po_hi_driver_linux_serial.c 10.7 KB
Newer Older
1
2
3
4
5
/*
 * This is a part of PolyORB-HI-C distribution, a minimal
 * middleware written for generated code from AADL models.
 * You should use it with the Ocarina toolsuite.
 *
6
7
8
 * For more informations, please visit http://ocarina.enst.fr
 *
 * Copyright (C) 2010, European Space Agency (ESA).
9
10
 */

11
#include <drivers/po_hi_driver_linux_serial.h>
12
#include <drivers/configuration/serial.h>
13

14
15
16
#if defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX) || \
    defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX_SENDER) || \
    defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX_RECEIVER)
17

18
#include <po_hi_debug.h>
jdelange's avatar
jdelange committed
19
#include <po_hi_returns.h>
20
#include <po_hi_utils.h>
21
22
#include <po_hi_messages.h>
#include <po_hi_transport.h>
23
#include <po_hi_gqueue.h>
24
#include <drivers/po_hi_driver_serial_common.h>
25
26
/* po-hi-c related files */

27
28
29
30
31
#include <activity.h>
#include <marshallers.h>
#include <deployment.h>
/* generated files */

32
33
34
35
#include <termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
36
#include <unistd.h>
37
#include <string.h>
38
39
/* Linux-specific files */

40
41
42
int      po_hi_c_driver_serial_fd_read;
int      po_hi_c_driver_serial_fd_write;
uint32_t po_hi_c_driver_serial_sending_wait;
43

44
45
#if defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX) || \
    defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX_RECEIVER)
46

47
void __po_hi_c_driver_serial_linux_poller (const __po_hi_device_id dev_id)
48
{
49
   (void) dev_id;
50
51
52
   int n;
   int ts;

53
54
   unsigned long* swap_pointer;
   unsigned long swap_value;
55

56
57
   __po_hi_msg_t msg;
   __po_hi_request_t request;
58

59
   __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Hello, i'm the serial poller , must read %d bytes!\n", __PO_HI_MESSAGES_MAX_SIZE);
60
61

   __po_hi_msg_reallocate (&msg);
jdelange's avatar
jdelange committed
62
63
   n = 0;
   while (n < __PO_HI_MESSAGES_MAX_SIZE)
64
   {
jdelange's avatar
jdelange committed
65
66
67
68
69
70
71
       if (read (po_hi_c_driver_serial_fd_read, &(msg.content[n]), 1) != 1)
	{
	    __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Cannot read on socket !\n");
	    return;
	}

	n++;
72
   }
73

jdelange's avatar
jdelange committed
74

75
76
   if (n == 0)
   {
jdelange's avatar
jdelange committed
77
    __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] n=0 !\n");
78
79
80
      return;
   }

81
82
   if (n != __PO_HI_MESSAGES_MAX_SIZE)
   {
83
      __PO_HI_DEBUG_CRITICAL ("[LINUX SERIAL] Inconsistent received message size (received %d bytes)!\n", n);
84
85
      return;
   }
86

87
   __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] read() returns %d\n", n);
88

jdelange's avatar
jdelange committed
89

jdelange's avatar
jdelange committed
90
/*
jdelange's avatar
jdelange committed
91
92
93
94
95
96
   __PO_HI_DEBUG_DEBUG  ("[LINUX SERIAL] Message: 0x");

   for (ts = 0 ; ts < __PO_HI_MESSAGES_MAX_SIZE ; ts++)
   {
      __PO_HI_DEBUG_DEBUG ("%x", msg.content[ts]);
   }
jdelange's avatar
jdelange committed
97
*/
jdelange's avatar
jdelange committed
98
   __PO_HI_DEBUG_DEBUG ("\n");
99
100
101
   swap_pointer  = (unsigned long*) &msg.content[0];
   swap_value    = *swap_pointer;
   *swap_pointer = __po_hi_swap_byte (swap_value);
102

103
104
   msg.length = n;

105
   __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Message after swapped port: 0x");
106
   for (ts = 0 ; ts < msg.length ; ts++)
107
   {
108
        __PO_HI_DEBUG_DEBUG ("%x", msg.content[ts]);
109
   }
110
   __PO_HI_DEBUG_DEBUG ("\n");
111

112
   __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Received: %s\n", msg.content);
113

114
115
   __po_hi_unmarshall_request (&request, &msg);

116
117
   if (request.port > __PO_HI_NB_PORTS)
   {
118
      __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Invalid port number !\n");
119
120
121
      return;
   }

122
   __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Destination port: %d\n", request.port);
123
   __po_hi_main_deliver (&request);
124
}
125
126
127
128
129
130
131
132
#endif


#if defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX) || \
    defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX_SENDER)

void __po_hi_c_driver_serial_linux_init_sender (__po_hi_device_id id)
{
133
134
   struct termios             oldtio,newtio;
   __po_hi_c_serial_conf_t*   serialconf;
135

