/**
* @file SerialPortUnixBase.h
* @author itas109 (itas109@qq.com) \n\n
* Blog : https://blog.csdn.net/itas109 \n
* Github : https://github.com/itas109 \n
* QQ Group : 12951803
* @brief the CSerialPort unix Base class unix串口基类
* @date 2020-04-29
* @copyright The CSerialPort is Copyright (C) 2021 itas109. \n
* Contact: itas109@qq.com \n\n
* You may use, distribute and copy the CSerialPort under the terms of \n
* GNU Lesser General Public License version 3, which is displayed below.
*/
#ifndef __CSERIALPORTUNIXBASE_H__
#define __CSERIALPORTUNIXBASE_H__
#include "SerialPortBase.h"
#include <errno.h> /* Error number definitions */
#include <fcntl.h> /* File control definitions */
#include <stdio.h> /* Standard input/output definitions */
#include <string.h> /* String function definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <sys/ioctl.h> //ioctl
// Serial Programming Guide for POSIX Operating Systems
// https://digilander.libero.it/robang/rubrica/serial.htm
// https://blog.csdn.net/u014650722/article/details/51610587
// sigslot
// https://sourceforge.net/p/sigslot/bugs/8/
#include "sigslot.h"
// https://blog.csdn.net/u010317005/article/details/52384890
// Linux compile 1
// g++ SerialPort.cpp SerialPortBase.cpp SerialPortUnixBase.cpp -fPIC -lpthread -shared -o libsp.so
// g++ t.cpp -o sp -L. -lsp
// export LD_LIBRARY_PATH=./
// ./sp
// Linux compile 2
// g++ sp.cpp SerialPort.cpp SerialPortBase.cpp SerialPortUnixBase.cpp -lpthread -o sp
// ./sp
// sp.cpp
/*
#include <iostream>
#include "SerialPort.h"
#include "sigslot.h"
using namespace itas109;
using namespace std;
int main()
{
CSerialPort sp;
sp.init("/dev/ttyS0");
sp.open();
cout << sp.isOpened() <<endl;
while (1);
return 0;
}
*/
/**
* @brief the CSerialPort unix Base class unix串口基类
* @see inherit 继承 CSerialPortBase
*
*/
class CSerialPortUnixBase : public CSerialPortBase
{
public:
/**
* @brief Construct a new CSerialPortUnixBase object 构造函数
*
*/
CSerialPortUnixBase(){
construct();
}
/**
* @brief Construct a new CSerialPortUnixBase object 通过串口名称构造函数
*
* @param portName [in] the port name 串口名称 Windows:COM1 Linux:/dev/ttyS0
*/
CSerialPortUnixBase(const std::string &portName){
construct();
}
/**
* @brief Destroy the CSerialPortUnixBase object 析构函数
*
*/
virtual ~CSerialPortUnixBase(){
pthread_mutex_destroy(&m_communicationMutex);
}
/**
* @brief parameter init 参数初始化
*
*/
virtual void construct(){
fd = -1;
m_baudRate = itas109::BaudRate9600;
m_parity = itas109::ParityNone;
m_dataBits = itas109::DataBits8;
m_stopbits = itas109::StopOne;
m_flowControl = itas109::FlowNone;
m_readBufferSize = 512;
m_isThreadRunning = false;
m_operateMode = itas109::AsynchronousOperate;
pthread_mutex_init(&m_communicationMutex, NULL);
}
/**
* @brief init 初始化函数
*
* @param portName [in] the port name串口名称 Windows:COM1 Linux:/dev/ttyS0
* @param baudRate [in] the baudRate 波特率
* @param parity [in] the parity 校验位
* @param dataBits [in] the dataBits 数据位
