From 8c9f64078a8d2b7c8aed6c5dcacde8b386e0ef5b Mon Sep 17 00:00:00 2001 From: Garrett Summerfield Date: Sun, 22 Sep 2024 01:43:32 -0500 Subject: [PATCH 1/9] Update GitHub Actions workflows, update GoogleTest dependency Updated workflows from upstream main to include macOS, Linux, and ARM variants to build against. Added concurrency for the workflows and also split some workflows out for smaller individual artifact sizes. Updated actions to latest available. Changed build action to run on every commit pushed rather than only PR's and pushes to main. Updated GoogleTest dependency to resolve issue with the WPILib Artifactory, this was causing issues with builds on macOS where osxuniversal platform type was not available, and split between osxarm64 and osxx86-64. --- .github/workflows/build.yml | 236 +++++++++++++++++++++++++++------- .github/workflows/release.yml | 60 +++++---- config.gradle | 2 +- gradlew | 0 4 files changed, 221 insertions(+), 77 deletions(-) mode change 100644 => 100755 gradlew diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index a361f2f..a93abf8 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -1,96 +1,236 @@ name: Build on: - push: - branches: - - 'main' - pull_request: - branches: - - '*' + [push, pull_request] + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} + cancel-in-progress: false defaults: run: shell: bash jobs: - build: + # Use WPI provided Docker images to build for Linux ARM32 and ARM64 platforms + build-docker: + strategy: + fail-fast: false + matrix: + include: + - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04 + name: LinuxARM64 + build-options: "-Ponlylinuxarm64" + platform-type: linuxarm64 + arch: arm64 + - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04 + name: LinuxARM32 + build-options: "-Ponlylinuxarm32" + platform-type: linuxarm32 + arch: arm32 + runs-on: ubuntu-latest + name: "Build - ${{ matrix.name }}" + container: ${{ matrix.container }} + steps: + - name: Checkout + uses: actions/checkout@v4 + with: + ref: ${{ github.sha }} + + - name: Setup Java + uses: actions/setup-java@v4 + with: + distribution: 'zulu' + java-version: 11 + + - name: Setup Gradle + uses: gradle/actions/setup-gradle@v4 + + - name: Build + run: | + ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode + + - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }} + run : | + halVersion=$(cat wpiHalVersion.txt) + + halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + + curl -o halPlatform.zip "$halPlatformUrl" + curl -o utilPlatform.zip "$utilPlatformUrl" + + - name: Unzip WPILib HAL artifacts and headers + run: | + unzip halPlatform.zip -d halPlatform + unzip utilPlatform.zip -d utilPlatform + mkdir -p CANBridge-artifacts + + # Put Linux ARM release files together in one directory + - name: Create Artifact + run: | + cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a + cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so + cp halPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so + cp utilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so + + # Upload build artifact + - name: Upload build artifact + uses: actions/upload-artifact@v4 + with: + name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}} + path: CANBridge-artifacts/ + + # Use native runners to build for Windows, Linux, and macOS + build-native: timeout-minutes: 15 strategy: fail-fast: false matrix: include: - os: windows-latest - container: '' - name: windows64 - name: "build-${{ matrix.name }}" + name: Win64 + build-options: "" + platform-type: windowsx86-64 + - os: ubuntu-latest + name: Linux64 + platform-type: linuxx86-64 + build-options: "" + - os: macos-latest + name: macOS + platform-type: osxuniversal + build-options: "" + name: "Build - ${{ matrix.name }}" runs-on: ${{ matrix.os }} - container: ${{ matrix.container }} steps: - name: Checkout - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: ref: ${{ github.sha }} - name: Setup Java - uses: actions/setup-java@v3 + uses: actions/setup-java@v4 with: distribution: 'zulu' java-version: 11 + - name: Setup Gradle + uses: gradle/actions/setup-gradle@v4 + - name: Build run: | ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode - - name: Download WPILib HAL artifacts and headers, gather all needed headers + - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }} run : | halVersion=$(cat wpiHalVersion.txt) - - # Download WPILib artifacts from Artifactory - halWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-windowsx86-64.zip + + halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + + curl -o halPlatform.zip "$halPlatformUrl" + curl -o utilPlatform.zip "$utilPlatformUrl" + + - name: Unzip WPILib HAL artifacts and headers + run: | + unzip halPlatform.zip -d halPlatform + unzip utilPlatform.zip -d utilPlatform + mkdir -p CANBridge-artifacts + + # Put release files together in one directory based on platform + - name: Create Artifact + run: | + mkdir -p CANBridge-artifacts + if [[ "${{ matrix.platform-type }}" == "windowsx86-64" ]]; then + cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib + cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll + cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib + cp halPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll + cp halPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib + cp utilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll + cp utilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib + elif [[ "${{ matrix.platform-type }}" == "linuxx86-64" ]]; then + cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a + cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so + cp halPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so + cp utilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so + elif [[ "${{ matrix.platform-type }}" == "osxuniversal" ]]; then + cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a + cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/libCANBridge.dylib + cp halPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/libwpiHal.dylib + cp utilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/libwpiutil.dylib + fi + + # Upload build artifact + - name: Upload build artifact + uses: actions/upload-artifact@v4 + with: + name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}} + path: CANBridge-artifacts/ + + # Upload combined headers for WPILib from HAL and WPIUtil + wpi-headers: + runs-on: ubuntu-latest + name: "WPILib Headers" + steps: + - name: Checkout + uses: actions/checkout@v4 + with: + ref: ${{ github.sha }} + - name: Download WPILib HAL artifacts and headers + run : | + halVersion=$(cat wpiHalVersion.txt) + halHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-headers.zip - utilWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-windowsx86-64.zip utilHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-headers.zip - curl -L -o halWindows.zip "$halWindowsUrl" - curl -L -o halHeaders.zip "$halHeadersUrl" - curl -L -o utilWindows.zip "$utilWindowsUrl" - curl -L -o utilHeaders.zip "$utilHeadersUrl" - unzip halWindows.zip -d halWindows + + curl -o halHeaders.zip "$halHeadersUrl" + curl -o utilHeaders.zip "$utilHeadersUrl" + + - name: Unzip WPILib HAL artifacts and headers + run: | unzip halHeaders.zip -d halHeaders - unzip utilWindows.zip -d utilWindows unzip utilHeaders.zip -d utilHeaders - # Gather all of the the needed headers + - name: Gather all needed headers + run: | mkdir headers-for-artifact cp -r halHeaders/hal headers-for-artifact cp -r utilHeaders/wpi headers-for-artifact cp -r src/main/native/include/* headers-for-artifact - # Zip the needed headers and put them in the appropriate location for artifact upload - mkdir -p CANBridge-artifacts - 7z a CANBridge-artifacts/headers.zip ./headers-for-artifact/* - - # Put release files together in one directory - - name: Create Artifact - run: | - mkdir -p CANBridge-artifacts - cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib - cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll - cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib - cp halWindows/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll - cp halWindows/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib - cp utilWindows/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll - cp utilWindows/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib - # Upload build artifact - name: Upload build artifact - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: - name: CANBridge-${{ github.sha }} - path: CANBridge-artifacts/ + path: headers-for-artifact + name: headers + + # Upload version file, used for versioning + version: + runs-on: ubuntu-latest + name: "Version" + steps: + - name: Checkout + uses: actions/checkout@v4 + with: + ref: ${{ github.sha }} + + - name: Setup Java + uses: actions/setup-java@v4 + with: + distribution: 'zulu' + java-version: 11 - # Upload version.txt - - name: Upload version artifact - uses: actions/upload-artifact@v3 + - name: Setup Gradle + uses: gradle/actions/setup-gradle@v4 + + - name: Build + run: | + ./gradlew outputVersions -PreleaseMode + + - name: Upload build artifact + uses: actions/upload-artifact@v4 with: name: version - path: build/allOutputs/version.txt + path: build/allOutputs/version.txt \ No newline at end of file diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 0c00949..d550195 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -3,33 +3,39 @@ name: Create release on: push: tags: - - 'v*' + - 'v**' + +permissions: + contents: write + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.ref }} + cancel-in-progress: false defaults: run: shell: bash jobs: - check-versions: + # Checks previous build workflow and gets the version from publish.gradle + check-build: + name: Check build and publish versions runs-on: ubuntu-latest outputs: TAG_NAME: ${{ env.TAG_NAME }} VERSION: ${{ steps.get_version.outputs.version }} steps: - - name: Wait for build to finish - uses: lewagon/wait-on-check-action@v1.3.1 + - name: Wait for build workflow to finish + uses: lewagon/wait-on-check-action@v1.3.4 with: ref: ${{ github.ref }} - check-name: 'build-windows64' + check-regexp: 'Build|WPILib Headers|Version' repo-token: ${{ secrets.GITHUB_TOKEN }} wait-interval: 10 - - name: Get tag name - run: | - echo "TAG_NAME=${GITHUB_REF#refs/*/}" >> $GITHUB_ENV # Download artifacts from build workflow - name: Download workflow artifacts - uses: dawidd6/action-download-artifact@v2 + uses: dawidd6/action-download-artifact@v6 with: workflow: build.yml commit: ${{ github.sha }} @@ -37,38 +43,36 @@ jobs: # Get publish.gradle version - name: Get publish.gradle version - id: get_version + id: get-version run: | echo "version=$(cat version/version.txt)" >> $GITHUB_OUTPUT echo "expectedTagName=v$(cat version/version.txt)" >> $GITHUB_OUTPUT - # Check publish.gradle version - - name: publish.gradle version check FAILED - if: ${{ steps.get_version.outputs.expectedTagName != env.TAG_NAME }} - run: | - echo Tag name: ${{ env.TAG_NAME }} - echo publish.gradle version: ${{ steps.get_version.outputs.version }} - exit 1 - + # Creates a release draft with the artifacts from the build workflow prepare-release: + name: Prepare release runs-on: ubuntu-latest - needs: check-versions + needs: check-build steps: # Download API, docs, and version.txt - name: Download workflow artifacts - uses: dawidd6/action-download-artifact@v2 + uses: dawidd6/action-download-artifact@v6 with: workflow: build.yml commit: ${{ github.sha }} path: '.' + skip_unpack: true + + # This step is to check what files are downloaded and how they are structured, as well as binary sizes for releases + - name: List files + run: | + ls -Rlh # Create new release draft - name: Create release - id: create_release - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - run: | - VERSION=${{ needs.check-versions.outputs.version }} - TAG=v$VERSION - ls --recursive -l - gh release create $TAG CANBridge-${{ github.sha }}/* --repo $GITHUB_REPOSITORY --draft --title "Version $VERSION" + uses: softprops/action-gh-release@v2 + with: + draft: true + generate_release_notes: true + files: | + **/** \ No newline at end of file diff --git a/config.gradle b/config.gradle index 7a59e9d..1c8fcb6 100644 --- a/config.gradle +++ b/config.gradle @@ -8,7 +8,7 @@ nativeUtils { // When updating WPILib, be sure to also update wpiHalVersion.txt wpiVersion = "2023.+" niLibVersion = "2023.3.0" - googleTestVersion = "1.11.0-3" + googleTestVersion = "1.11.0-4" } } } diff --git a/gradlew b/gradlew old mode 100644 new mode 100755 From 06b9a9670ade42c4ced5a77c7d26cd8ce8239982 Mon Sep 17 00:00:00 2001 From: Garrett Summerfield Date: Sun, 22 Sep 2024 02:14:05 -0500 Subject: [PATCH 2/9] Add IOKit linker args for macOS, disable errors as warnings for all platforms Due to the serial driver, macOS will not compile this project due to lack of linking to IOKit. This is now fixed, but the serial driver is deprecated so this change is largely meaningless. Disabled reporting warnings as errors to avoid build jobs failing due to warnings. --- build.gradle | 3 +++ config.gradle | 1 - 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index be00e2a..2f15627 100644 --- a/build.gradle +++ b/build.gradle @@ -78,6 +78,9 @@ model { } } binaries.all { + if (it.targetPlatform.name == 'osxuniversal') { + linker.args '-framework', 'IOKit' + } if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) { it.buildable = false } diff --git a/config.gradle b/config.gradle index 1c8fcb6..f87527f 100644 --- a/config.gradle +++ b/config.gradle @@ -14,7 +14,6 @@ nativeUtils { } nativeUtils.wpi.addWarnings() -nativeUtils.wpi.addWarningsAsErrors() nativeUtils.setSinglePrintPerPlatform() From 1d907037b3624894baf32f5a9b0536e625631e10 Mon Sep 17 00:00:00 2001 From: Garrett Summerfield Date: Mon, 23 Sep 2024 01:02:43 -0500 Subject: [PATCH 3/9] Remove Windows-only preprocessor macros This caused builds with macOS to fail, however since this is the serial driver, this isn't a meaningful change as its not maintained and slated for removal. This however does clear build failures with macOS. --- src/main/native/cpp/Drivers/Serial/SerialDevice.cpp | 6 ------ src/main/native/cpp/Drivers/Serial/SerialDriver.cpp | 6 ------ 2 files changed, 12 deletions(-) diff --git a/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp b/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp index a72d19d..9dcaced 100644 --- a/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp +++ b/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp @@ -26,8 +26,6 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#ifdef _WIN32 - #include "rev/Drivers/SerialPort/SerialDevice.h" #include //TODO: Remove @@ -161,7 +159,3 @@ bool SerialDevice::CopyReceivedMessagesMap(std::map SerialDriver::CreateDeviceFromDescriptor(const char* } // namespace usb } // namespace rev - -#else -typedef int __ISOWarning__CLEAR_; -#endif // _WIN32 From 895fea59961f1c74ca920777207c5c48835cb352 Mon Sep 17 00:00:00 2001 From: Garrett Summerfield Date: Mon, 23 Sep 2024 12:43:42 -0500 Subject: [PATCH 4/9] Add a versioning check for CI This check ensures that the tag pushed and the Gradle version are the same, and if the two don't match, then CI will fail. --- .github/workflows/release.yml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index d550195..2c11dfc 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -48,6 +48,14 @@ jobs: echo "version=$(cat version/version.txt)" >> $GITHUB_OUTPUT echo "expectedTagName=v$(cat version/version.txt)" >> $GITHUB_OUTPUT + # Check if the publish.gradle version matches the tag name + - name: Check version + run: | + if [[ "${{ steps.get-version.outputs.expectedTagName }}" != "${{ env.TAG_NAME }}" ]]; then + echo "Version mismatch: ${{ steps.get-version.outputs.expectedTagName }} != ${{ env.TAG_NAME }}" + exit 1 + fi + # Creates a release draft with the artifacts from the build workflow prepare-release: name: Prepare release @@ -74,5 +82,7 @@ jobs: with: draft: true generate_release_notes: true + tag_name: v${{ steps.get-version.outputs.version }} + name: Version ${{ steps.get-version.outputs.version }} files: | **/** \ No newline at end of file From 744b1dd24581f264b09d511743bc3df429973b82 Mon Sep 17 00:00:00 2001 From: Garrett Summerfield Date: Mon, 23 Sep 2024 13:53:29 -0500 Subject: [PATCH 5/9] Remove serial driver The serial driver has been stated for removal for some time now, this removed the driver completely. --- src/main/native/cpp/CANBridge.cpp | 3 - .../cpp/Drivers/Serial/SerialDevice.cpp | 161 --- .../cpp/Drivers/Serial/SerialDriver.cpp | 81 -- .../cpp/Drivers/Serial/SerialMessage.cpp | 94 -- .../native/cpp/serial/list_ports_linux.cc | 335 ------ src/main/native/cpp/serial/list_ports_osx.cc | 286 ----- src/main/native/cpp/serial/list_ports_win.cc | 160 --- src/main/native/cpp/serial/serial.cc | 430 ------- src/main/native/cpp/serial/symbols.txt | 1 - src/main/native/cpp/serial/unix.cc | 1066 ----------------- src/main/native/cpp/serial/win.cc | 651 ---------- .../rev/Drivers/SerialPort/SerialDevice.h | 72 -- .../Drivers/SerialPort/SerialDeviceThread.h | 307 ----- .../rev/Drivers/SerialPort/SerialDriver.h | 51 - .../rev/Drivers/SerialPort/SerialMessage.h | 41 - src/main/native/include/serial/serial.h | 775 ------------ src/main/native/include/serial/unix.h | 221 ---- src/main/native/include/serial/v8stdint.h | 57 - src/main/native/include/serial/win.h | 207 ---- 19 files changed, 4999 deletions(-) delete mode 100644 src/main/native/cpp/Drivers/Serial/SerialDevice.cpp delete mode 100644 src/main/native/cpp/Drivers/Serial/SerialDriver.cpp delete mode 100644 src/main/native/cpp/Drivers/Serial/SerialMessage.cpp delete mode 100644 src/main/native/cpp/serial/list_ports_linux.cc delete mode 100644 src/main/native/cpp/serial/list_ports_osx.cc delete mode 100644 src/main/native/cpp/serial/list_ports_win.cc delete mode 100644 src/main/native/cpp/serial/serial.cc delete mode 100644 src/main/native/cpp/serial/symbols.txt delete mode 100644 src/main/native/cpp/serial/unix.cc delete mode 100644 src/main/native/cpp/serial/win.cc delete mode 100644 src/main/native/include/rev/Drivers/SerialPort/SerialDevice.h delete mode 100644 src/main/native/include/rev/Drivers/SerialPort/SerialDeviceThread.h delete mode 100644 src/main/native/include/rev/Drivers/SerialPort/SerialDriver.h delete mode 100644 src/main/native/include/rev/Drivers/SerialPort/SerialMessage.h delete mode 100644 src/main/native/include/serial/serial.h delete mode 100644 src/main/native/include/serial/unix.h delete mode 100644 src/main/native/include/serial/v8stdint.h delete mode 100644 src/main/native/include/serial/win.h diff --git a/src/main/native/cpp/CANBridge.cpp b/src/main/native/cpp/CANBridge.cpp index 68a9f26..029cec7 100644 --- a/src/main/native/cpp/CANBridge.cpp +++ b/src/main/native/cpp/CANBridge.cpp @@ -43,8 +43,6 @@ #include "rev/Drivers/CandleWinUSB/CandleWinUSBDriver.h" #endif -#include "rev/Drivers/SerialPort/SerialDriver.h" - #include #include @@ -61,7 +59,6 @@ static const std::vector CANDriverList = { #ifdef _WIN32 new rev::usb::CandleWinUSBDriver(), #endif - new rev::usb::SerialDriver() }; static std::vector, rev::usb::CANBridge_CANFilter>> CANDeviceList = {}; diff --git a/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp b/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp deleted file mode 100644 index 9dcaced..0000000 --- a/src/main/native/cpp/Drivers/Serial/SerialDevice.cpp +++ /dev/null @@ -1,161 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "rev/Drivers/SerialPort/SerialDevice.h" - -#include //TODO: Remove -#include -#include - -#include -#include - -#include "serial/serial.h" - -namespace rev { -namespace usb { - -SerialDevice::SerialDevice(std::string port) : - m_thread(port) -{ - m_descriptor = port; - m_name = "SPARK MAX"; - m_thread.Start(); -} - -SerialDevice::~SerialDevice() -{ - m_thread.Stop(); -} - -std::string SerialDevice::GetName() const -{ - return m_name; -} - - -std::string SerialDevice::GetDescriptor() const -{ - return m_descriptor; -} - -int SerialDevice::GetId() const -{ - return 0; -} - -int SerialDevice::GetNumberOfErrors() -{ - return m_thread.GetNumberOfErrors(); -} - -CANStatus SerialDevice::SendCANMessage(const CANMessage& msg, int periodMs) -{ - m_thread.EnqueueMessage(msg, periodMs); - return m_thread.GetLastThreadError(); -} - -CANStatus SerialDevice::ReceiveCANMessage(std::shared_ptr& msg, uint32_t messageID, uint32_t messageMask) -{ - CANStatus status = CANStatus::kTimeout; - - // parse through the keys, find the messges the match, and return it - // The first in the message id, then the messages - std::map> messages; - m_thread.ReceiveMessage(messages); - std::shared_ptr mostRecent; - for (auto& m : messages) { - if ( - CANBridge_ProcessMask({m.second->GetMessageId(), 0}, m.first) - && CANBridge_ProcessMask({messageID, messageMask}, m.first) - && (!mostRecent || m.second->GetTimestampUs() > mostRecent->GetTimestampUs()) - ) { - mostRecent = m.second; - status = CANStatus::kOk; - } - } - - if (status == CANStatus::kOk) { - msg = mostRecent; - status = m_thread.GetLastThreadError(); - } else { - status = CANStatus::kError; - } - - - return status; -} - -CANStatus SerialDevice::OpenStreamSession(uint32_t* sessionHandle, CANBridge_CANFilter filter, uint32_t maxSize) -{ - // Register the stream with the correct buffer size - CANStatus stat = CANStatus::kOk; - m_thread.OpenStream(sessionHandle, filter, maxSize, &stat); - return m_thread.GetLastThreadError(); -} -CANStatus SerialDevice::CloseStreamSession(uint32_t sessionHandle) -{ - m_thread.CloseStream(sessionHandle); - return m_thread.GetLastThreadError(); -} -CANStatus SerialDevice::ReadStreamSession(uint32_t sessionHandle, struct HAL_CANStreamMessage* msgs, uint32_t messagesToRead, uint32_t* messagesRead) -{ - m_thread.ReadStream(sessionHandle, msgs, messagesToRead, messagesRead); - return m_thread.GetLastThreadError(); -} - -CANStatus SerialDevice::GetCANDetailStatus(float* percentBusUtilization, uint32_t* busOff, uint32_t* txFull, uint32_t* receiveErr, uint32_t* transmitErr) -{ - rev::usb::CANStatusDetails details; - m_thread.GetCANStatus(&details); - *busOff = details.busOffCount; - *txFull = details.txFullCount; - *receiveErr = details.receiveErrCount; - *transmitErr = details.transmitErrCount; - *percentBusUtilization = 0.0; // todo how to get this properly - - return m_thread.GetLastThreadError(); -} - -CANStatus SerialDevice::GetCANDetailStatus(float* percentBusUtilization, uint32_t* busOff, uint32_t* txFull, uint32_t* receiveErr, uint32_t* transmitErr, uint32_t* lastErrorTime) { - return GetCANDetailStatus(percentBusUtilization, busOff, txFull, receiveErr, transmitErr); -} - -bool SerialDevice::IsConnected() -{ - return true; -} - -bool SerialDevice::CopyReceivedMessagesMap(std::map>& receivedMessagesMap) -{ - return m_thread.ReceiveMessage(receivedMessagesMap); -} - - -} // namespace usb -} // namespace rev diff --git a/src/main/native/cpp/Drivers/Serial/SerialDriver.cpp b/src/main/native/cpp/Drivers/Serial/SerialDriver.cpp deleted file mode 100644 index bb6e614..0000000 --- a/src/main/native/cpp/Drivers/Serial/SerialDriver.cpp +++ /dev/null @@ -1,81 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "rev/Drivers/SerialPort/SerialDriver.h" -#include "rev/Drivers/SerialPort/SerialDevice.h" -#include "rev/CANBridgeUtils.h" - -#include "serial/serial.h" - -#include -#include -#include -#include - -namespace rev { -namespace usb { - -static const std::string SparkMax_HardwareId = "USB\\VID_0483&PID_5740&REV_0200"; - -std::vector SerialDriver::GetDevices() -{ - // Search driver layer for devices - std::vector retval; - - std::vector found = serial::list_ports(); - for (auto& dev : found) { - if (parse_serial_com_port(dev.port) != -1 && dev.hardware_id.compare(SparkMax_HardwareId) == 0) { - std::string name("SPARK MAX"); - retval.push_back({dev.port, name, this->GetName()}); - } - } - - return retval; -} - -std::unique_ptr SerialDriver::CreateDeviceFromDescriptor(const char* descriptor) -{ - // Search driver layer for devices - std::vector found = serial::list_ports(); - for (auto& dev : found) { - if (dev.port == std::string(descriptor)) { - try { - return std::make_unique(dev.port); - } catch(...) { - // do nothing if it failed - } - } - } - - return std::unique_ptr(); -} - - - -} // namespace usb -} // namespace rev diff --git a/src/main/native/cpp/Drivers/Serial/SerialMessage.cpp b/src/main/native/cpp/Drivers/Serial/SerialMessage.cpp deleted file mode 100644 index 983aec7..0000000 --- a/src/main/native/cpp/Drivers/Serial/SerialMessage.cpp +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include - -#include "rev/Drivers/SerialPort/SerialMessage.h" - -// Constant defines of valid message IDS for the serial communication -const int CMD_API_CLEAR_FAULTS = 0x06E; -const int CMD_API_DRV_STAT = 0x06A; -const int CMD_API_BURN_FLASH = 0x072; -const int CMD_API_SET_FOLLOWER = 0x073; -const int CMD_API_FACTORY_DEFAULT = 0x074; -const int CMD_API_FACTORY_RESET = 0x075; - -const int CMD_API_FIRMWARE = 0x098; - -const int CMD_API_SWDL_BOOTLOADER = 0x1FF; -const int CMD_API_SWDL_DATA = 0x09C; -const int CMD_API_SWDL_CHKSUM = 0x09D; -const int CMD_API_SWDL_RETRANSMIT = 0x09E; - -const int ID_SIZE = 13; - -const int ValidIds[ID_SIZE] = { - CMD_API_CLEAR_FAULTS, - CMD_API_DRV_STAT, - CMD_API_BURN_FLASH, - CMD_API_SET_FOLLOWER, - CMD_API_FACTORY_DEFAULT, - CMD_API_FACTORY_RESET, - - CMD_API_FIRMWARE, - - CMD_API_SWDL_BOOTLOADER, - CMD_API_SWDL_DATA, - CMD_API_SWDL_CHKSUM, - CMD_API_SWDL_RETRANSMIT, - - // Reset into DFU Mode command - 0x010, - - CMD_API_PARAM_ACCESS -}; - -bool IsValidSerialMessageId(uint16_t apiId) { - - for (int i = 0; i <= ID_SIZE; i++) { - if (ValidIds[i] == apiId) { - return true; - } - } - - return false; -} - -bool IsConfigParameter(uint16_t apiId) { - if (apiId >= CMD_API_PARAM_ACCESS) { - return true; - } - - return false; -} - -bool IsLegacyGetParam(uint32_t msgId) { - return ((msgId & GET_CONFIG_PARAM) == GET_CONFIG_PARAM) || ((msgId & SET_CONFIG_PARAM) == SET_CONFIG_PARAM); -} - diff --git a/src/main/native/cpp/serial/list_ports_linux.cc b/src/main/native/cpp/serial/list_ports_linux.cc deleted file mode 100644 index 349e36f..0000000 --- a/src/main/native/cpp/serial/list_ports_linux.cc +++ /dev/null @@ -1,335 +0,0 @@ -#if defined(__linux__) - -/* - * Copyright (c) 2014 Craig Lilley - * This software is made available under the terms of the MIT licence. - * A copy of the licence can be obtained from: - * http://opensource.org/licenses/MIT - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "serial.h" - -using serial::PortInfo; -using std::istringstream; -using std::ifstream; -using std::getline; -using std::vector; -using std::string; -using std::cout; -using std::endl; - -static vector glob(const vector& patterns); -static string basename(const string& path); -static string dirname(const string& path); -static bool path_exists(const string& path); -static string realpath(const string& path); -static string usb_sysfs_friendly_name(const string& sys_usb_path); -static vector get_sysfs_info(const string& device_path); -static string read_line(const string& file); -static string usb_sysfs_hw_string(const string& sysfs_path); -static string format(const char* format, ...); - -vector -glob(const vector& patterns) -{ - vector paths_found; - - if(patterns.size() == 0) - return paths_found; - - glob_t glob_results; - - glob(patterns[0].c_str(), 0, NULL, &glob_results); - - vector::const_iterator iter = patterns.begin(); - - while(++iter != patterns.end()) - { - glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results); - } - - for(uint path_index = 0; path_index < glob_results.gl_pathc; path_index++) - { - paths_found.push_back(glob_results.gl_pathv[path_index]); - } - - globfree(&glob_results); - - return paths_found; -} - -string -basename(const string& path) -{ - size_t pos = path.rfind("/"); - - if(pos == std::string::npos) - return path; - - return string(path, pos+1, string::npos); -} - -string -dirname(const string& path) -{ - size_t pos = path.rfind("/"); - - if(pos == std::string::npos) - return path; - else if(pos == 0) - return "/"; - - return string(path, 0, pos); -} - -bool -path_exists(const string& path) -{ - struct stat sb; - - if( stat(path.c_str(), &sb ) == 0 ) - return true; - - return false; -} - -string -realpath(const string& path) -{ - char* real_path = realpath(path.c_str(), NULL); - - string result; - - if(real_path != NULL) - { - result = real_path; - - free(real_path); - } - - return result; -} - -string -usb_sysfs_friendly_name(const string& sys_usb_path) -{ - unsigned int device_number = 0; - - istringstream( read_line(sys_usb_path + "/devnum") ) >> device_number; - - string manufacturer = read_line( sys_usb_path + "/manufacturer" ); - - string product = read_line( sys_usb_path + "/product" ); - - string serial = read_line( sys_usb_path + "/serial" ); - - if( manufacturer.empty() && product.empty() && serial.empty() ) - return ""; - - return format("%s %s %s", manufacturer.c_str(), product.c_str(), serial.c_str() ); -} - -vector -get_sysfs_info(const string& device_path) -{ - string device_name = basename( device_path ); - - string friendly_name; - - string hardware_id; - - string sys_device_path = format( "/sys/class/tty/%s/device", device_name.c_str() ); - - if( device_name.compare(0,6,"ttyUSB") == 0 ) - { - sys_device_path = dirname( dirname( realpath( sys_device_path ) ) ); - - if( path_exists( sys_device_path ) ) - { - friendly_name = usb_sysfs_friendly_name( sys_device_path ); - - hardware_id = usb_sysfs_hw_string( sys_device_path ); - } - } - else if( device_name.compare(0,6,"ttyACM") == 0 ) - { - sys_device_path = dirname( realpath( sys_device_path ) ); - - if( path_exists( sys_device_path ) ) - { - friendly_name = usb_sysfs_friendly_name( sys_device_path ); - - hardware_id = usb_sysfs_hw_string( sys_device_path ); - } - } - else - { - // Try to read ID string of PCI device - - string sys_id_path = sys_device_path + "/id"; - - if( path_exists( sys_id_path ) ) - hardware_id = read_line( sys_id_path ); - } - - if( friendly_name.empty() ) - friendly_name = device_name; - - if( hardware_id.empty() ) - hardware_id = "n/a"; - - vector result; - result.push_back(friendly_name); - result.push_back(hardware_id); - - return result; -} - -string -read_line(const string& file) -{ - ifstream ifs(file.c_str(), ifstream::in); - - string line; - - if(ifs) - { - getline(ifs, line); - } - - return line; -} - -string -format(const char* format, ...) -{ - va_list ap; - - size_t buffer_size_bytes = 256; - - string result; - - char* buffer = (char*)malloc(buffer_size_bytes); - - if( buffer == NULL ) - return result; - - bool done = false; - - unsigned int loop_count = 0; - - while(!done) - { - va_start(ap, format); - - int return_value = vsnprintf(buffer, buffer_size_bytes, format, ap); - - if( return_value < 0 ) - { - done = true; - } - else if( return_value >= static_cast(buffer_size_bytes) ) - { - // Realloc and try again. - - buffer_size_bytes = return_value + 1; - - char* new_buffer_ptr = (char*)realloc(buffer, buffer_size_bytes); - - if( new_buffer_ptr == NULL ) - { - done = true; - } - else - { - buffer = new_buffer_ptr; - } - } - else - { - result = buffer; - done = true; - } - - va_end(ap); - - if( ++loop_count > 5 ) - done = true; - } - - free(buffer); - - return result; -} - -string -usb_sysfs_hw_string(const string& sysfs_path) -{ - string serial_number = read_line( sysfs_path + "/serial" ); - - if( serial_number.length() > 0 ) - { - serial_number = format( "SNR=%s", serial_number.c_str() ); - } - - string vid = read_line( sysfs_path + "/idVendor" ); - - string pid = read_line( sysfs_path + "/idProduct" ); - - return format("USB VID:PID=%s:%s %s", vid.c_str(), pid.c_str(), serial_number.c_str() ); -} - -vector -serial::list_ports() -{ - vector results; - - vector search_globs; - search_globs.push_back("/dev/ttyACM*"); - search_globs.push_back("/dev/ttyS*"); - search_globs.push_back("/dev/ttyUSB*"); - search_globs.push_back("/dev/tty.