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Added support for SERIAL transport on Windows
Signed-off-by: THOMAS Sebastien <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,79 @@ | ||
| // Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef UXR_AGENT_TRANSPORT_SERIAL_SERIALAGENTWINDOWS_HPP_ | ||
| #define UXR_AGENT_TRANSPORT_SERIAL_SERIALAGENTWINDOWS_HPP_ | ||
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| #include <uxr/agent/transport/Server.hpp> | ||
| #include <uxr/agent/transport/endpoint/SerialEndPoint.hpp> | ||
| #include <uxr/agent/transport/stream_framing/StreamFramingProtocol.hpp> | ||
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| #include <cstdint> | ||
| #include <cstddef> | ||
| #include <WinSock2.h> | ||
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| namespace eprosima { | ||
| namespace uxr { | ||
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| class SerialAgent : public Server<SerialEndPoint> | ||
| { | ||
| public: | ||
| SerialAgent( | ||
| uint8_t addr, | ||
| Middleware::Kind middleware_kind); | ||
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| #ifdef UAGENT_DISCOVERY_PROFILE | ||
| bool has_discovery() final { return false; } | ||
| #endif | ||
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| #ifdef UAGENT_P2P_PROFILE | ||
| bool has_p2p() final { return false; } | ||
| #endif | ||
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| private: | ||
| virtual bool init() = 0; | ||
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| virtual bool fini() = 0; | ||
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| bool recv_message( | ||
| InputPacket<SerialEndPoint>& input_packet, | ||
| int timeout, | ||
| TransportRc& transport_rc) final; | ||
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| bool send_message( | ||
| OutputPacket<SerialEndPoint> output_packet, | ||
| TransportRc& transport_rc) final; | ||
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| ssize_t write_data( | ||
| uint8_t* buf, | ||
| size_t len, | ||
| TransportRc& transport_rc); | ||
|
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| ssize_t read_data( | ||
| uint8_t* buf, | ||
| size_t len, | ||
| int timeout, | ||
| TransportRc& transport_rc); | ||
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| protected: | ||
| const uint8_t addr_; | ||
| HANDLE serial_handle; | ||
| uint8_t buffer_[SERVER_BUFFER_SIZE]; | ||
| FramingIO framing_io_; | ||
| }; | ||
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| } // namespace uxr | ||
| } // namespace eprosima | ||
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| #endif // UXR_AGENT_TRANSPORT_SERIAL_SERIALAGENTWINDOWS_HPP_ |
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49
include/uxr/agent/transport/serial/TermiosAgentWindows.hpp
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|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| // Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef UXR_AGENT_TRANSPORT_SERIAL_TERMIOSAGENTWINDOWS_HPP_ | ||
| #define UXR_AGENT_TRANSPORT_SERIAL_TERMIOSAGENTWINDOWS_HPP_ | ||
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| #include <uxr/agent/transport/serial/SerialAgentWindows.hpp> | ||
| namespace eprosima { | ||
| namespace uxr { | ||
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| class TermiosAgent : public SerialAgent | ||
| { | ||
| public: | ||
| TermiosAgent( | ||
| char const * dev, | ||
| DCB const & termios_attrs, | ||
| uint8_t addr, | ||
| Middleware::Kind middleware_kind); | ||
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| ~TermiosAgent(); | ||
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| HANDLE getfd() { return serial_handle; }; | ||
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| private: | ||
| bool init() final; | ||
| bool fini() final; | ||
| bool handle_error( | ||
| TransportRc transport_rc) final; | ||
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| private: | ||
| const std::string dev_; | ||
| const DCB termios_attrs_; | ||
| }; | ||
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| } // namespace uxr | ||
| } // namespace eprosima | ||
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| #endif // UXR_AGENT_TRANSPORT_SERIAL_TERMIOSAGENTWINDOWS_HPP_ |
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include/uxr/agent/transport/serial/baud_rate_table_windows.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| // Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef UXR_AGENT_TRANSPORT_SERIAL_BAUD_RATE_TABLE_H | ||
| #define UXR_AGENT_TRANSPORT_SERIAL_BAUD_RATE_TABLE_H | ||
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| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <string.h> | ||
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| inline | ||
| DWORD getBaudRate(const char* baudrate_str) | ||
| { | ||
| DWORD rv; | ||
| if (0 == strcmp(baudrate_str, "0")) | ||
| { | ||
| rv = 0; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "110")) | ||
| { | ||
| rv = CBR_110; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "300")) { | ||
| rv = CBR_300; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "600")) { | ||
| rv = CBR_600; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "1200")) { | ||
| rv = CBR_1200; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "2400")) { | ||
| rv = CBR_2400; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "4800")) { | ||
| rv = CBR_4800; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "9600")) { | ||
| rv = CBR_9600; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "14400")) { | ||
| rv = CBR_14400; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "19200")) { | ||
| rv = CBR_19200; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "38400")) { | ||
| rv = CBR_38400; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "56000")) { | ||
| rv = CBR_56000; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "57600")) { | ||
| rv = CBR_57600; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "115200")) { | ||
| rv = CBR_115200; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "128000")) { | ||
| rv = CBR_128000; | ||
| } | ||
| else if (0 == strcmp(baudrate_str, "256000")) { | ||
| rv = CBR_256000; | ||
| } | ||
| else | ||
| { | ||
| DWORD custom_baud_rate = (DWORD)atoi(baudrate_str); | ||
| printf("Warning: Custom baud rate set to: %d\n", custom_baud_rate); | ||
| rv = custom_baud_rate; | ||
| } | ||
| return rv; | ||
| } | ||
|
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| #endif // UXR_AGENT_TRANSPORT_SERIAL_BAUD_RATE_TABLE_H | ||
|
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