/*! \brief Set the default timeout value to use in blocking operations.
\details This function sets the value of m_timeout. There is no infinity value. The value 0
means that the default value is used.
\param ms The desired timeout in milliseconds
\returns XRV_OK if the timeout value was successfully updated
*/
XsResultValue UsbInterface::setTimeout(uint32_t ms)
{
#ifdef USE_WINUSB
JLDEBUG(gJournal, "Request to set timeout to " << ms << " ms overridden, setting to 0 ms instead");
ms = 0; // no timeout ever
UCHAR enable = FALSE;
d->m_winUsb.SetPipePolicy(d->m_usbHandle[1], d->m_bulkInPipe, IGNORE_SHORT_PACKETS, sizeof(UCHAR), &enable); //lint !e534
d->m_winUsb.SetPipePolicy(d->m_usbHandle[1], d->m_bulkInPipe, PIPE_TRANSFER_TIMEOUT, sizeof(ULONG), &ms); //lint !e534
d->m_timeout = ms;
#else
JLDEBUG(gJournal, "Setting timeout to " << ms);
if (ms == 0)
d->m_timeout = 1;
else
d->m_timeout = ms;
#endif
return (d->m_lastResult = XRV_OK);
}
/*! \brief Sets the RAWIO mode of the USB interface
\note Only applies to WinUSB implementations
\param enable : If true will enable RAW IO mode
*/
void UsbInterface::setRawIo(bool enable)
{
JLDEBUG(gJournal, "Setting RAWIO mode to " << enable);
#ifdef USE_WINUSB
enable = false; // never use raw IO
UCHAR rawIo = (UCHAR)enable;
d->m_winUsb.SetPipePolicy(d->m_usbHandle[1], d->m_bulkInPipe, RAW_IO, sizeof(UCHAR), &rawIo); //lint !e534
#else
(void)enable;
#endif
d->m_lastResult = XRV_OK;
}
/*! \brief Set the default timeout value to use in blocking operations.
\details This function sets the value of m_timeout. There is no infinity value. The value 0
means that all blocking operations now become polling (non-blocking) operations.
If the value is set to or from 0, the low-level serial port settings may be
changed in addition to the m_timeout value.
\param ms The new timeout in milliseconds
\returns XRV_OK if the function succeeded
*/
XsResultValue SerialInterface::setTimeout (const uint32_t ms)
{
JLDEBUG(gJournal, "Setting timeout to " << ms << " ms");
m_timeout = ms;
#ifdef _WIN32
// Set COM timeouts
COMMTIMEOUTS commTimeouts;
if (!GetCommTimeouts(m_handle,&commTimeouts)) // Fill CommTimeouts structure
return m_lastResult = XRV_ERROR;
// immediate return if data is available, wait 1ms otherwise
if (m_timeout > 0)
{
commTimeouts.ReadIntervalTimeout = 0;
commTimeouts.ReadTotalTimeoutConstant = m_timeout; // ms time
commTimeouts.ReadTotalTimeoutMultiplier = 0;
commTimeouts.WriteTotalTimeoutConstant = m_timeout;
commTimeouts.WriteTotalTimeoutMultiplier = 0;
}
else
{
// immediate return whether data is available or not
commTimeouts.ReadIntervalTimeout = MAXDWORD;
commTimeouts.ReadTotalTimeoutConstant = 0;
commTimeouts.ReadTotalTimeoutMultiplier = 0;
commTimeouts.WriteTotalTimeoutConstant = 0;
commTimeouts.WriteTotalTimeoutMultiplier = 0;
}
if (!SetCommTimeouts(m_handle, &commTimeouts)) // Set CommTimeouts structure
return m_lastResult = XRV_ERROR;
#else
// Timeout 0.1 sec for first byte, read minimum of 0 bytes
m_commState.c_cc[VMIN] = 0;
m_commState.c_cc[VTIME] = (m_timeout+99)/100; // ds time
// Set the new options for the port if it is open
if (isOpen())
tcsetattr(m_handle,TCSANOW, &m_commState);
#endif
return (m_lastResult = XRV_OK);
}
/*! \brief Enumerate Xsens USB devices
If the OS already has drivers running for a device, the device should already have been
found by xsEnumerateSerialPorts().