136
137
   po_hi_c_driver_serial_sending_wait = 0;

138
   __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Init sender\n");
139

140
   serialconf = (__po_hi_c_serial_conf_t*)__po_hi_get_device_configuration (id);
141

142
   if (serialconf == NULL)
143
   {
144
      __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Cannot get the configuration of the device !\n");
145
146
147
      return;
   }

148
149
150
151
152
153
   if (serialconf->exist.sending_wait == 1)
   {
      po_hi_c_driver_serial_sending_wait = (uint32_t) serialconf->sending_wait;
      __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Set sending delay to %u!\n",po_hi_c_driver_serial_sending_wait);
   }

154
   po_hi_c_driver_serial_fd_write = open (serialconf->devname, O_WRONLY | O_NOCTTY | O_NDELAY);
155
156
157

   if (po_hi_c_driver_serial_fd_write < 0)
   {
158
      __PO_HI_DEBUG_CRITICAL ("[LINUX SERIAL] Error while opening device %s\n", serialconf->devname);
159
160
161
   }
   else
   {
162
      __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Device %s successfully opened for sending, fd=%d\n", serialconf->devname, po_hi_c_driver_serial_fd_write);
163
164
165
   }

   tcgetattr (po_hi_c_driver_serial_fd_write, &oldtio);  /* save current serial port settings */
166
   tcgetattr (po_hi_c_driver_serial_fd_write, &newtio);  /* save current serial port settings */
167
        
168
   newtio.c_cflag |= CREAD ;
169
170
171
172
173
   newtio.c_iflag = IGNPAR | IGNBRK;
   newtio.c_lflag |= ICANON;
   newtio.c_cc[VMIN]=1;
   newtio.c_cc[VTIME]=0;
   cfmakeraw (&newtio);
174
175
176
177
178

   switch (__po_hi_c_driver_serial_common_get_speed (id))
   {
      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_19200:
         newtio.c_cflag |= B19200;
jdelange's avatar
jdelange committed
179
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 19200\n");
180
181
182
183
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_38400:
         newtio.c_cflag |= B38400;
jdelange's avatar
jdelange committed
184
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 38400\n");
185
186
187
188
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_57600:
         newtio.c_cflag |= B57600;
jdelange's avatar
jdelange committed
189
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 57600\n");
190
191
192
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_115200:
jdelange's avatar
jdelange committed
193
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 115200\n");
194
195
196
197
198
199
200
201
         newtio.c_cflag |= B115200;
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_UNKNWON:
         __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Unknwon speed for the serial line\n");
         break;
   }

202
203
204
205
206
   /* 
    * clean the serial line and activate the settings for the port
    */
   if (tcflush (po_hi_c_driver_serial_fd_write, TCIOFLUSH) == -1)
   {
207
      __PO_HI_DEBUG_CRITICAL ("[LINUX SERIAL] Error in tcflush()\n");
208
209
210
211
   }

   if (tcsetattr (po_hi_c_driver_serial_fd_write, TCSANOW, &newtio) == -1)
   {
212
      __PO_HI_DEBUG_CRITICAL ("[LINUX SERIAL] Error in tcsetattr()\n");
213
214
   }

215
    __PO_HI_DEBUG_INFO ("[LINUX SERIAL] End of init\n");
216
217
218
219
220
221
222
223
}
#endif


#if defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX) || \
    defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX_RECEIVER)
void __po_hi_c_driver_serial_linux_init_receiver (__po_hi_device_id id)
{
224
225
   struct termios             oldtio,newtio;
   __po_hi_c_serial_conf_t*   serialconf;
226

227
   __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Init receiver\n");
228

229
   serialconf = (__po_hi_c_serial_conf_t*)__po_hi_get_device_configuration (id);
230

231
   if (serialconf == NULL)
232
233
234
235
236
   {
      __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Cannot get the name of the device !\n");
      return;
   }

237
   po_hi_c_driver_serial_fd_read = open (serialconf->devname, O_RDONLY | O_NOCTTY);
238
239
240

   if (po_hi_c_driver_serial_fd_read < 0)
   {
241
      __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Error while opening device %s\n", serialconf->devname);
242
243
244
   }
   else
   {
245
      __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Device %s successfully opened for reading, fd=%d\n", serialconf->devname , po_hi_c_driver_serial_fd_read);
246
247
248
   }


249
250
   tcgetattr (po_hi_c_driver_serial_fd_read, &oldtio);  /* save current serial port settings */
   tcgetattr (po_hi_c_driver_serial_fd_read, &newtio);  /* save current serial port settings */
251
        
