old one first. */
ComClose(Port);
Stat = E_OKAY;
// Allocate timer and set SIGALRM processing for timeout detection.
/* if ( ( (Port->Tmr = timer_create(CLOCK_REALTIME, NULL, 0)) >= 0)
&& (signal(SIGALRM, AlrmTrap) != SIG_ERR ) ) {
Stat = E_OKAY;
} else {
Stat = E_SYSTEM;
}*/
//
/* Open the specified serial port. */
if ((Stat == E_OKAY) && ( (Port->Fd = open(DevName, O_RDWR | O_NOCTTY )) < 0)) {
Stat = E_OPEN;
}
/* Get device info and check open_count to see if device already in *
* use. */
/* if ((Stat == E_OKAY) && (dev_info(Port->Fd, &DevInfo) < 0))
Stat = E_SYSTEM;
if ((Stat == E_OKAY) && (DevInfo.open_count != 1)) Stat = E_INUSE;
*/
/* Save old communication parameters and set new ones. */
if ((Stat == E_OKAY) && (tcgetattr(Port->Fd, &(Port->OldTios)) < 0)) {
Stat = E_SYSTEM;
}
if (Stat != E_OKAY) {
/* An error occurred above. */
if (Port->Fd >= 0) { /* If device was opened, just close it. */
close(Port->Fd);
Port->Fd = -1;
}
if (Port->Tmr >= 0) { // If timer was allocated, deallocate it.
//timer_delete(Port->Tmr);
Port->Tmr = (timer_t) -1;
}
signal(SIGALRM, SIG_DFL);
} else {
/* No errors so far, so set communication parameters. If error, *
* (try to) restore original parameters and close the device. */
Stat = ComInit(Port);
if (Stat != E_OKAY) ComClose(Port);
}
//printf("ComOpen ret: %d, Port->Fd=%d\n", Stat, Port->Fd);
return(Stat);
}
int CComAdjust::Release()
{
#if USE_COMBUS == 0
ComClose(); // 串口关闭之后，读串口函数将返回错误，读线程退出
#endif
pthread_mutex_destroy(&m_MutexWrite);
return 0;
}
int CKTIrdMod::Release()
{
if( m_pthreadRecv )
{
m_bEscRecv = true;
usleep(100000);
if( WaitForEvent(ThreadExit, &m_pthreadRecv, 3000) )
{
pthread_cancel(m_pthreadRecv);
usleep(100000);
}
m_pthreadRecv = 0;
}
m_bEscRecv = false;
if( m_pthreadWork )
{
m_bEscWork = true;
usleep(100000);
if( WaitForEvent(ThreadExit, &m_pthreadWork, 3000) )
{
pthread_cancel(m_pthreadWork);
usleep(100000);
}
m_pthreadWork = 0;
}
m_bEscWork = false;
ComClose();
return 0;
}
int hslink_input(user_data_rec *udta, /* current user data record */
int argc, /* argument count */
char *argv[]) /* argument values */
{
/* allocate application workspace if needed */
if (udta->substt == 0)
{
udta->appws = (workspace_rec*)mem_alloc(sizeof(workspace_rec));
if (udta->appws == 0)
{
cprintf("Cannot allocate workspace for user %d!\r\n",usrnum);
return 0;
}
}
/* current workspace to application workspace for this user */
current_hsws = udta->appws;
/* process current substate */
switch (udta->substt)
{
case 0:
if (top_init())
{
udta->substt = 0;
break;
}
set_defaults();
if (argc == 1)
{
usage("No command line given\r\n","");
udta->substt = 0;
break;
}
if (process_options(argc,argv))
{
usage("No command line given\r\n","");
udta->substt = 0;
break;
}
ComOpen();
WS.Option.ComSpeed = ComGetSpeed();
if (!WS.Option.EffSpeed)
WS.Option.EffSpeed = WS.Option.ComSpeed;
/* we're now ready for SlowHandshake to work */
WS.IoLevel = 0;
/* allocate up to 10k for file buffers, but no more */
WS.buffer_sizes = mem_avail()-1000>10240: 10240:mem_avail()-1000;
/* display opening screen */
prepare_display();
process_filespecs(argc,argv);
/* verify hardware handshake status */
if (!ComGetCts() && !WS.Option.ForceCts)
{
cprintf("CTS signal missing! Please use -HC or -FC option.\r\n");
WS.Option.CtsHandshake = 0;
}
udta->substt = 1;
break;
case 1:
/* wait for ready handshake with remote */
service_receive();
udta->substt = wait_for_ready()? 1:2;
break;
case 2:
/* select first file in batch and begin transmit */
udta->curnode = WS.first_send;
udta->substt = 3;
break;
case 3:
/* end of batch? change to state 4 */
if (udta->curnode == NULL)
{
udta->substt = 4;
PSEND("%d file%s transmitted.\r\n",WS.files_sent,
WS.files_sent==1?"":"s");
break;
}
service_receive();
if (transmit_file(udta->curnode->name))
break; /* remain in state 3 */
/* advance to next file in the batch */
udta->curnode = udta->curnode->next;
break;
case 4:
/* wait for remaining receive activity to terminate */
service_receive();
udta->substt = finish_receive()? 4:5;
break;
case 5:
/* close down link */
udta->substt = terminate_link()? 5:6;
break;
case 6:
/* process exit codes */
if (ComCarrierLost())
set_cancel_link(CANCEL_CARRIER_LOST);
if ((WS.files_received+WS.files_sent) ==0)
set_cancel_link(CANCEL_NO_FILES);
ComClose();
close_display();
cprintf("HS/Link finished! (t:%d r:%d)",WS.files_sent,WS.files_received);
cprintf(" Exit code = %d\r\n",(int)WS.cancel_link);
udta->substt = 0;
break;
}
/* if substt is 0 we are done and need to free the workspace */
if (udta->substt == 0)
{
current_hsws = 0;
mem_free(udta->appws);
udta->appws = 0;
}
/* otherwise we need more calls- return non 0 */
return udta->substt;
}
/* This function is the C equivalent of the C++ destructor. It should be *
* called when the program is completely finished with the ComPort_t *
* structure. */
void ComDestroy(ComPort_t *Port) {
ComClose(Port);
}