\param[in,out] ports The list of serial ports to append to
*/
bool xsEnumerateUsbDevices(XsPortInfoList& ports)
{
XsPortInfo current;
#ifdef USE_WINUSB
BOOL bResult = FALSE;
ULONG length;
ULONG requiredLength=0;
// {FD51225C-700A-47e5-9999-B2D9031B88ED}
GUID guid = { 0xfd51225c, 0x700a, 0x47e5, { 0x99, 0x99, 0xb2, 0xd9, 0x3, 0x1b, 0x88, 0xed } };
HDEVINFO deviceInfo;
SP_DEVICE_INTERFACE_DATA interfaceData;
PSP_DEVICE_INTERFACE_DETAIL_DATA_A detailData = NULL;
deviceInfo = SetupDiGetClassDevs(&guid, NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE);
// Initialize variables.
interfaceData.cbSize = sizeof(SP_INTERFACE_DEVICE_DATA);
int port = 0;
for (DWORD dwIndex = 0; port == 0; ++dwIndex)
{
BOOL bRet = SetupDiEnumDeviceInterfaces( deviceInfo, NULL, &guid, dwIndex, &interfaceData);
if (!bRet)
{
if (GetLastError() == ERROR_NO_MORE_ITEMS)
break;
}
else
{
if (!SetupDiGetDeviceInterfaceDetail(deviceInfo, &interfaceData, NULL, 0, &requiredLength, NULL))
{
if (GetLastError() != ERROR_INSUFFICIENT_BUFFER)
{
SetupDiDestroyDeviceInfoList(deviceInfo);
return false;
}
}
detailData = (PSP_DEVICE_INTERFACE_DETAIL_DATA_A)LocalAlloc(LMEM_FIXED, requiredLength);
if (NULL == detailData)
{
SetupDiDestroyDeviceInfoList(deviceInfo);
return false;
}
detailData->cbSize = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA_A);
length = requiredLength;
SP_DEVINFO_DATA DevInfoData;
DevInfoData.cbSize = sizeof(SP_DEVINFO_DATA);
bResult = SetupDiGetDeviceInterfaceDetailA(deviceInfo, &interfaceData, detailData, length, &requiredLength, &DevInfoData);
if (!bResult)
{
LocalFree(detailData);
SetupDiDestroyDeviceInfoList(deviceInfo);
return false;
}
unsigned char serialNumber[256];
char* ptrEnd, *ptrStart = strchr(detailData->DevicePath, '#');
if (!ptrStart)
continue;
ptrStart = strchr(ptrStart+1, '#');
if (!ptrStart)
continue;
ptrEnd = strchr(ptrStart+1, '#');
if (!ptrEnd)
continue;
strncpy((char*)serialNumber, ptrStart+1, ptrEnd-ptrStart-1);
serialNumber[ptrEnd-ptrStart-1] = '\0';
current.setPortName(detailData->DevicePath);
int id = 0;
sscanf((const char *)serialNumber, "%X", &id);
current.setDeviceId((uint32_t) id);
ports.push_back(current);
}
}
SetupDiDestroyDeviceInfoList(deviceInfo);
return true;
#elif defined(HAVE_LIBUSB)
XsLibUsb libUsb;
libusb_context *context;
int result = libUsb.init(&context);
if (result != LIBUSB_SUCCESS)
return true;
libusb_device **deviceList;
ssize_t deviceCount = libUsb.get_device_list(context, &deviceList);
for (ssize_t i = 0; i < deviceCount; i++)
{
libusb_device *device = deviceList[i];
libusb_device_descriptor desc;
result = libUsb.get_device_descriptor(device, &desc);
if (result != LIBUSB_SUCCESS)
continue;
if (desc.idVendor != XSENS_VENDOR_ID && desc.idVendor != ATMEL_VENDOR_ID)
continue;
libusb_device_handle *handle;
result = libUsb.open(device, &handle);
if (result != LIBUSB_SUCCESS)
continue;
unsigned char serialNumber[256];
result = libUsb.get_string_descriptor_ascii(handle, desc.iSerialNumber, serialNumber, 256);
if (desc.idVendor == ATMEL_VENDOR_ID && desc.idProduct == ATMEL_BORROWED_PRODUCT_ID)
{
unsigned char productName[256];
result = libUsb.get_string_descriptor_ascii(handle, desc.iProduct, productName, 256);
if (strcmp("Xsens COM port", (const char *)productName) != 0)