252
   newtio.c_cflag |= CREAD ;
253
254
255
256
257
   newtio.c_iflag = IGNPAR | IGNBRK;
   newtio.c_lflag |= ICANON;
   newtio.c_cc[VMIN]=1;
   newtio.c_cc[VTIME]=0;
   cfmakeraw (&newtio);
258
259
260
261
262

   switch (__po_hi_c_driver_serial_common_get_speed (id))
   {
      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_19200:
         newtio.c_cflag |= B19200;
jdelange's avatar
jdelange committed
263
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 19200\n");
264
265
266
267
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_38400:
         newtio.c_cflag |= B38400;
jdelange's avatar
jdelange committed
268
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 38400\n");
269
270
271
272
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_57600:
         newtio.c_cflag |= B57600;
jdelange's avatar
jdelange committed
273
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 57600\n");
274
275
276
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_115200:
jdelange's avatar
jdelange committed
277
         __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Set speed to 115200\n");
278
279
280
281
282
283
284
         newtio.c_cflag |= B115200;
         break;

      case __PO_HI_DRIVER_SERIAL_COMMON_SPEED_UNKNWON:
         __PO_HI_DEBUG_INFO ("[LINUX SERIAL] Unknwon speed for the serial line\n");
         break;
   }
jdelange's avatar
jdelange committed
285

286
287
   if (tcflush (po_hi_c_driver_serial_fd_read, TCIOFLUSH) == -1)
   {
288
      __PO_HI_DEBUG_CRITICAL ("[LINUX SERIAL] Error in tcflush()\n");
289
290
291
292
   }

   if (tcsetattr (po_hi_c_driver_serial_fd_read, TCSANOW, &newtio) == -1)
   {
293
      __PO_HI_DEBUG_CRITICAL ("[LINUX SERIAL] Error in tcsetattr()\n");
294
295
   }

296
    __PO_HI_DEBUG_INFO ("[LINUX SERIAL] End of init\n");
297
298
299
300
301
}
#endif


#if defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX)
302

303
void __po_hi_c_driver_serial_linux_init (__po_hi_device_id id)
304
{
305

jdelange's avatar
jdelange committed
306
307
308
   __po_hi_c_driver_serial_linux_init_receiver (id);
   __po_hi_c_driver_serial_linux_init_sender (id);
   return;
309
}
310
311
312
313
314
#endif


#if defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX) || \
    defined (__PO_HI_NEED_DRIVER_SERIAL_LINUX_SENDER)
315

316
int  __po_hi_c_driver_serial_linux_sender (__po_hi_task_id task_id, __po_hi_port_t port)
317
{
318
319
320
321
322
323
324
325
326
327
328
329
330
   int n;
   int ts;
   unsigned long* swap_pointer;
   unsigned long swap_value;
   __po_hi_local_port_t local_port;
   __po_hi_request_t* request;
   __po_hi_msg_t msg;
   __po_hi_port_t destination_port;

   local_port = __po_hi_get_local_port_from_global_port (port);

   request = __po_hi_gqueue_get_most_recent_value (task_id, local_port);

jdelange's avatar
jdelange committed
331
332
   if (request->port == -1)
   {
333
      __PO_HI_DEBUG_DEBUG ("[LINUX SERIAL] Send output task %d, port %d (local_port=%d): no value to send\n", task_id, port, local_port);
jdelange's avatar
jdelange committed
334
335
336
      return __PO_HI_SUCCESS;
   }

337
338
339
340
341
342
   destination_port     = __po_hi_gqueue_get_destination (task_id, local_port, 0);

   __po_hi_msg_reallocate (&msg);

   request->port = destination_port;

343
   __po_hi_marshall_request (request, &msg);
344

345
346
347
348
   /* Swap only the port (first 32 bytes) */
   swap_pointer  = (unsigned long*) &msg.content[0];
   swap_value    = *swap_pointer;
   *swap_pointer = __po_hi_swap_byte (swap_value);
349

350
351
   if (po_hi_c_driver_serial_sending_wait != 0)
   {
352
      printf("Wait %u between two sends\n", po_hi_c_driver_serial_sending_wait);
353
354
355
356
357
358
359
360
361
362
363
      for (n = 0 ; n < __PO_HI_MESSAGES_MAX_SIZE ; n++)
      {
         write (po_hi_c_driver_serial_fd_write, &(msg.content[n]), 1);
         usleep (po_hi_c_driver_serial_sending_wait);
      }

   }
   else
   {
      n = write (po_hi_c_driver_serial_fd_write, &msg, __PO_HI_MESSAGES_MAX_SIZE);
   }
364

jdelange's avatar
jdelange committed
365
   __PO_HI_DEBUG_DEBUG  ("[LINUX SERIAL] write() returns %d, message sent: 0x", n);
366

367
368
   for (ts = 0 ; ts < __PO_HI_MESSAGES_MAX_SIZE ; ts++)
   {
369
      __PO_HI_DEBUG_DEBUG ("%x", msg.content[ts]);
370
   }
371
   __PO_HI_DEBUG_DEBUG ("\n");
372

jdelange's avatar
jdelange committed
373
374
   request->port = __PO_HI_GQUEUE_INVALID_PORT;

375
   return 1;
376
}
377
#endif
378

379
#endif