open_source / serialport

// System includes
#include <iostream>
#include <sstream>
#include <stdio.h>   	// Standard input/output definitions
#include <string.h>  	// String function definitions
#include <unistd.h>  	// UNIX standard function definitions
#include <fcntl.h>   	// File control definitions
#include <errno.h>   	// Error number definitions
// #include <termios.h> 	// POSIX terminal control definitions (struct termios)
#include <system_error>	// For throwing std::system_error
#include <sys/ioctl.h> // Used for TCGETS2, which is required for custom baud rates
#include <cassert>
// #include <asm/termios.h> // Terminal control definitions (struct termios)
#include <asm/ioctls.h>
#include <asm/termbits.h>
#include <algorithm>
#include <iterator>

// User includes
#include "Exception.hpp"
#include "SerialPort.hpp"

#define    BOTHER 0010000

SerialPort::SerialPort() 
{
    echo_ = false;
    timeout_ms_ = defaultTimeout_ms_;
    baudRateType_ = BaudRateType::STANDARD;
    baudRateStandard_ = defaultBaudRate_;
    readBufferSize_B_ = defaultReadBufferSize_B_;
    readBuffer_.reserve(readBufferSize_B_);
    state_ = State::CLOSED;
}

SerialPort::SerialPort(const std::string& device, BaudRate baudRate) 
    : SerialPort() 
{
    device_ = device;
    baudRateType_ = BaudRateType::STANDARD;
    baudRateStandard_ = baudRate;
}

SerialPort::SerialPort(const std::string& device, speed_t baudRate) 
    : SerialPort() 
{
    device_ = device;
    baudRateType_ = BaudRateType::CUSTOM;
    baudRateCustom_ = baudRate;
}

SerialPort::SerialPort(
                        const std::string& device, 
                        BaudRate baudRate, 
                        NumDataBits numDataBits, 
                        Parity parity, 
                        NumStopBits numStopBits) 
    : SerialPort() 
{
    device_ = device;
    baudRateType_ = BaudRateType::STANDARD;
    baudRateStandard_ = baudRate;
    numDataBits_ = numDataBits;
    parity_ = parity;
    numStopBits_ = numStopBits;
}

SerialPort::~SerialPort() 
{
    try 
    {
        Close();
    } 
    catch(...) 
    {
        // We can't do anything about this!
        // But we don't want to throw within destructor, so swallow
    }
}

void SerialPort::SetDevice(const std::string& device) 
{
    device_ = device;
    if(state_ == State::OPEN)
        ConfigureTermios();
}

void SerialPort::SetBaudRate(BaudRate baudRate)	
{
    baudRateType_ = BaudRateType::STANDARD;
    baudRateStandard_ = baudRate;
    if(state_ == State::OPEN)
        ConfigureTermios();
}

void SerialPort::SetBaudRate(speed_t baudRate)	
{
    baudRateType_ = BaudRateType::CUSTOM;
    baudRateCustom_ = baudRate;
    if(state_ == State::OPEN)
        ConfigureTermios();
}

void SerialPort::SetNumDataBits(NumDataBits numDataBits) 
{
    numDataBits_ = numDataBits;
    if(state_ == State::OPEN)
        ConfigureTermios();
}

void SerialPort::SetParity(Parity parity) 
{
    parity_ = parity;
    if(state_ == State::OPEN)
        ConfigureTermios();
}

void SerialPort::SetNumStopBits(NumStopBits numStopBits) 
{
    numStopBits_ = numStopBits;
    if(state_ == State::OPEN)
        ConfigureTermios();
}

void SerialPort::Open()
{
    if(device_.empty()) 
    {
        THROW_EXCEPT("Attempted to open file when file path has not been assigned to.");
    }

    // Attempt to open file
    //this->fileDesc = open(this->filePath, O_RDWR | O_NOCTTY | O_NDELAY);

    // O_RDONLY for read-only, O_WRONLY for write only, O_RDWR for both read/write access
    // 3rd, optional parameter is mode_t mode
    fileDesc_ = open(device_.c_str(), O_RDWR);

    // Check status
    if(fileDesc_ == -1) 
    {
        THROW_EXCEPT("Could not open device " + device_ + ". Is the device name correct and do you have read/write permission?");
    }

    ConfigureTermios();

    // std::cout << "COM port opened successfully." << std::endl;
    state_ = State::OPEN;
}

void SerialPort::SetEcho(bool value) 
{
    echo_ = value;
    ConfigureTermios();
}

void SerialPort::ConfigureTermios()
{
    // std::cout << "Configuring COM port \"" << device_ << "\"." << std::endl;
    //================== CONFIGURE ==================//