{
libUsb.close(handle);
continue;
}
}
libusb_config_descriptor *configDesc;
result = libUsb.get_active_config_descriptor(device, &configDesc);
if (result != LIBUSB_SUCCESS)
{
libUsb.close(handle);
continue;
}
bool kernelActive = false;
for (uint8_t ifCount = 0; ifCount < configDesc->bNumInterfaces; ++ifCount) {
int res = libUsb.kernel_driver_active(handle, ifCount);
kernelActive |= (res == 1);
}
libUsb.free_config_descriptor(configDesc);
if (!kernelActive)
{
char name[256];
sprintf(name, "USB%03u:%03u", libUsb.get_bus_number(device),
libUsb.get_device_address(device));
current.setPortName(name);
int id = 0;
sscanf((const char *)serialNumber, "%X", &id);
current.setDeviceId((uint32_t) id);
ports.push_back(current);
}
else
{
JLDEBUG(gJournal, "Kernel driver active on USB" <<
libUsb.get_bus_number(device) << ":" << libUsb.get_device_address(device) <<
" device " << serialNumber);
}
libUsb.close(handle);
}
libUsb.free_device_list(deviceList, 1);
libUsb.exit(context);
return true;
#else
(void)ports;
return false;
#endif
}
/*! \brief Open a communication channel to the given USB port name. */
XsResultValue UsbInterface::open(const XsPortInfo &portInfo, uint32_t, uint32_t)
{
d->m_endTime = 0;
#ifdef USE_WINUSB
JLDEBUG(gJournal, "Open usb port " << portInfo.portName().toStdString());
#else
JLDEBUG(gJournal, "Open usb port " << portInfo.usbBus() << ":" << portInfo.usbAddress());
#endif
if (isOpen())
{
JLALERT(gJournal, "Port " << portInfo.portName().toStdString() << " already open");
return (d->m_lastResult = XRV_ALREADYOPEN);
}
#ifdef USE_WINUSB
d->m_deviceHandle = CreateFileA(portInfo.portName().c_str(),
GENERIC_WRITE | GENERIC_READ,
FILE_SHARE_WRITE | FILE_SHARE_READ,
NULL,
OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED,
NULL);
if (d->m_deviceHandle == INVALID_HANDLE_VALUE)
{
d->m_deviceHandle = NULL;
return (d->m_lastResult = XRV_PORTNOTFOUND);
}
BOOL result = FALSE;
UCHAR speed = 0;
ULONG length = 0;
USB_INTERFACE_DESCRIPTOR interfaceDescriptor = {0,0,0,0,0,0,0,0,0};
WINUSB_PIPE_INFORMATION pipeInfo;
result = d->m_winUsb.Initialize(d->m_deviceHandle, &d->m_usbHandle[0]);
if (result)
{
result = d->m_winUsb.GetAssociatedInterface(d->m_usbHandle[0],0,&d->m_usbHandle[1]);
}
else
{
#ifdef XSENS_DEBUG
DWORD err = GetLastError();
assert(result);
#endif
return (d->m_lastResult = XRV_ERROR);
}
for (int k = 0; k<2;k++)
{
if(result)
{
assert(d->m_usbHandle[k] != 0);
length = sizeof(UCHAR);
result = d->m_winUsb.QueryDeviceInformation(d->m_usbHandle[k],
DEVICE_SPEED,
&length,
&speed);
}
if(result)
{
d->m_deviceSpeed = speed;
result = d->m_winUsb.QueryInterfaceSettings(d->m_usbHandle[k],
0,
&interfaceDescriptor);
}
if(result)
{
for(int i=0;i<interfaceDescriptor.bNumEndpoints;i++)
{
result = d->m_winUsb.QueryPipe(d->m_usbHandle[k],
0,
(UCHAR) i,
&pipeInfo);
if(pipeInfo.PipeType == UsbdPipeTypeBulk &&
USB_ENDPOINT_DIRECTION_IN(pipeInfo.PipeId))
{
d->m_bulkInPipe = pipeInfo.PipeId;
d->m_bulkInPipePacketSize =
pipeInfo.MaximumPacketSize;
}
else if(pipeInfo.PipeType == UsbdPipeTypeBulk &&
USB_ENDPOINT_DIRECTION_OUT(pipeInfo.PipeId))
{
d->m_bulkOutPipe = pipeInfo.PipeId;
}
else if(pipeInfo.PipeType == UsbdPipeTypeInterrupt)
{
d->m_interruptPipe = pipeInfo.PipeId;
}
else
{
result = FALSE;
break;
}
}
}
}