* @param stopbits [in] the stopbits 停止位
* @param flowControl [in] flowControl type 流控制
* @param readBufferSize [in] the read buffer size 读取缓冲区大小
*/
virtual void init(std::string portName,
int baudRate = itas109::BaudRate9600,
itas109::Parity parity = itas109::ParityNone,
itas109::DataBits dataBits = itas109::DataBits8,
itas109::StopBits stopbits = itas109::StopOne,
itas109::FlowControl flowControl = itas109::FlowNone,
int64 readBufferSize = 512){
m_portName = portName; // portName;//串口 /dev/ttySn, USB /dev/ttyUSBn
m_baudRate = baudRate;
m_parity = parity;
m_dataBits = dataBits;
m_stopbits = stopbits;
m_flowControl = flowControl;
m_readBufferSize = readBufferSize;
}
/**
* @brief open serial port 打开串口
*
* @return
* @retval true open success 打开成功
* @retval false open failed 打开失败
*/
virtual bool openPort(){
bool bRet = false;
lock();
// fd = open(m_portName.c_str(),O_RDWR | O_NOCTTY);//阻塞
fd = open(m_portName.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); //非阻塞
if (fd != -1)
{
// if(fcntl(fd,F_SETFL,FNDELAY) >= 0)//非阻塞，覆盖前面open的属性
if (fcntl(fd, F_SETFL, 0) >= 0) // 阻塞，即使前面在open串口设备时设置的是非阻塞的，这里设为阻塞后，以此为准
{
// set param
if (uart_set(fd, m_baudRate, m_parity, m_dataBits, m_stopbits, m_flowControl) == -1)
{
fprintf(stderr, "uart set failed!\n");
// exit(EXIT_FAILURE);
bRet = false;
lastError = itas109::/*SerialPortError::*/ InvalidParameterError;
}
else
{
m_isThreadRunning = true;
bRet = startThreadMonitor();
if (!bRet)
{
m_isThreadRunning = false;
lastError = itas109::/*SerialPortError::*/ SystemError;
}
}
}
else
{
bRet = false;
lastError = itas109::/*SerialPortError::*/ SystemError;
}
}
else
{
// Could not open the port
char str[256];
snprintf(str, sizeof(str), "open port error: Unable to open %s", m_portName.c_str());
perror(str);
bRet = false;
lastError = itas109::/*SerialPortError::*/ OpenError;
}
if (!bRet)
{
closePort();
}
unlock();
return bRet;
}
/**
* @brief close 关闭串口
*
*/
virtual void closePort(){
if (isOpened())
{
stopThreadMonitor();
close(fd);
fd = -1;
}
}
/**
* @brief if serial port is open success 串口是否打开成功
*
* @return
* @retval true serial port open success 串口打开成功
* @retval false serial port open failed 串口打开失败
*/
virtual bool isOpened(){
return fd != -1;
}
/**
* @brief read specified length data 读取指定长度数据
*
* @param data [out] read data result 读取结果
* @param maxSize [in] read length 读取长度
* @return return number Of bytes read 返回读取字节数
* @retval -1 read error 读取错误
* @retval [other] return number Of bytes read 返回读取字节数
*/
virtual int readData(char *data, int maxSize){
int iRet = -1;
lock();
if (isOpened())
{
iRet = read(fd, data, maxSize);
}
else
{
lastError = itas109::/*SerialPortError::*/ NotOpenError;
iRet = -1;
}
unlock();
return iRet;
}
/**
* @brief read all data 读取所有数据
*
* @param data [out] read data result 读取结果
* @return return number Of bytes read 返回读取字节数
* @retval -1 read error 读取错误
* @retval [other] return number Of bytes read 返回读取字节数
*/
virtual int readAllData(char *data){