    // termios tty = GetTermios();
    termios2 tty = GetTermios2();

    //================= (.c_cflag) ===============//

    // Set num. data bits
    // See https://man7.org/linux/man-pages/man3/tcflush.3.html
    tty.c_cflag     &=  ~CSIZE;			// CSIZE is a mask for the number of bits per character
    switch(numDataBits_) 
    {
        case NumDataBits::FIVE:
            tty.c_cflag     |=  CS5;
            break;
        case NumDataBits::SIX:
            tty.c_cflag     |=  CS6;
            break;
        case NumDataBits::SEVEN:
            tty.c_cflag     |=  CS7;
            break;
        case NumDataBits::EIGHT:
            tty.c_cflag     |=  CS8;
            break;
        default:
            THROW_EXCEPT("numDataBits_ value not supported!");
    }

    // Set parity
    // See https://man7.org/linux/man-pages/man3/tcflush.3.html
    switch(parity_) 
    {
        case Parity::NONE:
            tty.c_cflag     &=  ~PARENB;
            break;
        case Parity::EVEN:	
            tty.c_cflag     |=   PARENB;
            tty.c_cflag     &=	 ~PARODD; // Clearing PARODD makes the parity even
            break;
        case Parity::ODD:
            tty.c_cflag     |=   PARENB;
            tty.c_cflag     |=	 PARODD;
            break;
        default:
            THROW_EXCEPT("parity_ value not supported!");

    }

    // Set num. stop bits
    switch(numStopBits_) 
    {
        case NumStopBits::ONE:
            tty.c_cflag     &=  ~CSTOPB;
            break;
        case NumStopBits::TWO:
            tty.c_cflag     |=  CSTOPB;
            break;
        default:
            THROW_EXCEPT("numStopBits_ value not supported!");
    }

    tty.c_cflag     &=  ~CRTSCTS;       // Disable hadrware flow control (RTS/CTS)
    tty.c_cflag     |=  CREAD | CLOCAL;     				// Turn on READ & ignore ctrl lines (CLOCAL = 1)