setTimeout(0); //lint !e534
flushData(); //lint !e534
sprintf(d->m_portname, "%s", portInfo.portName().c_str());
// d->m_offset = 0;
::ResetEvent(&d->m_quitEvent); //lint !e534
d->m_threadHandle = xsStartThread(usbReadThreadFunc, d, &d->m_threadId);
if (d->m_threadHandle == XSENS_INVALID_THREAD)
{
#ifdef XSENS_DEBUG
assert(0);
#endif
return (d->m_lastResult = XRV_ERROR);
}
#else // !USE_WINUSB
libusb_device **deviceList;
ssize_t listLength = UsbInterfacePrivate::getContextManager().m_libUsb.get_device_list(UsbInterfacePrivate::getContextManager().m_usbContext, &deviceList);
if (listLength < 0)
return d->m_lastResult = d->libusbErrorToXrv((int)listLength);
// "USBxxx:yyy"
uint8_t bus = XsPortInfo_usbBus(&portInfo);
uint8_t address = XsPortInfo_usbAddress(&portInfo);
XsResultValue xrv = XRV_OK;
int result;
libusb_device *device = NULL;
for (int i = 0; i < listLength && device == NULL; ++i) {
libusb_device *dev = deviceList[i];
if (UsbInterfacePrivate::getContextManager().m_libUsb.get_bus_number(dev) != bus || UsbInterfacePrivate::getContextManager().m_libUsb.get_device_address(dev) != address)
continue;
libusb_device_descriptor desc;
result = UsbInterfacePrivate::getContextManager().m_libUsb.get_device_descriptor(dev, &desc);
if (result != LIBUSB_SUCCESS)
break;
libusb_config_descriptor *configDesc;
result = UsbInterfacePrivate::getContextManager().m_libUsb.get_active_config_descriptor(dev, &configDesc);
if (result != LIBUSB_SUCCESS)
break;
d->m_interface = -1;
d->m_interfaceCount = configDesc->bNumInterfaces;
// find the bulk transfer endpoints
for (uint8_t ifCount = 0; ifCount < configDesc->bNumInterfaces && d->m_interface == -1; ++ifCount) {
for (uint8_t altsettingCount = 0; altsettingCount < configDesc->interface[ifCount].num_altsetting; altsettingCount++) {
const libusb_endpoint_descriptor *endpoints = configDesc->interface[ifCount].altsetting[altsettingCount].endpoint;
int inEndpoint = -1, outEndpoint = -1;
for (uint8_t i = 0; i < configDesc->interface[ifCount].altsetting[altsettingCount].bNumEndpoints; i++) {
if ((endpoints[i].bmAttributes&LIBUSB_TRANSFER_TYPE_MASK) != LIBUSB_TRANSFER_TYPE_BULK)
continue;
switch (endpoints[i].bEndpointAddress&LIBUSB_ENDPOINT_DIR_MASK) {
case LIBUSB_ENDPOINT_IN:
inEndpoint = endpoints[i].bEndpointAddress&LIBUSB_ENDPOINT_ADDRESS_MASK;
break;
case LIBUSB_ENDPOINT_OUT:
outEndpoint = endpoints[i].bEndpointAddress&LIBUSB_ENDPOINT_ADDRESS_MASK;
break;
}
}
if (outEndpoint == -1 || inEndpoint == -1)
continue;
d->m_interface = ifCount;
d->m_dataOutEndPoint = outEndpoint;
d->m_dataInEndPoint = inEndpoint;
}
}
if (d->m_interface == -1) {
xrv = XRV_INPUTCANNOTBEOPENED;
break;
}
UsbInterfacePrivate::getContextManager().m_libUsb.free_config_descriptor(configDesc);
UsbInterfacePrivate::getContextManager().m_libUsb.ref_device(dev);
device = dev;
result = LIBUSB_SUCCESS;
}
UsbInterfacePrivate::getContextManager().m_libUsb.free_device_list(deviceList, 1);
if (result != LIBUSB_SUCCESS) {
UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
return d->m_lastResult = d->libusbErrorToXrv(result);
}
if (xrv != XRV_OK) {
UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
return d->m_lastResult = xrv;
}
libusb_device_handle *handle;
result = UsbInterfacePrivate::getContextManager().m_libUsb.open(device, &handle);
