Update of /cvsroot/playerstage/code/player/server/drivers/opaque
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24692/server/drivers/opaque
Modified Files:
serialstream.cc
Log Message:
fixed provides parsing in driver examples
serial stream fixes
added mapping capability to nav200 driver, and other bug fixes
added vectormap to playerprop utility
Index: serialstream.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/opaque/serialstream.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** serialstream.cc 7 Dec 2007 02:15:21 -0000 1.3
--- serialstream.cc 14 Dec 2007 00:19:55 -0000 1.4
***************
*** 120,123 ****
--- 120,124 ----
#define DEFAULT_OPAQUE_PORT "/dev/ttyS0"
#define DEFAULT_OPAQUE_TRANSFER_RATE 38400
+ #define DEFAULT_OPAQUE_PARITY "none"
////////////////////////////////////////////////////////////////////////////////
***************
*** 168,171 ****
--- 169,176 ----
virtual int CloseTerm();
+ // Set the io flags.
+ // Just a little helper function that sets the parity and so on.
+ void UpdateFlags();
+
// Set the terminal speed
// Valid values are 9600, 19200, 38400, 115200
***************
*** 190,194 ****
// Properties
IntProperty buffer_size, transfer_rate;
! StringProperty port;
// This is the data we store and send
--- 195,199 ----
// Properties
IntProperty buffer_size, transfer_rate;
! StringProperty port, parity;
// This is the data we store and send
***************
*** 223,231 ****
: Driver(cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_OPAQUE_CODE),
! buffer_size ("buffer_size", DEFAULT_OPAQUE_BUFFER_SIZE, 0), port
("port", DEFAULT_OPAQUE_PORT, 0), transfer_rate ("transfer_rate",
DEFAULT_OPAQUE_TRANSFER_RATE, 0)
{
this->RegisterProperty ("buffer_size", &this->buffer_size, cf,
section);
this->RegisterProperty ("port", &this->port, cf, section);
this->RegisterProperty ("transfer_rate", &this->transfer_rate, cf,
section);
rx_buffer = new uint8_t[buffer_size];
--- 228,240 ----
: Driver(cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_OPAQUE_CODE),
! buffer_size ("buffer_size", DEFAULT_OPAQUE_BUFFER_SIZE, 0),
! transfer_rate ("transfer_rate", DEFAULT_OPAQUE_TRANSFER_RATE, 0),
! port ("port", DEFAULT_OPAQUE_PORT, 0),
! parity ("parity", DEFAULT_OPAQUE_PARITY, 0)
{
this->RegisterProperty ("buffer_size", &this->buffer_size, cf,
section);
this->RegisterProperty ("port", &this->port, cf, section);
this->RegisterProperty ("transfer_rate", &this->transfer_rate, cf,
section);
+ this->RegisterProperty ("parity", &this->parity, cf, section);
rx_buffer = new uint8_t[buffer_size];
***************
*** 289,293 ****
player_intprop_req_t req = *reinterpret_cast<player_intprop_req_t*>
(data);
PLAYER_MSG1(2, "%s", req.key);
! if (strcmp("transfer_rate", req.key))
{
res = ChangeTermSpeed(req.value);
--- 298,302 ----
player_intprop_req_t req = *reinterpret_cast<player_intprop_req_t*>
(data);
PLAYER_MSG1(2, "%s", req.key);
! if (strcmp("transfer_rate", req.key) == 0)
{
res = ChangeTermSpeed(req.value);
***************
*** 306,309 ****
--- 315,329 ----
}
}
+ else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_SET_STRPROP_REQ, this->device_addr))
+ {
+ player_strprop_req_t req = *reinterpret_cast<player_strprop_req_t*>
(data);
+ PLAYER_MSG1(2, "%s", req.key);
+ if (strcmp("parity", req.key) == 0)
+ {
+ parity.SetValueFromMessage(reinterpret_cast<void*> (&req));
+ UpdateFlags();
+ return 0;
+ }
+ }
//else if it is a opaque data message then I want to flush the current
serial port and write to whatever is connected to the serial port
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_OPAQUE_CMD_DATA, this->device_addr))
***************
*** 382,394 ****
// set up new settings
! struct termios newtio;
! memset(&newtio, 0,sizeof(newtio));
! newtio.c_cflag = CS8 | CREAD | PARENB;
! newtio.c_iflag = INPCK;
! newtio.c_oflag = 0;
! newtio.c_lflag = 0;
!
! tcsetattr(opaque_fd, TCSANOW, &newtio);
! tcflush(opaque_fd, TCIOFLUSH);
if (ChangeTermSpeed(transfer_rate))
return -1;
--- 402,406 ----
// set up new settings
! UpdateFlags();
if (ChangeTermSpeed(transfer_rate))
return -1;
***************
*** 402,405 ****
--- 414,442 ----
}
+
////////////////////////////////////////////////////////////////////////////////
+ // Update io flags
+ // Parity is set to whatever the parity property contains.
+ //
+ void SerialStream::UpdateFlags()
+ {
+ // set up new settings
+ struct termios newtio;
+ memset(&newtio, 0,sizeof(newtio));
+ newtio.c_cflag = CS8 | CREAD;
+ newtio.c_iflag = INPCK;
+ newtio.c_oflag = 0;
+ newtio.c_lflag = 0;
+ if (strncmp(parity, "none", 4) == 0)
+ ; // Do nothing.
+ else if (strncmp(parity, "even", 4) == 0)
+ newtio.c_cflag |= PARENB;
+ else if (strncmp(parity, "odd", 3) == 0)
+ newtio.c_cflag |= PARENB | PARODD;
+ else
+ PLAYER_WARN("Invalid parity. Defaulting to none.");
+
+ tcsetattr(opaque_fd, TCSANOW, &newtio);
+ tcflush(opaque_fd, TCIOFLUSH);
+ }
////////////////////////////////////////////////////////////////////////////////
-------------------------------------------------------------------------
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