//===================== BAUD RATE =================//

    // We used to use cfsetispeed() and cfsetospeed() with the B... macros, but this didn't allow
    // us to set custom baud rates. So now to support both standard and custom baud rates lets
    // just make everything "custom". This giant switch statement could be replaced with a map/lookup
    // in the future
    if (baudRateType_ == BaudRateType::STANDARD) 
    {
        tty.c_cflag &= ~CBAUD;
        tty.c_cflag |= CBAUDEX;
        switch(baudRateStandard_) 
        {
            case BaudRate::B_0:
                // cfsetispeed(&tty, B0);
                // cfsetospeed(&tty, B0);
                tty.c_ispeed = 0;
                tty.c_ospeed = 0;
                break;
            case BaudRate::B_50:
                // cfsetispeed(&tty, B50);
                // cfsetospeed(&tty, B50);
                tty.c_ispeed = 50;
                tty.c_ospeed = 50;
                break;
            case BaudRate::B_75:
                // cfsetispeed(&tty, B75);
                // cfsetospeed(&tty, B75);
                tty.c_ispeed = 75;
                tty.c_ospeed = 75;
                break;
            case BaudRate::B_110:
                // cfsetispeed(&tty, B110);
                // cfsetospeed(&tty, B110);
                tty.c_ispeed = 110;
                tty.c_ospeed = 110;
                break;
            case BaudRate::B_134:
                // cfsetispeed(&tty, B134);
                // cfsetospeed(&tty, B134);
                tty.c_ispeed = 134;
                tty.c_ospeed = 134;
                break;
            case BaudRate::B_150:
                // cfsetispeed(&tty, B150);
                // cfsetospeed(&tty, B150);
                tty.c_ispeed = 150;
                tty.c_ospeed = 150;
                break;
            case BaudRate::B_200:
                // cfsetispeed(&tty, B200);
                // cfsetospeed(&tty, B200);
                tty.c_ispeed = 200;
                tty.c_ospeed = 200;
                break;
            case BaudRate::B_300:
                // cfsetispeed(&tty, B300);
                // cfsetospeed(&tty, B300);
                tty.c_ispeed = 300;
                tty.c_ospeed = 300;
                break;
            case BaudRate::B_600:
                // cfsetispeed(&tty, B600);
                // cfsetospeed(&tty, B600);
                tty.c_ispeed = 600;
                tty.c_ospeed = 600;
                break;
            case BaudRate::B_1200:
                // cfsetispeed(&tty, B1200);
                // cfsetospeed(&tty, B1200);
                    tty.c_ispeed = 1200;
                    tty.c_ospeed = 1200;
                break;
            case BaudRate::B_1800:
                // cfsetispeed(&tty, B1800);
                // cfsetospeed(&tty, B1800);
                tty.c_ispeed = 1800;
                tty.c_ospeed = 1800;
                break;
            case BaudRate::B_2400:
                // cfsetispeed(&tty, B2400);
                // cfsetospeed(&tty, B2400);
                tty.c_ispeed = 2400;
                tty.c_ospeed = 2400;
                break;
            case BaudRate::B_4800:
                // cfsetispeed(&tty, B4800);
                // cfsetospeed(&tty, B4800);
                tty.c_ispeed = 4800;
                tty.c_ospeed = 4800;
                break;
            case BaudRate::B_9600:
                // cfsetispeed(&tty, B9600);
                // cfsetospeed(&tty, B9600);
                tty.c_ispeed = 9600;
                tty.c_ospeed = 9600;
                break;
            case BaudRate::B_19200:
                // cfsetispeed(&tty, B19200);
                // cfsetospeed(&tty, B19200);
                tty.c_ispeed = 19200;
                tty.c_ospeed = 19200;
                break;
            case BaudRate::B_38400:
                // cfsetispeed(&tty, B38400);
                // cfsetospeed(&tty, B38400);
                tty.c_ispeed = 38400;
                tty.c_ospeed = 38400;
                break;
            case BaudRate::B_57600:
                // cfsetispeed(&tty, B57600);
                // cfsetospeed(&tty, B57600);
                tty.c_ispeed = 57600;
                tty.c_ospeed = 57600;
                break;
            case BaudRate::B_115200:
                // cfsetispeed(&tty, B115200);
                // cfsetospeed(&tty, B115200);
                tty.c_ispeed = 115200;
                tty.c_ospeed = 115200;
                break;
            case BaudRate::B_230400:
                // cfsetispeed(&tty, B230400);
                // cfsetospeed(&tty, B230400);
                tty.c_ispeed = 230400;
                tty.c_ospeed = 230400;
                break;
            case BaudRate::B_460800:
                // cfsetispeed(&tty, B460800);
                // cfsetospeed(&tty, B460800);
                tty.c_ispeed = 460800;
                tty.c_ospeed = 460800;
                break;
            default:
                throw std::runtime_error(std::string() + "baudRate passed to " + __PRETTY_FUNCTION__ + " unrecognized.");
        }
    }
    // This does no different than STANDARD atm, but let's keep
    // them separate for now....
    else if (baudRateType_ == BaudRateType::CUSTOM)
    {
        tty.c_cflag &= ~CBAUD;
        tty.c_cflag |= CBAUDEX;
        // tty.c_cflag |= BOTHER;
        tty.c_ispeed = baudRateCustom_;
        tty.c_ospeed = baudRateCustom_;


        // #include <linux/serial.h>
        // // configure port to use custom speed instead of 38400
        // struct serial_struct ss;
        // ioctl(fileDesc_, TIOCGSERIAL, &ss);
        // ss.flags = (ss.flags & ~ASYNC_SPD_MASK) | ASYNC_SPD_CUST;
        // ss.custom_divisor = (ss.baud_base + (baudRateCustom_ / 2)) / baudRateCustom_;
        // int closestSpeed = ss.baud_base / ss.custom_divisor;

        // if (closestSpeed < baudRateCustom_ * 98 / 100 || closestSpeed > baudRateCustom_ * 102 / 100) {
        // 	printf("Cannot set serial port speed to %d. Closest possible is %d\n", baudRateCustom_, closestSpeed);
        // }

        // ioctl(fileDesc_, TIOCSSERIAL, &ss);

        // cfsetispeed(&tty, B38400);
        // cfsetospeed(&tty, B38400);
    }
    else
    {
        // Should never get here, bug in this libraries code!
        assert(false);
    }

    //===================== (.c_oflag) =================//

    tty.c_oflag  =   0;             // No remapping, no delays
    tty.c_oflag &=  ~OPOST;         // Make raw