if (result != LIBUSB_SUCCESS) {
UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
return d->m_lastResult = d->libusbErrorToXrv(result);
}
// be rude and claim all interfaces
for (int i = 0; i < d->m_interfaceCount; i++) {
result = UsbInterfacePrivate::getContextManager().m_libUsb.kernel_driver_active(handle, i);
if (result > 0)
result = UsbInterfacePrivate::getContextManager().m_libUsb.detach_kernel_driver(handle, i);
if (result == LIBUSB_SUCCESS)
result = UsbInterfacePrivate::getContextManager().m_libUsb.claim_interface(handle, i);
if (result != LIBUSB_SUCCESS) {
for (int j = 0; j < i; j++) {
while (result != LIBUSB_SUCCESS) {
result = UsbInterfacePrivate::getContextManager().m_libUsb.release_interface(handle, j);
UsbInterfacePrivate::getContextManager().m_libUsb.attach_kernel_driver(handle, j);
}
}
UsbInterfacePrivate::getContextManager().m_libUsb.close(handle);
UsbInterfacePrivate::getContextManager().m_libUsb.unref_device(device);
return d->m_lastResult = d->libusbErrorToXrv(result);
}
}
d->m_deviceHandle = handle;
sprintf(d->m_portname, "%s", portInfo.portName().c_str());
flushData();
#endif // !USE_WINUSB
JLDEBUG(gJournal, "USB Port opened");
return (d->m_lastResult = XRV_OK);
}
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 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)
\returns XRV_OK if the device was opened successfully
*/
XsResultValue SerialInterface::open(const XsPortInfo& portInfo,
uint32_t readBufSize,
uint32_t writeBufSize)
{
m_endTime = 0;
JLDEBUG(gJournal, "port " << portInfo.portName().toStdString() << " at " << portInfo.baudrate() << " baud");
if (isOpen())
{
JLALERT(gJournal, "Port " << portInfo.portName().toStdString() << " is already open");
return (m_lastResult = XRV_ALREADYOPEN);
}
m_baudrate = portInfo.baudrate();
#ifdef _WIN32
XsResultValue fail = XRV_OK;
char winPortName[32];
// 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().toStdString() << " 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 = TWOSTOPBITS; // Setup the stop bits
commState.fDsrSensitivity = FALSE; // Setup the flow control
commState.fOutxCtsFlow = FALSE; // NoFlowControl:
commState.fOutxDsrFlow = FALSE;
commState.fOutX = FALSE;
commState.fInX = FALSE;
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 (!EscapeCommFunction(m_handle, SETRTS)) // Enable RTS (for Xbus Master use)
fail = XRV_ERROR;
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);
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
if (tcsetattr(m_handle,TCSANOW, &m_commState) != 0)
return XRV_INPUTCANNOTBEOPENED;
termios checkCommState;
if (tcgetattr(m_handle, &checkCommState) != 0)
return XRV_ERROR;
if ((m_commState.c_cflag != checkCommState.c_cflag) ||
(m_commState.c_iflag != checkCommState.c_iflag) ||
(m_commState.c_oflag != checkCommState.c_oflag) ||
(m_commState.c_cc[VMIN] != checkCommState.c_cc[VMIN]) ||
(m_commState.c_cc[VTIME] != checkCommState.c_cc[VTIME]))
{
JLDEBUG(gJournal, "commstates do not match, which is OK for USB connected MkIV devices");
}
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");
}
cmbits |= TIOCM_RTS|TIOCM_DTR;
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);
}
/*! \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);
}