*"); - search_globs.push_back("/dev/cu.*"); - - vector devices_found = glob( search_globs ); - - vector::iterator iter = devices_found.begin(); - - while( iter != devices_found.end() ) - { - string device = *iter++; - - vector sysfs_info = get_sysfs_info( device ); - - string friendly_name = sysfs_info[0]; - - string hardware_id = sysfs_info[1]; - - PortInfo device_entry; - device_entry.port = device; - device_entry.description = friendly_name; - device_entry.hardware_id = hardware_id; - - results.push_back( device_entry ); - - } - - return results; -} - -#endif // defined(__linux__) diff --git a/src/main/native/cpp/serial/list_ports_osx.cc b/src/main/native/cpp/serial/list_ports_osx.cc deleted file mode 100644 index 333c55c..0000000 --- a/src/main/native/cpp/serial/list_ports_osx.cc +++ /dev/null @@ -1,286 +0,0 @@ -#if defined(__APPLE__) - -#include -#include - -#include -#include -#include -#include - -#include -#include -#include - -#include "serial/serial.h" - -using serial::PortInfo; -using std::string; -using std::vector; - -#define HARDWARE_ID_STRING_LENGTH 128 - -string cfstring_to_string( CFStringRef cfstring ); -string get_device_path( io_object_t& serial_port ); -string get_class_name( io_object_t& obj ); -io_registry_entry_t get_parent_iousb_device( io_object_t& serial_port ); -string get_string_property( io_object_t& device, const char* property ); -uint16_t get_int_property( io_object_t& device, const char* property ); -string rtrim(const string& str); - -string -cfstring_to_string( CFStringRef cfstring ) -{ - char cstring[MAXPATHLEN]; - string result; - - if( cfstring ) - { - Boolean success = CFStringGetCString( cfstring, - cstring, - sizeof(cstring), - kCFStringEncodingASCII ); - - if( success ) - result = cstring; - } - - return result; -} - -string -get_device_path( io_object_t& serial_port ) -{ - CFTypeRef callout_path; - string device_path; - - callout_path = IORegistryEntryCreateCFProperty( serial_port, - CFSTR(kIOCalloutDeviceKey), - kCFAllocatorDefault, - 0 ); - - if (callout_path) - { - if( CFGetTypeID(callout_path) == CFStringGetTypeID() ) - device_path = cfstring_to_string( static_cast(callout_path) ); - - CFRelease(callout_path); - } - - return device_path; -} - -string -get_class_name( io_object_t& obj ) -{ - string result; - io_name_t class_name; - kern_return_t kern_result; - - kern_result = IOObjectGetClass( obj, class_name ); - - if( kern_result == KERN_SUCCESS ) - result = class_name; - - return result; -} - -io_registry_entry_t -get_parent_iousb_device( io_object_t& serial_port ) -{ - io_object_t device = serial_port; - io_registry_entry_t parent = 0; - io_registry_entry_t result = 0; - kern_return_t kern_result = KERN_FAILURE; - string name = get_class_name(device); - - // Walk the IO Registry tree looking for this devices parent IOUSBDevice. - while( name != "IOUSBDevice" ) - { - kern_result = IORegistryEntryGetParentEntry( device, - kIOServicePlane, - &parent ); - - if(kern_result != KERN_SUCCESS) - { - result = 0; - break; - } - - device = parent; - - name = get_class_name(device); - } - - if(kern_result == KERN_SUCCESS) - result = device; - - return result; -} - -string -get_string_property( io_object_t& device, const char* property ) -{ - string property_name; - - if( device ) - { - CFStringRef property_as_cfstring = CFStringCreateWithCString ( - kCFAllocatorDefault, - property, - kCFStringEncodingASCII ); - - CFTypeRef name_as_cfstring = IORegistryEntryCreateCFProperty( - device, - property_as_cfstring, - kCFAllocatorDefault, - 0 ); - - if( name_as_cfstring ) - { - if( CFGetTypeID(name_as_cfstring) == CFStringGetTypeID() ) - property_name = cfstring_to_string( static_cast(name_as_cfstring) ); - - CFRelease(name_as_cfstring); - } - - if(property_as_cfstring) - CFRelease(property_as_cfstring); - } - - return property_name; -} - -uint16_t -get_int_property( io_object_t& device, const char* property ) -{ - uint16_t result = 0; - - if( device ) - { - CFStringRef property_as_cfstring = CFStringCreateWithCString ( - kCFAllocatorDefault, - property, - kCFStringEncodingASCII ); - - CFTypeRef number = IORegistryEntryCreateCFProperty( device, - property_as_cfstring, - kCFAllocatorDefault, - 0 ); - - if(property_as_cfstring) - CFRelease(property_as_cfstring); - - if( number ) - { - if( CFGetTypeID(number) == CFNumberGetTypeID() ) - { - bool success = CFNumberGetValue( static_cast(number), - kCFNumberSInt16Type, - &result ); - - if( !success ) - result = 0; - } - - CFRelease(number); - } - - } - - return result; -} - -string rtrim(const string& str) -{ - string result = str; - - string whitespace = " \t\f\v\n\r"; - - std::size_t found = result.find_last_not_of(whitespace); - - if (found != std::string::npos) - result.erase(found+1); - else - result.clear(); - - return result; -} - -vector -serial::list_ports(void) -{ - vector devices_found; - CFMutableDictionaryRef classes_to_match; - io_iterator_t serial_port_iterator; - io_object_t serial_port; - mach_port_t master_port; - kern_return_t kern_result; - - kern_result = IOMasterPort(MACH_PORT_NULL, &master_port); - - if(kern_result != KERN_SUCCESS) - return devices_found; - - classes_to_match = IOServiceMatching(kIOSerialBSDServiceValue); - - if (classes_to_match == NULL) - return devices_found; - - CFDictionarySetValue( classes_to_match, - CFSTR(kIOSerialBSDTypeKey), - CFSTR(kIOSerialBSDAllTypes) ); - - kern_result = IOServiceGetMatchingServices(master_port, classes_to_match, &serial_port_iterator); - - if (KERN_SUCCESS != kern_result) - return devices_found; - - while ( (serial_port = IOIteratorNext(serial_port_iterator)) ) - { - string device_path = get_device_path( serial_port ); - io_registry_entry_t parent = get_parent_iousb_device( serial_port ); - IOObjectRelease(serial_port); - - if( device_path.empty() ) - continue; - - PortInfo port_info; - port_info.port = device_path; - port_info.description = "n/a"; - port_info.hardware_id = "n/a"; - - string device_name = rtrim( get_string_property( parent, "USB Product Name" ) ); - string vendor_name = rtrim( get_string_property( parent, "USB Vendor Name") ); - string description = rtrim( vendor_name + " " + device_name ); - if( !description.empty() ) - port_info.description = description; - - string serial_number = rtrim(get_string_property( parent, "USB Serial Number" ) ); - uint16_t vendor_id = get_int_property( parent, "idVendor" ); - uint16_t product_id = get_int_property( parent, "idProduct" ); - - if( vendor_id && product_id ) - { - char cstring[HARDWARE_ID_STRING_LENGTH]; - - if(serial_number.empty()) - serial_number = "None"; - - int ret = snprintf( cstring, HARDWARE_ID_STRING_LENGTH, "USB VID:PID=%04x:%04x SNR=%s", - vendor_id, - product_id, - serial_number.c_str() ); - - if( (ret >= 0) && (ret < HARDWARE_ID_STRING_LENGTH) ) - port_info.hardware_id = cstring; - } - - devices_found.push_back(port_info); - } - - IOObjectRelease(serial_port_iterator); - return devices_found; -} - -#endif // defined(__APPLE__) diff --git a/src/main/native/cpp/serial/list_ports_win.cc