int readbytes = 0;
// read前获取可读的字节数,不区分阻塞和非阻塞
ioctl(fd, FIONREAD, &readbytes);
return readData(data, readbytes);
}
/**
* @brief read line data 读取一行字符串
* @todo Not implemented 未实现
*
* @param data
* @param maxSize
* @return int
*/
virtual int readLineData(char *data, int maxSize){
int iRet = -1;
lock();
if (isOpened())
{
}
else
{
lastError = itas109::/*SerialPortError::*/ NotOpenError;
iRet = -1;
}
unlock();
return iRet;
}
/**
* @brief write specified lenfth data 写入指定长度数据
*
* @param data [in] write data 待写入数据
* @param maxSize [in] wtite length 写入长度
* @return return number Of bytes write 返回写入字节数
* @retval -1 read error 写入错误
* @retval [other] return number Of bytes write 返回写入字节数
*/
virtual int writeData(const char *data, int maxSize){
int iRet = -1;
// lock();
if (isOpened())
{
// Write N bytes of BUF to FD. Return the number written, or -1
iRet = write(fd, data, maxSize);
}
else
{
lastError = itas109::/*SerialPortError::*/ NotOpenError;
iRet = -1;
}
// unlock();
return iRet;
}
/**
* @brief Set Debug Model 设置调试模式
* @details output serial port read and write details info 输出串口读写的详细信息
* @todo Not implemented 未实现
*
* @param isDebug true if enable true为启用
*/
virtual void setDebugModel(bool isDebug){
}
/**
* @brief Set the Read Time Interval object
* @details use timer import effectiveness 使用定时器提高效率
* @todo Not implemented 未实现
*
* @param msecs read time micro second 读取间隔时间，单位：毫秒
*/
virtual void setReadTimeInterval(int msecs){
}
/**
* @brief setMinByteReadNotify set minimum byte of read notify 设置读取通知触发最小字节数
* @param minByteReadNotify minimum byte of read notify 读取通知触发最小字节数
*/
virtual void setMinByteReadNotify(unsigned int minByteReadNotify = 2){
m_minByteReadNotify = minByteReadNotify;
}
/**
* @brief Get the Last Error object 获取最后的错误代码
*
* @return return last error code, refrence {@link itas109::SerialPortError} 错误代码
*/
virtual int getLastError() const{
return lastError;
}
/**
* @brief clear error 清除错误信息
*
*/
virtual void clearError(){
lastError = itas109::NoError;
}
/**
* @brief Set the Port Name object 设置串口名称
*
* @param portName [in] the port name 串口名称 Windows:COM1 Linux:/dev/ttyS0
*/
virtual void setPortName(std::string portName){
m_portName = portName;
}
/**
* @brief Get the Port Name object 获取串口名称
*
* @return return port name 返回串口名称
*/
virtual std::string getPortName() const{
return m_portName;
}
/**
* @brief Set the Baud Rate object 设置波特率
*
* @param baudRate [in] the baudRate 波特率
*/
virtual void setBaudRate(int baudRate){
m_baudRate = baudRate;
}
/**
* @brief Get the Baud Rate object 获取波特率
*
* @return return baudRate 返回波特率
*/
virtual int getBaudRate() const{
return m_baudRate;
}
/**
* @brief Set the Parity object 设置校验位
*
* @param parity [in] the parity 校验位 {@link itas109::Parity}
*/
virtual void setParity(itas109::Parity parity){
m_parity = parity;
}
/**
* @brief Get the Parity object 获取校验位
*
* @return return parity 返回校验位 {@link itas109::Parity}
*/
virtual itas109::Parity getParity() const{
