void serialOpen(Serial *s, char *device, int baudCode, int _verbose) {
struct termios options;
int r;
s->verbose = _verbose;
// Open the serial port.
if(s->verbose) printf("Serial: opening serial device %s\n", device);
//s->fd = open(device, O_RDWR | O_NOCTTY | O_NDELAY);
s->fd = open(device, O_RDWR | O_NOCTTY);
if(s->fd == -1) {
int errsv = errno;
fprintf(stderr, "Serial: ERROR: Could not open serial port %s\n", device);
fprintf(stderr, "Serial: ERROR: %s\n", strerror(errsv));
exit(1);
}
// Non-blocking reads.
r = fcntl(s->fd, F_SETFL, FNDELAY);
assert(r != -1);
// Baud rate.
serialSetBaud(s, baudCode);
// Other options:
r = tcgetattr(s->fd, &options);
assert(r != -1);
// - 8N1
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
// Don't "own" the port.
options.c_cflag |= CLOCAL;
// - Allow reads.
options.c_cflag |= CREAD;
// - Raw input.
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
// - Disable parity checking.
options.c_iflag &= ~(INPCK | ISTRIP);
// - No hardware flow control.
options.c_cflag &= ~CRTSCTS;
// - No software flow control.
options.c_iflag &= ~(IXON | IXOFF | IXANY);
// - Raw output.
options.c_oflag &= ~OPOST;
// Actually set the options.
r = tcsetattr(s->fd,TCSANOW, &options);
assert(r != -1);
}
int
serialSetParameters (SerialDevice *serial, const SerialParameters *parameters) {
if (!serialSetBaud(serial, parameters->baud)) return 0;
if (!serialSetDataBits(serial, parameters->dataBits)) return 0;
if (!serialSetStopBits(serial, parameters->stopBits)) return 0;
if (!serialSetParity(serial, parameters->parity)) return 0;
if (!serialSetFlowControl(serial, parameters->flowControl)) return 0;
return 1;
}
static int
serialConfigureBaud (SerialDevice *serial, const char *string) {
if (string && *string) {
unsigned int baud;
if (!serialParseBaud(&baud, string)) return 0;
if (!serialSetBaud(serial, baud)) return 0;
}
return 1;
}
//Connect to the Barrett Hand via serial port and start the worker thread
BHand* bhand_connect(char *handport) {
int res;
BHand *hand = (BHand*)malloc(sizeof(BHand));
hand->queueHead = hand->queueTail = 0;
hand->lastResponseIndex = -1;
hand->currentCommandIndex = 0;
//connect to the hand via serial
if (serialOpen(&(hand->port),handport)==1) {
printf("bhand_connect: error opening serial port\n");
goto error;
}
serialSetBaud(&(hand->port),38400);
//create mutex
res = pthread_mutex_init(&(hand->mutex), NULL);
if (res) {
printf("bhand_connect: error creating mutex\n");
goto error;
}
//create worker thread
res = pthread_create(&(hand->thread), NULL, processCommands, (void*)hand);
if (res) {
printf("bhand_connect: error creating thread\n");
goto error;
}
//send empty command (equivalent of pressing enter)
char response[MAX_FEEDBACK_LEN];
bhand_sendCommandResponse(hand, "", response);
printf("hand connected\n");
// return
return hand;
error:
free(hand);
return NULL;
}
int
serialRestartDevice (SerialDevice *serial, unsigned int baud) {
SerialLines highLines = 0;
SerialLines lowLines = 0;
int usingB0;
#ifdef HAVE_POSIX_THREADS
SerialFlowControlProc *flowControlProc = serial->pendingFlowControlProc;
#endif /* HAVE_POSIX_THREADS */
if (serial->stream) {
#if defined(GRUB_RUNTIME)
#else /* clearerr() */
clearerr(serial->stream);
#endif /* clear error on stdio stream */
}
serialClearError(serial);
if (!serialDiscardOutput(serial)) return 0;
#ifdef HAVE_POSIX_THREADS
serial->pendingFlowControlProc = NULL;
#endif /* HAVE_POSIX_THREADS */
#ifdef B0
if (!serialPutSpeed(&serial->pendingAttributes, B0)) return 0;
usingB0 = 1;
#else /* B0 */
usingB0 = 0;
#endif /* B0 */
if (!serialFlushAttributes(serial)) {
if (!usingB0) return 0;
if (!serialSetBaud(serial, baud)) return 0;
if (!serialFlushAttributes(serial)) return 0;
usingB0 = 0;
}
if (!usingB0) {
SerialLines lines;
if (!serialReadLines(serial, &lines)) return 0;
{
static const SerialLines linesTable[] = {SERIAL_LINE_DTR, SERIAL_LINE_RTS, 0};
const SerialLines *line = linesTable;
while (*line) {
*((lines & *line)? &highLines: &lowLines) |= *line;
line += 1;
}
}
if (highLines)
if (!serialWriteLines(serial, 0, highLines|lowLines))
return 0;
}
asyncWait(SERIAL_DEVICE_RESTART_DELAY);
if (!serialDiscardInput(serial)) return 0;
if (!usingB0)
if (!serialWriteLines(serial, highLines, lowLines))
return 0;
#ifdef HAVE_POSIX_THREADS
serial->pendingFlowControlProc = flowControlProc;
#endif /* HAVE_POSIX_THREADS */
if (!serialSetBaud(serial, baud)) return 0;
if (!serialFlushAttributes(serial)) return 0;
return 1;
}