b/src/main/native/cpp/serial/list_ports_win.cc deleted file mode 100644 index 8d384b1..0000000 --- a/src/main/native/cpp/serial/list_ports_win.cc +++ /dev/null @@ -1,160 +0,0 @@ -#if defined(_WIN32) - -/* - * Copyright (c) 2014 Craig Lilley - * This software is made available under the terms of the MIT licence. - * A copy of the licence can be obtained from: - * http://opensource.org/licenses/MIT - */ - -#include "serial.h" -#include -#include -#include -#include -#include -#include -#include - -#ifdef _MSC_VER -#pragma comment(lib, "winusb.lib") -#pragma comment(lib, "setupapi.lib") -#pragma comment(lib, "ole32.lib") -#pragma comment(lib, "advapi32.lib") -#endif - -using serial::PortInfo; -using std::vector; -using std::string; - -static const DWORD port_name_max_length = 256; -static const DWORD friendly_name_max_length = 256; -static const DWORD hardware_id_max_length = 256; - -// Convert a wide Unicode string to an UTF8 string -std::string utf8_encode(const std::wstring &wstr) -{ - int size_needed = WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), NULL, 0, NULL, NULL); - std::string strTo( size_needed, 0 ); - WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), &strTo[0], size_needed, NULL, NULL); - return strTo; -} - -vector -serial::list_ports() -{ - vector devices_found; - - HDEVINFO device_info_set = SetupDiGetClassDevs( - (const GUID *) &GUID_DEVCLASS_PORTS, - NULL, - NULL, - DIGCF_PRESENT); - - unsigned int device_info_set_index = 0; - SP_DEVINFO_DATA device_info_data; - - device_info_data.cbSize = sizeof(SP_DEVINFO_DATA); - - while(SetupDiEnumDeviceInfo(device_info_set, device_info_set_index, &device_info_data)) - { - device_info_set_index++; - - // Get port name - - HKEY hkey = SetupDiOpenDevRegKey( - device_info_set, - &device_info_data, - DICS_FLAG_GLOBAL, - 0, - DIREG_DEV, - KEY_READ); - - TCHAR port_name[port_name_max_length]; - DWORD port_name_length = port_name_max_length; - - LONG return_code = RegQueryValueEx( - hkey, - _T("PortName"), - NULL, - NULL, - (LPBYTE)port_name, - &port_name_length); - - RegCloseKey(hkey); - - if(return_code != EXIT_SUCCESS) - continue; - - if(port_name_length > 0 && port_name_length <= port_name_max_length) - port_name[port_name_length-1] = '\0'; - else - port_name[0] = '\0'; - - // Ignore parallel ports - - if(_tcsstr(port_name, _T("LPT")) != NULL) - continue; - - // Get port friendly name - - TCHAR friendly_name[friendly_name_max_length]; - DWORD friendly_name_actual_length = 0; - - BOOL got_friendly_name = SetupDiGetDeviceRegistryProperty( - device_info_set, - &device_info_data, - SPDRP_FRIENDLYNAME, - NULL, - (PBYTE)friendly_name, - friendly_name_max_length, - &friendly_name_actual_length); - - if(got_friendly_name == TRUE && friendly_name_actual_length > 0) - friendly_name[friendly_name_actual_length-1] = '\0'; - else - friendly_name[0] = '\0'; - - // Get hardware ID - - TCHAR hardware_id[hardware_id_max_length]; - DWORD hardware_id_actual_length = 0; - - BOOL got_hardware_id = SetupDiGetDeviceRegistryProperty( - device_info_set, - &device_info_data, - SPDRP_HARDWAREID, - NULL, - (PBYTE)hardware_id, - hardware_id_max_length, - &hardware_id_actual_length); - - if(got_hardware_id == TRUE && hardware_id_actual_length > 0) - hardware_id[hardware_id_actual_length-1] = '\0'; - else - hardware_id[0] = '\0'; - - #ifdef UNICODE - std::string portName = utf8_encode(port_name); - std::string friendlyName = utf8_encode(friendly_name); - std::string hardwareId = utf8_encode(hardware_id); - #else - std::string portName = port_name; - std::string friendlyName = friendly_name; - std::string hardwareId = hardware_id; - #endif - - PortInfo port_entry; - port_entry.port = portName; - port_entry.description = friendlyName; - port_entry.hardware_id = hardwareId; - - devices_found.push_back(port_entry); - } - - SetupDiDestroyDeviceInfoList(device_info_set); - - return devices_found; -} - -#endif // #if defined(_WIN32) diff --git a/src/main/native/cpp/serial/serial.cc b/src/main/native/cpp/serial/serial.cc deleted file mode 100644 index 504098a..0000000 --- a/src/main/native/cpp/serial/serial.cc +++ /dev/null @@ -1,430 +0,0 @@ -/* Copyright 2012 William Woodall and John Harrison */ -#include - -#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__) -# include -#endif - -#if defined (__MINGW32__) -# define alloca __builtin_alloca -#endif - -#include "serial.h" - -#ifdef _WIN32 -#include "win.h" -#else -#include "unix.h" -#endif - -using std::invalid_argument; -using std::min; -using std::numeric_limits; -using std::vector; -using std::size_t; -using std::string; - -using serial::Serial; -using serial::SerialException; -using serial::IOException; -using serial::bytesize_t; -using serial::parity_t; -using serial::stopbits_t; -using serial::flowcontrol_t; - -class Serial::ScopedReadLock { -public: - ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) { - this->pimpl_->readLock(); - } - ~ScopedReadLock() { - this->pimpl_->readUnlock(); - } -private: - // Disable copy constructors - ScopedReadLock(const ScopedReadLock&); - const ScopedReadLock& operator=(ScopedReadLock); - - SerialImpl *pimpl_; -}; - -class Serial::ScopedWriteLock { -public: - ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) { - this->pimpl_->writeLock(); - } - ~ScopedWriteLock() { - this->pimpl_->writeUnlock(); - } -private: - // Disable copy constructors - ScopedWriteLock(const ScopedWriteLock&); - const ScopedWriteLock& operator=(ScopedWriteLock); - SerialImpl *pimpl_; -}; - -Serial::Serial (const string &port, uint32_t baudrate, serial::Timeout timeout, - bytesize_t bytesize, parity_t parity, stopbits_t stopbits, - flowcontrol_t flowcontrol) - : pimpl_(new SerialImpl (port, baudrate, bytesize, parity, - stopbits, flowcontrol)) -{ - pimpl_->setTimeout(timeout); -} - -Serial::~Serial () -{ - delete pimpl_; -} - -void -Serial::open () -{ - pimpl_->open (); -} - -void -Serial::close () -{ - pimpl_->close (); -} - -bool -Serial::isOpen () const -{ - return pimpl_->isOpen (); -} - -size_t -Serial::available () -{ - return pimpl_->available (); -} - -bool -Serial::waitReadable () -{ - serial::Timeout timeout(pimpl_->getTimeout ()); - return pimpl_->waitReadable(timeout.read_timeout_constant); -} - -void -Serial::waitByteTimes (size_t count) -{ - pimpl_->waitByteTimes(count); -} - -size_t -Serial::read_ (uint8_t *buffer, size_t size) -{ - return this->pimpl_->read (buffer, size); -} - -size_t -Serial::read (uint8_t *buffer, size_t size) -{ - ScopedReadLock lock(this->pimpl_); - return this->pimpl_->read (buffer, size); -} - -size_t -Serial::read (std::vector &buffer, size_t size) -{ - ScopedReadLock lock(this->pimpl_); - uint8_t *buffer_ = new uint8_t[size]; - size_t bytes_read = 0; - - try { - bytes_read = this->pimpl_->read (buffer_, size); - } - catch (const std::exception &e) { - delete[] buffer_; - throw e; - } - - buffer.insert (buffer.end (), buffer_, buffer_+bytes_read); - delete[] buffer_; - return bytes_read; -} - -size_t -Serial::read (std::string &buffer, size_t size) -{ - ScopedReadLock lock(this->pimpl_); - uint8_t *buffer_ = new uint8_t[size]; - size_t bytes_read = 0; - try { - bytes_read = this->pimpl_->read (buffer_, size); - } - catch (const std::exception &e) { - delete[] buffer_; - throw e; - } - buffer.append (reinterpret_cast(buffer_), bytes_read); - delete[] buffer_; - return bytes_read; -} - -string -Serial::read (size_t size) -{ - std::string buffer; - this->read (buffer, size); - return buffer; -} - -size_t -Serial::readline (string &buffer, size_t size, string eol) -{ - ScopedReadLock lock(this->pimpl_); - size_t eol_len = eol.length (); - uint8_t *buffer_ = static_cast - (alloca (size * sizeof (uint8_t))); - size_t read_so_far = 0; - while (true) - { - size_t bytes_read = this->read_ (buffer_ + read_so_far, 1); - read_so_far += bytes_read; - if (bytes_read == 