From: Mikko Rasa <tdb@tdb.fi>
Date: Thu, 17 Jan 2013 10:50:50 +0000 (+0200)
Subject: Use IO::Serial in the Intellibox driver
X-Git-Url: http://git.tdb.fi/?a=commitdiff_plain;h=8b828fc32fd210b6e335ac6614d269aa892d4d57;p=r2c2.git

Use IO::Serial in the Intellibox driver

This code is untested and may contain bugs.
---

diff --git a/source/libr2c2/intellibox.cpp b/source/libr2c2/intellibox.cpp
index 732e164..09e4792 100644
--- a/source/libr2c2/intellibox.cpp
+++ b/source/libr2c2/intellibox.cpp
@@ -14,44 +14,28 @@ using namespace Msp;
 namespace R2C2 {
 
 Intellibox::Intellibox(const string &dev):
+	serial(dev),
 	power(false),
 	halted(false),
 	update_sensors(false),
 	command_sent(false)
 {
-	serial_fd = ::open(dev.c_str(), O_RDWR);
-	if(serial_fd<0)
-		throw Exception("Couldn't open serial port\n");
+	static unsigned baud[]= { 2400, 4800, 9600, 19200, 0 };
 
-	static unsigned baud[]=
-	{
-		 2400, B2400,
-		 4800, B4800,
-		 9600, B9600,
-		19200, B19200,
-		0
-	};
-
-	termios attr;
-	tcgetattr(serial_fd, &attr);
-	cfmakeraw(&attr);
-	attr.c_cflag |= CSTOPB;
+	serial.set_stop_bits(2);
 
 	bool ok = false;
 	bool p50 = false;
-	for(unsigned i=0; baud[i]; i+=2)
+	for(unsigned i=0; baud[i]; ++i)
 	{
-		cfsetospeed(&attr, baud[i+1]);
-		tcsetattr(serial_fd, TCSADRAIN, &attr);
-
-		write(serial_fd, "\xC4", 1);
+		serial.set_baud_rate(baud[i]);
+		serial.put('\xC4');
 
-		pollfd pfd = { serial_fd, POLLIN, 0 };
-		if(poll(&pfd, 1, 500)>0)
+		if(IO::poll(serial, IO::P_INPUT, 500*Time::msec))
 		{
 			IO::print("IB detected at %d bits/s\n", baud[i]);
 			char buf[2];
-			p50 = (read(serial_fd, buf, 2)==2);
+			p50 = (serial.read(buf, 2)==2);
 			ok = true;
 			break;
 		}
@@ -61,7 +45,7 @@ Intellibox::Intellibox(const string &dev):
 		throw Exception("IB not detected");
 
 	if(p50)
-		write(serial_fd, "xZzA1\r", 6);
+		serial.write("xZzA1\r", 6);
 
 	command(CMD_STATUS);
 }
@@ -327,8 +311,7 @@ void Intellibox::tick()
 
 	if(!queue.empty() && command_sent)
 	{
-		pollfd pfd = { serial_fd, POLLIN, 0 };
-		if(poll(&pfd, 1, 0)>0)
+		if(IO::poll(serial, IO::P_INPUT, Time::zero))
 		{
 			process_reply(t);
 			queue.erase(queue.begin());
@@ -341,7 +324,7 @@ void Intellibox::tick()
 	if(!queue.empty())
 	{
 		const CommandSlot &slot = queue.front();
-		write(serial_fd, slot.data, slot.length);
+		serial.write(reinterpret_cast<const char *>(slot.data), slot.length);
 		command_sent = true;
 	}
 }
@@ -350,13 +333,12 @@ void Intellibox::flush()
 {
 	for(list<CommandSlot>::iterator i=queue.begin(); i!=queue.end(); ++i)
 	{
-		write(serial_fd, i->data, i->length);
-		pollfd pfd = { serial_fd, POLLIN, 0 };
+		serial.write(reinterpret_cast<const char *>(i->data), i->length);
 		bool first = true;
-		while(poll(&pfd, 1, (first ? -1 : 0))>0)
+		while(first ? IO::poll(serial, IO::P_INPUT) : IO::poll(serial, IO::P_INPUT, Time::zero))
 		{
 			char data[16];
-			read(serial_fd, data, 16);
+			serial.read(data, 16);
 			first = false;
 		}
 	}
@@ -661,7 +643,7 @@ unsigned Intellibox::read_all(unsigned char *buf, unsigned len)
 {
 	unsigned pos = 0;
 	while(pos<len)
-		pos += read(serial_fd, buf+pos, len-pos);
+		pos += serial.read(reinterpret_cast<char *>(buf+pos), len-pos);
 
 	return pos;
 }
diff --git a/source/libr2c2/intellibox.h b/source/libr2c2/intellibox.h
index be25860..d3008d2 100644
--- a/source/libr2c2/intellibox.h
+++ b/source/libr2c2/intellibox.h
@@ -2,6 +2,7 @@
 #define LIBR2C2_INTELLIBOX_H_
 
 #include <map>
+#include <msp/io/serial.h>
 #include <msp/time/timestamp.h>
 #include "driver.h"
 
@@ -112,7 +113,7 @@ private:
 		unsigned length;
 	};
 
-	int serial_fd;
+	Msp::IO::Serial serial;
 	bool power;
 	bool halted;
 	std::map<unsigned, Locomotive> locos;