return m_parity;
}
/**
* @brief Set the Data Bits object 设置数据位
*
* @param dataBits [in] the dataBits 数据位 {@link itas109::DataBits}
*/
virtual void setDataBits(itas109::DataBits dataBits){
m_dataBits = dataBits;
}
/**
* @brief Get the Data Bits object 获取数据位
*
* @return return dataBits 返回数据位 {@link itas109::DataBits}
*/
virtual itas109::DataBits getDataBits() const{
return m_dataBits;
}
/**
* @brief Set the Stop Bits object 设置停止位
*
* @param stopbits [in] the stopbits 停止位 {@link itas109::StopBits}
*/
virtual void setStopBits(itas109::StopBits stopbits){
m_stopbits = stopbits;
}
/**
* @brief Get the Stop Bits object 获取停止位
*
* @return return stopbits 返回停止位 {@link itas109::StopBits}
*/
virtual itas109::StopBits getStopBits() const{
return m_stopbits;
}
/**
* @brief Set the Flow Control object 设置流控制
* @todo Not implemented 未实现
*
* @param flowControl [in]
*/
virtual void setFlowControl(itas109::FlowControl flowControl){
m_flowControl = flowControl;
}
/**
* @brief Get the Flow Control object 获取流控制
* @todo Not implemented 未实现
*
* @return itas109::FlowControl
*/
virtual itas109::FlowControl getFlowControl() const{
return m_flowControl;
}
/**
* @brief Set the Read Buffer Size object 设置读取缓冲区大小
*
* @param size [in] read buffer size 读取缓冲区大小
*/
virtual void setReadBufferSize(int64 size){
m_readBufferSize = size;
}
/**
* @brief Get the Read Buffer Size object 获取读取缓冲区大小
*
* @return return read buffer size 返回读取缓冲区大小
*/
virtual int64 getReadBufferSize() const{
return m_readBufferSize;
}
/**
* @brief Set the Dtr object 设置DTR
* @todo Not implemented 未实现
*
* @param set [in]
*/
virtual void setDtr(bool set = true){}
/**
* @brief Set the Rts object 设置RTS
* @todo Not implemented 未实现
*
* @param set [in]
*/
virtual void setRts(bool set = true){}
/**
* @brief Get the Version object 获取版本信息
*
* @return return version 返回版本信息
*/
std::string getVersion(){
std::string m_version = "CSerialPortUnixBase V1.0.1.190728";
return m_version;
}
public:
/**
* @brief isThreadRunning 是否启动多线程
* @return
* @retval true thread running 多线程已启动
* @retval false thread not running 多线程未启动
*/
bool isThreadRunning(){
return m_isThreadRunning;
}
private:
/**
* @brief lock 锁
*
*/
void lock(){
pthread_mutex_lock(&m_communicationMutex);
}
/**
* @brief unlock 解锁
*
*/
void unlock(){
pthread_mutex_unlock(&m_communicationMutex);
}
/**
* @brief rate2Constant baudrate to constant 波特率转为unix常量
* @param baudrate 波特率
* @return constant unix常量
*/
int rate2Constant(int baudrate){
// https://jim.sh/ftx/files/linux-custom-baudrate.c
#define B(x) \
case x: \
return B##x
switch (baudrate)
{
#ifdef B50
B(50);
#endif
#ifdef B75
B(75);
#endif
#ifdef B110
B(110);
#endif
#ifdef B134
B(134);
#endif
#ifdef B150
B(150);
#endif
#ifdef B200
B(200);
#endif
#ifdef B300
B(300);
#endif
#ifdef B600
B(600);
#endif
#ifdef B1200
B(1200);
#endif
#ifdef B1800
B(1800);
#endif
#ifdef B2400
B(2400);
#endif
#ifdef B4800
B(4800);
#endif
#ifdef B9600
B(9600);
#endif
#ifdef B19200
B(19200);