0) { - break; // Timeout occured on reading 1 byte - } - if (string (reinterpret_cast - (buffer_ + read_so_far - eol_len), eol_len) == eol) { - break; // EOL found - } - if (read_so_far == size) { - break; // Reached the maximum read length - } - } - buffer.append(reinterpret_cast (buffer_), read_so_far); - return read_so_far; -} - -string -Serial::readline (size_t size, string eol) -{ - std::string buffer; - this->readline (buffer, size, eol); - return buffer; -} - -vector -Serial::readlines (size_t size, string eol) -{ - ScopedReadLock lock(this->pimpl_); - std::vector lines; - size_t eol_len = eol.length (); - uint8_t *buffer_ = static_cast - (alloca (size * sizeof (uint8_t))); - size_t read_so_far = 0; - size_t start_of_line = 0; - while (read_so_far < size) { - size_t bytes_read = this->read_ (buffer_+read_so_far, 1); - read_so_far += bytes_read; - if (bytes_read == 0) { - if (start_of_line != read_so_far) { - lines.push_back ( - string (reinterpret_cast (buffer_ + start_of_line), - read_so_far - start_of_line)); - } - break; // Timeout occured on reading 1 byte - } - if (string (reinterpret_cast - (buffer_ + read_so_far - eol_len), eol_len) == eol) { - // EOL found - lines.push_back( - string(reinterpret_cast (buffer_ + start_of_line), - read_so_far - start_of_line)); - start_of_line = read_so_far; - } - if (read_so_far == size) { - if (start_of_line != read_so_far) { - lines.push_back( - string(reinterpret_cast (buffer_ + start_of_line), - read_so_far - start_of_line)); - } - break; // Reached the maximum read length - } - } - return lines; -} - -size_t -Serial::write (const string &data) -{ - ScopedWriteLock lock(this->pimpl_); - return this->write_ (reinterpret_cast(data.c_str()), - data.length()); -} - -size_t -Serial::write (const std::vector &data) -{ - ScopedWriteLock lock(this->pimpl_); - return this->write_ (&data[0], data.size()); -} - -size_t -Serial::write (const uint8_t *data, size_t size) -{ - ScopedWriteLock lock(this->pimpl_); - return this->write_(data, size); -} - -size_t -Serial::write_ (const uint8_t *data, size_t length) -{ - return pimpl_->write (data, length); -} - -void -Serial::setPort (const string &port) -{ - ScopedReadLock rlock(this->pimpl_); - ScopedWriteLock wlock(this->pimpl_); - bool was_open = pimpl_->isOpen (); - if (was_open) close(); - pimpl_->setPort (port); - if (was_open) open (); -} - -string -Serial::getPort () const -{ - return pimpl_->getPort (); -} - -void -Serial::setTimeout (serial::Timeout &timeout) -{ - pimpl_->setTimeout (timeout); -} - -serial::Timeout -Serial::getTimeout () const { - return pimpl_->getTimeout (); -} - -void -Serial::setBaudrate (uint32_t baudrate) -{ - pimpl_->setBaudrate (baudrate); -} - -uint32_t -Serial::getBaudrate () const -{ - return uint32_t(pimpl_->getBaudrate ()); -} - -void -Serial::setBytesize (bytesize_t bytesize) -{ - pimpl_->setBytesize (bytesize); -} - -bytesize_t -Serial::getBytesize () const -{ - return pimpl_->getBytesize (); -} - -void -Serial::setParity (parity_t parity) -{ - pimpl_->setParity (parity); -} - -parity_t -Serial::getParity () const -{ - return pimpl_->getParity (); -} - -void -Serial::setStopbits (stopbits_t stopbits) -{ - pimpl_->setStopbits (stopbits); -} - -stopbits_t -Serial::getStopbits () const -{ - return pimpl_->getStopbits (); -} - -void -Serial::setFlowcontrol (flowcontrol_t flowcontrol) -{ - pimpl_->setFlowcontrol (flowcontrol); -} - -flowcontrol_t -Serial::getFlowcontrol () const -{ - return pimpl_->getFlowcontrol (); -} - -void Serial::flush () -{ - ScopedReadLock rlock(this->pimpl_); - ScopedWriteLock wlock(this->pimpl_); - pimpl_->flush (); -} - -void Serial::flushInput () -{ - ScopedReadLock lock(this->pimpl_); - pimpl_->flushInput (); -} - -void Serial::flushOutput () -{ - ScopedWriteLock lock(this->pimpl_); - pimpl_->flushOutput (); -} - -void Serial::sendBreak (int duration) -{ - pimpl_->sendBreak (duration); -} - -void Serial::setBreak (bool level) -{ - pimpl_->setBreak (level); -} - -void Serial::setRTS (bool level) -{ - pimpl_->setRTS (level); -} - -void Serial::setDTR (bool level) -{ - pimpl_->setDTR (level); -} - -bool Serial::waitForChange() -{ - return pimpl_->waitForChange(); -} - -bool Serial::getCTS () -{ - return pimpl_->getCTS (); -} - -bool Serial::getDSR () -{ - return pimpl_->getDSR (); -} - -bool Serial::getRI () -{ - return pimpl_->getRI (); -} - -bool Serial::getCD () -{ - return pimpl_->getCD (); -} diff --git a/src/main/native/cpp/serial/symbols.txt b/src/main/native/cpp/serial/symbols.txt deleted file mode 100644 index eed099f..0000000 --- a/src/main/native/cpp/serial/symbols.txt +++ /dev/null @@ -1 +0,0 @@ -list_ports \ No newline at end of file diff --git a/src/main/native/cpp/serial/unix.cc b/src/main/native/cpp/serial/unix.cc deleted file mode 100644 index 4283548..0000000 --- a/src/main/native/cpp/serial/unix.cc +++ /dev/null @@ -1,1066 +0,0 @@ -/* Copyright 2012 William Woodall and John Harrison - * - * Additional Contributors: Christopher Baker @bakercp - */ - -#if !defined(_WIN32) - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#if defined(__linux__) -# include -#endif - -#include -#include -#include -#ifdef __MACH__ -#include -#include -#include -#endif - -#include "unix.h" - -#ifndef TIOCINQ -#ifdef FIONREAD -#define TIOCINQ FIONREAD -#else -#define TIOCINQ 0x541B -#endif -#endif - -#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3) -#include -#endif - -using std::string; -using std::stringstream; -using std::invalid_argument; -using serial::MillisecondTimer; -using serial::Serial; -using serial::SerialException; -using serial::PortNotOpenedException; -using serial::IOException; - - -MillisecondTimer::MillisecondTimer (const uint32_t millis) - : expiry(timespec_now()) -{ - int64_t tv_nsec = expiry.tv_nsec + (millis * 1e6); - if (tv_nsec >= 1e9) { - int64_t sec_diff = tv_nsec / static_cast (1e9); - expiry.tv_nsec = tv_nsec % static_cast(1e9); - expiry.tv_sec += sec_diff; - } else { - expiry.tv_nsec = tv_nsec; - } -} - -int64_t -MillisecondTimer::remaining () -{ - timespec now(timespec_now()); - int64_t millis = (expiry.tv_sec - now.tv_sec) * 1e3; - millis += (expiry.tv_nsec - now.tv_nsec) / 1e6; - return millis; -} - -timespec -MillisecondTimer::timespec_now () -{ - timespec time; -# ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time - clock_serv_t cclock; - mach_timespec_t mts; - host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock); - clock_get_time(cclock, &mts); - mach_port_deallocate(mach_task_self(), cclock); - time.tv_sec = mts.tv_sec; - time.tv_nsec = mts.tv_nsec; -# else - clock_gettime(CLOCK_MONOTONIC, &time); -# endif - return time; -} - -timespec -timespec_from_ms (const uint32_t millis) -{ - timespec time; - time.tv_sec = millis / 1e3; - time.tv_nsec = (millis - (time.tv_sec * 1e3)) * 1e6; - return time; -} - -Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, - bytesize_t bytesize, - parity_t parity, stopbits_t stopbits, - flowcontrol_t flowcontrol) - : port_ (port), fd_ (-1), is_open_ (false), xonxoff_ (false), rtscts_ (false), - baudrate_ (baudrate), parity_ (parity), - bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) -{ - pthread_mutex_init(&this->read_mutex, NULL); - pthread_mutex_init(&this->write_mutex, NULL); - if (port_.empty () == false) - open (); -} - -Serial::SerialImpl::~SerialImpl () -{ - close(); - pthread_mutex_destroy(&this->read_mutex); - pthread_mutex_destroy(&this->write_mutex); -} - -void -Serial::SerialImpl::open () -{ - if (port_.empty ()) { - throw invalid_argument ("Empty port is invalid."); - } - if (is_open_ == true) { - throw SerialException ("Serial port already open."); - } - - fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK); - - if (fd_ == -1) { - switch (errno) { - case EINTR: - // Recurse because this is a recoverable error. - open (); - return; - case