    //================= CONTROL CHARACTERS (.c_cc[]) ==================//

    // c_cc[VTIME] sets the inter-character timer, in units of 0.1s.
    // Only meaningful when port is set to non-canonical mode
    // VMIN = 0, VTIME = 0: No blocking, return immediately with what is available
    // VMIN > 0, VTIME = 0: read() waits for VMIN bytes, could block indefinitely
    // VMIN = 0, VTIME > 0: Block until any amount of data is available, OR timeout occurs
    // VMIN > 0, VTIME > 0: Block until either VMIN characters have been received, or VTIME
    //                      after first character has elapsed
    // c_cc[WMIN] sets the number of characters to block (wait) for when read() is called.
    // Set to 0 if you don't want read to block. Only meaningful when port set to non-canonical mode

    if(timeout_ms_ == -1) 
    {
        // Always wait for at least one byte, this could
        // block indefinitely
        tty.c_cc[VTIME] = 0;
        tty.c_cc[VMIN] = 1;
    } 
    else if(timeout_ms_ == 0) 
    {
        // Setting both to 0 will give a non-blocking read
        tty.c_cc[VTIME] = 0;
        tty.c_cc[VMIN] = 0;
    } 
    else if(timeout_ms_ > 0) 
    {
        tty.c_cc[VTIME] = (cc_t)(timeout_ms_/100);    // 0.5 seconds read timeout
        tty.c_cc[VMIN] = 0;
    }

    //======================== (.c_iflag) ====================//

    tty.c_iflag     &= ~(IXON | IXOFF | IXANY);			// Turn off s/w flow ctrl
    tty.c_iflag 	&= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);

    //=========================== LOCAL MODES (c_lflag) =======================//

    // Canonical input is when read waits for EOL or EOF characters before returning. In non-canonical mode, the rate at which
    // read() returns is instead controlled by c_cc[VMIN] and c_cc[VTIME]
    tty.c_lflag		&= ~ICANON;								// Turn off canonical input, which is suitable for pass-through
    // Configure echo depending on echo_ boolean
    if(echo_) 
    {
        tty.c_lflag |= ECHO;
    } 
    else 
    {
        tty.c_lflag &= ~(ECHO);
    }
    tty.c_lflag		&= ~ECHOE;								// Turn off echo erase (echo erase only relevant if canonical input is active)
    tty.c_lflag		&= ~ECHONL;								//
    tty.c_lflag		&= ~ISIG;								// Disables recognition of INTR (interrupt), QUIT and SUSP (suspend) characters


    // Try and use raw function call
    //cfmakeraw(&tty);

    // this->SetTermios(tty);
    this->SetTermios2(tty);

    /*
    // Flush port, then apply attributes
    tcflush(this->fileDesc, TCIFLUSH);

    if(tcsetattr(this->fileDesc, TCSANOW, &tty) != 0)
    {
            // Error occurred
            this->sp->PrintError(SmartPrint::Ss() << "Could not apply terminal attributes for \"" << this->filePath << "\" - " << strerror(errno));
            return;
    }*/
}

void SerialPort::Write(const std::string& data) 
{

    if(state_ != State::OPEN)
        THROW_EXCEPT(std::string() + __PRETTY_FUNCTION__ + " called but state != OPEN. Please call Open() first.");

    if(fileDesc_ < 0) 
    {
        THROW_EXCEPT(std::string() + __PRETTY_FUNCTION__ + " called but file descriptor < 0, indicating file has not been opened.");
    }

    int writeResult = write(fileDesc_, data.c_str(), data.size());

    // Check status
    if (writeResult == -1) 
    {
        throw std::system_error(EFAULT, std::system_category());
    }
}

void SerialPort::WriteBinary( const std::vector<uint8_t>& data ) 
{

    if(state_ != State::OPEN)
        THROW_EXCEPT(std::string() + __PRETTY_FUNCTION__ + " called but state != OPEN. Please call Open() first.");

    if(fileDesc_ < 0) 
    {
        THROW_EXCEPT(std::string() + __PRETTY_FUNCTION__ + " called but file descriptor < 0, indicating file has not been opened.");
    }

    int writeResult = write(fileDesc_, data.data(), data.size());

    // Check status
    if (writeResult == -1) 
    {
        throw std::system_error(EFAULT, std::system_category());
    }
 }

void SerialPort::Read(std::string& data)
{
    data.clear();

    if(fileDesc_ == 0) 
    {
        //this->sp->PrintError(SmartPrint::Ss() << "Read() was called but file descriptor (fileDesc) was 0, indicating file has not been opened.");
        //return false;
        THROW_EXCEPT("Read() was called but file descriptor (fileDesc) was 0, indicating file has not been opened.");
    }

    //  Allocate memory for read buffer
    //  char buf [256];
    //	memset (&buf, '\0', sizeof buf);

    // Read from file
    // We provide the underlying raw array from the readBuffer_ vector to this C api.
    // This will work because we do not delete/resize the vector while this method
    // is called
    ssize_t n = read( fileDesc_, &readBuffer_[0], readBufferSize_B_ );

