int serial_connect(serial_t *serial, const char *device, long baudrate)
{
enum { NameLength = 11 };
char adjusted_device[NameLength];
serial_initialize(serial);
_snprintf(adjusted_device, NameLength, "\\\\.\\%s", device);
serial->hCom_ = CreateFileA(adjusted_device, GENERIC_READ | GENERIC_WRITE, 0,
NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
if (serial->hCom_ == INVALID_HANDLE_VALUE) {
printf("open failed: %s\n", device);
return -1;
}
SetupComm(serial->hCom_, 4096 * 8, 4096);
serial_setBaudrate(serial, baudrate);
serial->has_last_ch_ = False;
serial->current_timeout_ = 0;
setTimeout(serial, serial->current_timeout_);
return 0;
}
/* 接続 */
int serial_connect(serial_t *serial, const char *device, long baudrate)
{
// COM10 以降への対応用
enum { NameLength = 11 };
char adjusted_device[NameLength];
serial_initialize(serial);
/* COM ポートを開く */
_snprintf(adjusted_device, NameLength, "\\\\.\\%s", device);
serial->hCom_ = CreateFileA(adjusted_device, GENERIC_READ | GENERIC_WRITE, 0,
NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
if (serial->hCom_ == INVALID_HANDLE_VALUE) {
printf("open failed: %s\n", device);
return -1;
}
/* 通信サイズの更新 */
SetupComm(serial->hCom_, 4096 * 8, 4096);
/* ボーレートの変更 */
serial_setBaudrate(serial, baudrate);
/* シリアル制御構造体の初期化 */
serial->has_last_ch_ = False;
/* タイムアウトの設定 */
serial->current_timeout_ = 0;
setTimeout(serial, serial->current_timeout_);
return 0;
}
/* �ڑ� */
int serial_connect(serial_t *serial, const char *device, long baudrate)
{
int flags = 0;
int ret = 0;
serial_initialize(serial);
#ifndef MAC_OS
enum { O_EXLOCK = 0x0 }; /* Linux �ł͎g���Ȃ��̂Ń_�~�[���쐬���Ă��� */
#endif
serial->fd_ = open(device, O_RDWR | O_EXLOCK | O_NONBLOCK | O_NOCTTY);
if (serial->fd_ < 0) {
/* �ڑ��Ɏ��s */
strerror_r(errno, serial->error_string_, SerialErrorStringSize);
return SerialConnectionFail;
}
flags = fcntl(serial->fd_, F_GETFL, 0);
fcntl(serial->fd_, F_SETFL, flags & ~O_NONBLOCK);
/* �V���A���ʐM�̏��� */
tcgetattr(serial->fd_, &serial->sio_);
serial->sio_.c_iflag = 0;
serial->sio_.c_oflag = 0;
serial->sio_.c_cflag &= ~(CSIZE | PARENB | CSTOPB);
serial->sio_.c_cflag |= CS8 | CREAD | CLOCAL;
serial->sio_.c_lflag &= ~(ICANON | ECHO | ISIG | IEXTEN);
serial->sio_.c_cc[VMIN] = 0;
serial->sio_.c_cc[VTIME] = 0;
/* �{�[���[�g�̕ύX */
ret = serial_setBaudrate(serial, baudrate);
if (ret < 0) {
return ret;
}
/* �V���A������\���̂̏��� */
serial->has_last_ch_ = False;
return 0;
}
static int urg_firstConnection(urg_t *urg, long baudrate)
{
long try_baudrates[] = { 115200, 19200, 38400 };
int try_size = sizeof(try_baudrates) / sizeof(try_baudrates[0]);
long pre_ticks;
int reply = 0;
int ret;
int i;
/* The baud rate to be connected is replaced with the first element
of the array. */
for (i = 1; i < try_size; ++i) {
if (baudrate == try_baudrates[i]) {
long swap_tmp = try_baudrates[i];
try_baudrates[i] = try_baudrates[0];
try_baudrates[0] = swap_tmp;
break;
}
}
/* Try to connect with the specified baudrate , and check for response */
for (i = 0; i < try_size; ++i) {
/* Change host side baudrate */
ret = serial_setBaudrate(&urg->serial_, try_baudrates[i]);
if (ret < 0) {
return ret;
}
serial_clear(&urg->serial_);
/* Send QT command */
ret = scip_qt(&urg->serial_, &reply, ScipWaitReply);
if (ret == UrgSerialRecvFail) {
/* If there is no response, consider that there is mismatch in baudrate */
continue;
}
if ((ret == UrgMismatchResponse) && (reply != -0xE)) {
/* Process when response from MD/MS command is received */
/* Read out all data and then proceed for the next one */
/* (reply == -0xE) means SCIP1.1 error 'E' */
serial_clear(&urg->serial_);
serial_skip(&urg->serial_, ScipTimeout, EachTimeout);
reply = 0x00;
}
/* If the response is returned, consider that sensor is already in SCIP2.0
mode and no need to send SCIP2.0 */
if (reply != 0x00) {
if ((ret = scip_scip20(&urg->serial_)) < 0) {
/* If there is no response , continue with other baudrate */
continue;
}
if (ret == 12) {
/* SCIP1.1 protocol */
return UrgScip10;
}
}
/* Returns if there is no need to change baudrate */
if (baudrate == try_baudrates[i]) {
return 0;
}
/* Change the baud rate as specified by URG */
pre_ticks = urg_ticks();
if (scip_ss(&urg->serial_, baudrate) < 0) {
return UrgSsFail;
} else {
/* In case of serial communication, it is necessary to wait for
one scan after baud rate is changed. */
long reply_msec = urg_ticks() - pre_ticks;
urg_delay((reply_msec * 4 / 3) + 10);
return serial_setBaudrate(&urg->serial_, baudrate);
}
}
return UrgAdjustBaudrateFail;
}
