serial.cpp

/*
 *	serial.cpp
 *
 *	MSU STARX Exosuit
 *	Software Version 2.3
 *	Created on: September 30, 2018
 *	All rights reserved
 */

#include "serial.h"

void SerialPort::openPort(void){
    fileDescriptor = open(portName, O_RDWR | O_NOCTTY);
    // portName = Name of serial port
    // O_RDWR = Allows read/write access to serial port
    // O_NOCTTY = No terminal will control the process
    // O_NDELAY = Non blocking mode (do not care about the DCD line status)
    if (fileDescriptor == -1) {
        perror("\nOpen_Port: Unable to open serial port =");
    }
    else{
        printf("\nPort %s opened successfully!\n", portName);
    }
}

void SerialPort::setPort(void){
    tcgetattr(fileDescriptor, &portSettings); // Gets the current attributes

    switch(baudRate) {
    case 300:
        constBaud = B300;
        break;
    case 600:
        constBaud = B600;
        break;
    case 1200:
        constBaud = B1200;
        break;
    case 2400:
        constBaud = B2400;
        break;
    case 4800:
        constBaud = B4800;
        break;
    case 9600:
        constBaud = B9600;
        break;
    case 19200:
        constBaud = B19200;
        break;
    case 38400:
        constBaud = B38400;
        break;
    case 57600:
        constBaud = B57600;
        break;
    case 115200:
        constBaud = B115200;
        break;
    case 500000:
        constBaud = B500000;
        break;
    case 1000000:
        constBaud = B1000000;
        break;
    default:
        printf("Error! Undefined baud rate!\n");
        break;
    }

    cfsetispeed(&portSettings, constBaud); // Sets read speed
    cfsetospeed(&portSettings, constBaud); // Sets write speed

    portSettings.c_cflag &= ~PARENB; // Disables parity
    portSettings.c_cflag &= ~CSTOPB; // Sets the stop bits amount to 1
    portSettings.c_cflag &= ~CSIZE; // Clears the mask for setting the data size
    portSettings.c_cflag |= CS8; // Set the data bits amount to 8
    portSettings.c_cflag &= ~CRTSCTS; // Disables hardware flow control
    portSettings.c_cflag |= (CREAD | CLOCAL); // Enables receiver and sets local mode
    portSettings.c_iflag &= ~(IXON | IXOFF | IXANY); // Disables software flow control
    portSettings.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // Selects raw input mode
    portSettings.c_oflag &= ~OPOST; // Selects raw output mode

    portSettings.c_cc[VMIN] = 0; // Minimum number of characters to read
    portSettings.c_cc[VTIME] = 0; // Time to wait for every character read
    // If VMIN = 0 and VTIME = 0, read() will be satisfied immediately

    if((tcsetattr(fileDescriptor, TCSANOW, &portSettings)) != 0) { // Sets the new attributes
        perror("\nSet_Port: Error in setting attributes - ");
    }
    else{
        printf("\n| Baud rate = %d bps | Stop bits = 1 | Parity = None |\n", baudRate);
    }

    this->flushPortAll();
}

void SerialPort::writePort(const char* bufferWrite){
    bytesWrite = write(fileDescriptor, bufferWrite, strlen(bufferWrite));
    if(bytesWrite < 0) {
        fputs("write() of bytes failed!\n", stderr);
    }
    //*// Debug SerialPort::writePort
    if(bytesWrite > 0) {
        printf("Sent: %s", bufferWrite);
        printf("\n");
    }//*/
}

char* SerialPort::readPort(void){
    bytesRead = read(fileDescriptor, &bufferRead, bufferSize);
    bufferRead[bytesRead] = 0;
    //*// Debug SerialPort::readPort
    if(bytesRead > 0) {
        printf("Received: %s", bufferRead);
        printf("\n");
    }//*/
    return bufferRead;
}

char* SerialPort::readPortUntil(char bufferTerminator){
    // Not implemented
}

void SerialPort::closePort(void){
    close(fileDescriptor);
}

void SerialPort::flushPortIn(void){
    tcflush(fileDescriptor, TCIFLUSH);
}

void SerialPort::flushPortOut(void){
    tcflush(fileDescriptor, TCOFLUSH);
}

void SerialPort::flushPortAll(void){
    tcflush(fileDescriptor, TCIOFLUSH);
}