    // Error Handling
    if( n < 0 ) 
    {
        // Read was unsuccessful
        throw std::system_error(EFAULT, std::system_category());
    }

    if( n > 0 ) 
    {
        //  buf[n] = '\0';
        //  printf("%s\r\n", buf);
        //  data.append(buf);
        data = std::string( &readBuffer_[0], n );
        //std::cout << *str << " and size of string =" << str->size() << "\r\n";
    }
}

void SerialPort::ReadBinary(std::vector<uint8_t>& data)
{
    data.clear();

    if( fileDesc_ == 0 ) 
    {
        THROW_EXCEPT("Read() was called but file descriptor (fileDesc) was 0, indicating file has not been opened.");
    }

    // Read from file
    // We provide the underlying raw array from the readBuffer_ vector to this C api.
    // This will work because we do not delete/resize the vector while this method
    // is called
    ssize_t n = read(fileDesc_, &readBuffer_[0], readBufferSize_B_);

    // Error Handling
    if( n < 0 ) 
    {
        // Read was unsuccessful
        throw std::system_error(EFAULT, std::system_category());
    }

    if( n > 0 ) 
    {
        copy(readBuffer_.begin(), readBuffer_.begin() + n, back_inserter(data));
    }
}

    // termios SerialPort::GetTermios() {
//     if(fileDesc_ == -1)
//         throw std::runtime_error("GetTermios() called but file descriptor was not valid.");

    // 	struct termios tty;
    // 	memset(&tty, 0, sizeof(tty));

    // 	// Get current settings (will be stored in termios structure)
    // 	if(tcgetattr(fileDesc_, &tty) != 0)
    // 	{
    // 		// Error occurred
    // 		std::cout << "Could not get terminal attributes for \"" << device_ << "\" - " << strerror(errno) << std::endl;
    // 		throw std::system_error(EFAULT, std::system_category());
    // 		//return false;
    // 	}

    // 	return tty;
    // }

    // void SerialPort::SetTermios(termios myTermios)
    // {
    // 	// Flush port, then apply attributes
    // 	tcflush(fileDesc_, TCIFLUSH);

    // 	if(tcsetattr(fileDesc_, TCSANOW, &myTermios) != 0)
    // 	{
    // 		// Error occurred
    // 		std::cout << "Could not apply terminal attributes for \"" << device_ << "\" - " << strerror(errno) << std::endl;
    // 		throw std::system_error(EFAULT, std::system_category());

    // 	}

    // 	// Successful!
    // }

termios2 SerialPort::GetTermios2()
{
    struct termios2 term2;

    ioctl(fileDesc_, TCGETS2, &term2);

    return term2;

    // term2.c_cflag &= ~CBAUD;  /* Remove current BAUD rate */
    // term2.c_cflag |= BOTHER;  /* Allow custom BAUD rate using int input */
    // term2.c_ispeed = speed;   /* Set the input BAUD rate */
    // term2.c_ospeed = speed;   /* Set the output BAUD rate */

    // ioctl(fd, TCSETS2, &term2);
}

void SerialPort::SetTermios2(termios2 tty)
{
    ioctl(fileDesc_, TCSETS2, &tty);
}

void SerialPort::Close() 
{
    if(fileDesc_ != -1) 
    {
        auto retVal = close(fileDesc_);
        if(retVal != 0)
            THROW_EXCEPT("Tried to close serial port " + device_ + ", but close() failed.");

        fileDesc_ = -1;
    }

    state_ = State::CLOSED;
}

void SerialPort::SetTimeout(int32_t timeout_ms) 
{
    if(timeout_ms < -1)
        THROW_EXCEPT(std::string() + "timeout_ms provided to " + __PRETTY_FUNCTION__ + " was < -1, which is invalid.");
    
    if(timeout_ms > 25500)
        THROW_EXCEPT(std::string() + "timeout_ms provided to " + __PRETTY_FUNCTION__ + " was > 25500, which is invalid.");
    
    if(state_ == State::OPEN)
        THROW_EXCEPT(std::string() + __PRETTY_FUNCTION__ + " called while state == OPEN.");
    
    timeout_ms_ = timeout_ms;
}

int32_t SerialPort::Available() 
{
    if(state_ != State::OPEN)
        THROW_EXCEPT(std::string() + __PRETTY_FUNCTION__ + " called but state != OPEN. Please call Open() first.");
    
    int32_t ret = 0;
    ioctl(fileDesc_, FIONREAD, &ret);
    return ret;

}

State SerialPort::GetState() 
{
    return state_;
}