#endif
#ifdef B38400
B(38400);
#endif
#ifdef B57600
B(57600);
#endif
#ifdef B115200
B(115200);
#endif
#ifdef B230400
B(230400);
#endif
#ifdef B460800
B(460800);
#endif
#ifdef B500000
B(500000);
#endif
#ifdef B576000
B(576000);
#endif
#ifdef B921600
B(921600);
#endif
#ifdef B1000000
B(1000000);
#endif
#ifdef B1152000
B(1152000);
#endif
#ifdef B1500000
B(1500000);
#endif
#ifdef B2000000
B(2000000);
#endif
#ifdef B2500000
B(2500000);
#endif
#ifdef B3000000
B(3000000);
#endif
#ifdef B3500000
B(3500000);
#endif
#ifdef B4000000
B(4000000);
#endif
default:
return 0;
}
#undef B
}
/**
* @brief uart_set
* @param fd
* @param baude
* @param c_flow
* @param bits
* @param parity
* @param stop
* @return 0 success -1 error
*/
int uart_set(int fd,
int baudRate = itas109::BaudRate9600,
itas109::Parity parity = itas109::ParityNone,
itas109::DataBits dataBits = itas109::DataBits8,
itas109::StopBits stopbits = itas109::StopOne,
itas109::FlowControl flowControl = itas109::FlowNone){
struct termios options;
//获取终端属性
if (tcgetattr(fd, &options) < 0)
{
perror("tcgetattr error");
return -1;
}
//设置输入输出波特率
int baudRateConstant = 0;
baudRateConstant = rate2Constant(baudRate);
if (0 != baudRateConstant)
{
cfsetispeed(&options, baudRateConstant);
cfsetospeed(&options, baudRateConstant);
}
else
{
// TODO: custom baudrate
fprintf(stderr, "Unkown baudrate!\n");
return -1;
}
//设置校验位
switch (parity)
{
/*无奇偶校验位*/
case itas109::ParityNone:
case 'N':
options.c_cflag &= ~PARENB; // PARENB：产生奇偶位，执行奇偶校验
options.c_cflag &= ~INPCK; // INPCK：使奇偶校验起作用
break;
/*设置奇校验*/
case itas109::ParityOdd:
options.c_cflag |= PARENB; // PARENB：产生奇偶位，执行奇偶校验
options.c_cflag |= PARODD; // PARODD：若设置则为奇校验,否则为偶校验
options.c_cflag |= INPCK; // INPCK：使奇偶校验起作用
options.c_cflag |= ISTRIP; // ISTRIP：若设置则有效输入数字被剥离7个字节，否则保留全部8位
break;
/*设置偶校验*/
case itas109::ParityEven:
options.c_cflag |= PARENB; // PARENB：产生奇偶位，执行奇偶校验
options.c_cflag &= ~PARODD; // PARODD：若设置则为奇校验,否则为偶校验
options.c_cflag |= INPCK; // INPCK：使奇偶校验起作用
options.c_cflag |= ISTRIP; // ISTRIP：若设置则有效输入数字被剥离7个字节，否则保留全部8位
break;
/*设为空格,即停止位为2位*/
case itas109::ParitySpace:
options.c_cflag &= ~PARENB; // PARENB：产生奇偶位，执行奇偶校验
options.c_cflag &= ~CSTOPB; // CSTOPB：使用两位停止位
break;
default:
fprintf(stderr, "Unkown parity!\n");
return -1;
}
//设置数据位
switch (dataBits)
{
case itas109::DataBits5:
options.c_cflag &= ~CSIZE; //屏蔽其它标志位
options.c_cflag |= CS5;
break;
case itas109::DataBits6:
options.c_cflag &= ~CSIZE; //屏蔽其它标志位
options.c_cflag |= CS6;
break;
case itas109::DataBits7:
options.c_cflag &= ~CSIZE; //屏蔽其它标志位
options.c_cflag |= CS7;
break;
case itas109::DataBits8:
options.c_cflag &= ~CSIZE; //屏蔽其它标志位
options.c_cflag |= CS8;
break;
default:
fprintf(stderr, "Unkown bits!\n");
return -1;
}
//停止位
switch (stopbits)
{
case itas109::StopOne:
options.c_cflag &= ~CSTOPB; // CSTOPB：使用两位停止位
break;
case itas109::StopOneAndHalf:
fprintf(stderr, "POSIX does not support 1.5 stop bits!\n");
return -1;
case itas109::StopTwo:
options.c_cflag |= CSTOPB; // CSTOPB：使用两位停止位
break;
default:
fprintf(stderr, "Unkown stop!\n");
return -1;
}
//控制模式
options.c_cflag |= CLOCAL; //保证程序不占用串口
options.c_cflag |= CREAD; //保证程序可以从串口中读取数据
//流控制
switch (flowControl)
{
case itas109::FlowNone: ///< No flow control 无流控制
options.c_cflag &= ~CRTSCTS;
break;
case itas109::FlowHardware: ///< Hardware(RTS / CTS) flow control 硬件流控制
options.c_cflag |= CRTSCTS;
break;
case itas109::FlowSoftware: ///< Software(XON / XOFF) flow control 软件流控制
options.c_cflag |= IXON | IXOFF | IXANY;
break;
default:
fprintf(stderr, "Unkown c_flow!\n");
return -1;
}
//设置输出模式为原始输出
options.c_oflag &= ~OPOST; // OPOST：若设置则按定义的输出处理，否则所有c_oflag失效
//设置本地模式为原始模式
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
/*
*ICANON：允许规范模式进行输入处理
*ECHO：允许输入字符的本地回显
*ECHOE：在接收EPASE时执行Backspace,Space,Backspace组合
*ISIG：允许信号
*/
options.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
/*
*BRKINT：如果设置了IGNBRK，BREAK键输入将被忽略
*ICRNL：将输入的回车转化成换行（如果IGNCR未设置的情况下）(0x0d => 0x0a)
*INPCK：允许输入奇偶校验
*ISTRIP：去除字符的第8个比特
*IXON：允许输出时对XON/XOFF流进行控制 (0x11 0x13)
*/
//设置等待时间和最小接受字符
options.c_cc[VTIME] = 0; //可以在select中设置
options.c_cc[VMIN] = 1; //最少读取一个字符
//如果发生数据溢出，只接受数据，但是不进行读操作
tcflush(fd, TCIFLUSH);
//激活配置
if (tcsetattr(fd, TCSANOW, &options) < 0)
{
perror("tcsetattr failed");
return -1;
}
return 0;
}
/**
* @brief thread monitor 多线程监视器
*
*/
static void *commThreadMonitor(void *pParam){
// Cast the void pointer passed to the thread back to
// a pointer of CSerialPortWinBase class
CSerialPortUnixBase *p_base = (CSerialPortUnixBase *)pParam;
if (p_base)
{
for (; p_base->isThreadRunning();)
{
int readbytes = 0;
// read前获取可读的字节数,不区分阻塞和非阻塞
ioctl(p_base->fd, FIONREAD, &readbytes);
if (readbytes >= p_base->getMinByteReadNotify()) //设定字符数，默认为2
{
p_base->readReady._emit();
}
else
{
usleep(1); // fix high cpu usage on unix
}
}
}
else
{
// point null
}
pthread_exit(NULL);
}
/**
* @brief start thread monitor 启动多线程监视器
*
* @return
* @retval true start success 启动成功
* @retval false start failed 启动失败
*/
bool startThreadMonitor(){
bool bRet = true;
// start read thread
int ret = pthread_create(&m_monitorThread, NULL, commThreadMonitor, (void *)this);
if (ret < 0)
{
bRet = false;
printf("Create read thread error.");
}
return bRet;
}
/**
* @brief stop thread monitor 停止多线程监视器
*
* @return
* @retval true stop success 停止成功
* @retval false stop failed 停止失败
*/
bool stopThreadMonitor(){
m_isThreadRunning = false;
pthread_join(m_monitorThread, NULL);
return true;
}
public:
sigslot::signal0<> readReady; ///< sigslot for read 读数据信号
private:
std::string m_portName;
int m_baudRate;
itas109::Parity m_parity;
itas109::DataBits m_dataBits;
itas109::StopBits m_stopbits;
itas109::FlowControl m_flowControl;
int64 m_readBufferSize;
int fd; /* File descriptor for the port */
private:
pthread_t m_monitorThread; /**< read thread */
bool m_isThreadRunning;
pthread_mutex_t m_communicationMutex; ///< mutex
};
#endif //__CSERIALPORTUNIXBASE_H__