ENFILE: - case EMFILE: - THROW (IOException, "Too many file handles open."); - default: - THROW (IOException, errno); - } - } - - reconfigurePort(); - is_open_ = true; -} - -void -Serial::SerialImpl::reconfigurePort () -{ - if (fd_ == -1) { - // Can only operate on a valid file descriptor - THROW (IOException, "Invalid file descriptor, is the serial port open?"); - } - - struct termios options; // The options for the file descriptor - - if (tcgetattr(fd_, &options) == -1) { - THROW (IOException, "::tcgetattr"); - } - - // set up raw mode / no echo / binary - options.c_cflag |= (tcflag_t) (CLOCAL | CREAD); - options.c_lflag &= (tcflag_t) ~(ICANON | ECHO | ECHOE | ECHOK | ECHONL | - ISIG | IEXTEN); //|ECHOPRT - - options.c_oflag &= (tcflag_t) ~(OPOST); - options.c_iflag &= (tcflag_t) ~(INLCR | IGNCR | ICRNL | IGNBRK); -#ifdef IUCLC - options.c_iflag &= (tcflag_t) ~IUCLC; -#endif -#ifdef PARMRK - options.c_iflag &= (tcflag_t) ~PARMRK; -#endif - - // setup baud rate - bool custom_baud = false; - speed_t baud; - switch (baudrate_) { -#ifdef B0 - case 0: baud = B0; break; -#endif -#ifdef B50 - case 50: baud = B50; break; -#endif -#ifdef B75 - case 75: baud = B75; break; -#endif -#ifdef B110 - case 110: baud = B110; break; -#endif -#ifdef B134 - case 134: baud = B134; break; -#endif -#ifdef B150 - case 150: baud = B150; break; -#endif -#ifdef B200 - case 200: baud = B200; break; -#endif -#ifdef B300 - case 300: baud = B300; break; -#endif -#ifdef B600 - case 600: baud = B600; break; -#endif -#ifdef B1200 - case 1200: baud = B1200; break; -#endif -#ifdef B1800 - case 1800: baud = B1800; break; -#endif -#ifdef B2400 - case 2400: baud = B2400; break; -#endif -#ifdef B4800 - case 4800: baud = B4800; break; -#endif -#ifdef B7200 - case 7200: baud = B7200; break; -#endif -#ifdef B9600 - case 9600: baud = B9600; break; -#endif -#ifdef B14400 - case 14400: baud = B14400; break; -#endif -#ifdef B19200 - case 19200: baud = B19200; break; -#endif -#ifdef B28800 - case 28800: baud = B28800; break; -#endif -#ifdef B57600 - case 57600: baud = B57600; break; -#endif -#ifdef B76800 - case 76800: baud = B76800; break; -#endif -#ifdef B38400 - case 38400: baud = B38400; break; -#endif -#ifdef B115200 - case 115200: baud = B115200; break; -#endif -#ifdef B128000 - case 128000: baud = B128000; break; -#endif -#ifdef B153600 - case 153600: baud = B153600; break; -#endif -#ifdef B230400 - case 230400: baud = B230400; break; -#endif -#ifdef B256000 - case 256000: baud = B256000; break; -#endif -#ifdef B460800 - case 460800: baud = B460800; break; -#endif -#ifdef B500000 - case 500000: baud = B500000; break; -#endif -#ifdef B576000 - case 576000: baud = B576000; break; -#endif -#ifdef B921600 - case 921600: baud = B921600; break; -#endif -#ifdef B1000000 - case 1000000: baud = B1000000; break; -#endif -#ifdef B1152000 - case 1152000: baud = B1152000; break; -#endif -#ifdef B1500000 - case 1500000: baud = B1500000; break; -#endif -#ifdef B2000000 - case 2000000: baud = B2000000; break; -#endif -#ifdef B2500000 - case 2500000: baud = B2500000; break; -#endif -#ifdef B3000000 - case 3000000: baud = B3000000; break; -#endif -#ifdef B3500000 - case 3500000: baud = B3500000; break; -#endif -#ifdef B4000000 - case 4000000: baud = B4000000; break; -#endif - default: - custom_baud = true; - // OS X support -#if defined(MAC_OS_X_VERSION_10_4) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_4) - // Starting with Tiger, the IOSSIOSPEED ioctl can be used to set arbitrary baud rates - // other than those specified by POSIX. The driver for the underlying serial hardware - // ultimately determines which baud rates can be used. This ioctl sets both the input - // and output speed. - speed_t new_baud = static_cast (baudrate_); - if (-1 == ioctl (fd_, IOSSIOSPEED, &new_baud, 1)) { - THROW (IOException, errno); - } - // Linux Support -#elif defined(__linux__) && defined (TIOCSSERIAL) - struct serial_struct ser; - - if (-1 == ioctl (fd_, TIOCGSERIAL, &ser)) { - THROW (IOException, errno); - } - - // set custom divisor - ser.custom_divisor = ser.baud_base / static_cast (baudrate_); - // update flags - ser.flags &= ~ASYNC_SPD_MASK; - ser.flags |= ASYNC_SPD_CUST; - - if (-1 == ioctl (fd_, TIOCSSERIAL, &ser)) { - THROW (IOException, errno); - } -#else - throw invalid_argument ("OS does not currently support custom bauds"); -#endif - } - if (custom_baud == false) { -#ifdef _BSD_SOURCE - ::cfsetspeed(&options, baud); -#else - ::cfsetispeed(&options, baud); - ::cfsetospeed(&options, baud); -#endif - } - - // setup char len - options.c_cflag &= (tcflag_t) ~CSIZE; - if (bytesize_ == eightbits) - options.c_cflag |= CS8; - else if (bytesize_ == sevenbits) - options.c_cflag |= CS7; - else if (bytesize_ == sixbits) - options.c_cflag |= CS6; - else if (bytesize_ == fivebits) - options.c_cflag |= CS5; - else - throw invalid_argument ("invalid char len"); - // setup stopbits - if (stopbits_ == stopbits_one) - options.c_cflag &= (tcflag_t) ~(CSTOPB); - else if (stopbits_ == stopbits_one_point_five) - // ONE POINT FIVE same as TWO.. there is no POSIX support for 1.5 - options.c_cflag |= (CSTOPB); - else if (stopbits_ == stopbits_two) - options.c_cflag |= (CSTOPB); - else - throw invalid_argument ("invalid stop bit"); - // setup parity - options.c_iflag &= (tcflag_t) ~(INPCK | ISTRIP); - if (parity_ == parity_none) { - options.c_cflag &= (tcflag_t) ~(PARENB | PARODD); - } else if (parity_ == parity_even) { - options.c_cflag &= (tcflag_t) ~(PARODD); - options.c_cflag |= (PARENB); - } else if (parity_ == parity_odd) { - options.c_cflag |= (PARENB | PARODD); - } -#ifdef CMSPAR - else if (parity_ == parity_mark) { - options.c_cflag |= (PARENB | CMSPAR | PARODD); - } - else if (parity_ == parity_space) { - options.c_cflag |= (PARENB | CMSPAR); - options.c_cflag &= (tcflag_t) ~(PARODD); - } -#else - // CMSPAR is not defined on OSX. So do not support mark or space parity. - else if (parity_ == parity_mark || parity_ == parity_space) { - throw invalid_argument ("OS does not support mark or space parity"); - } -#endif // ifdef CMSPAR - else { - throw invalid_argument ("invalid parity"); - } - // setup flow control - if (flowcontrol_ == flowcontrol_none) { - xonxoff_ = false; - rtscts_ = false; - } - if (flowcontrol_ == flowcontrol_software) { - xonxoff_ = true; - rtscts_ = false; - } - if (flowcontrol_ == flowcontrol_hardware) { - xonxoff_ = false; - rtscts_ = true; - } - // xonxoff -#ifdef IXANY - if (xonxoff_) - options.c_iflag |= (IXON | IXOFF); //|IXANY) - else - options.c_iflag &= (tcflag_t) ~(IXON | IXOFF | IXANY); -#else - if (xonxoff_) - options.c_iflag |= (IXON | IXOFF); - else - options.c_iflag &= (tcflag_t) ~(IXON | IXOFF); -#endif - // rtscts -#ifdef CRTSCTS - if (rtscts_) - options.c_cflag |= (CRTSCTS); - else - options.c_cflag &= (unsigned long) ~(CRTSCTS); -#elif defined CNEW_RTSCTS - if (rtscts_) - options.c_cflag |= (CNEW_RTSCTS); - else - options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS); -#else -#error "OS Support seems wrong." -#endif - - // http://www.unixwiz.net/techtips/termios-vmin-vtime.html - // this basically sets the read call up to be a polling read, - // but we are using select to ensure there is data available - // to read before each call, so we should never needlessly poll - options.c_cc[VMIN] = 0; - options.c_cc[VTIME] = 0; - - // activate settings - ::tcsetattr (fd_, TCSANOW, &options); - - // Update byte_time_ based on the new settings. - uint32_t bit_time_ns = 1e9 / baudrate_; - byte_time_ns_ = bit_time_ns * (1 + bytesize_ + parity_ + stopbits_); - - // Compensate for the stopbits_one_point_five enum being equal to int 3, - // and not 1.5. - if (stopbits_ == stopbits_one_point_five) { - byte_time_ns_ += ((1.5 - stopbits_one_point_five) * bit_time_ns); - } -} - -void -Serial::SerialImpl::close () -{ - if (is_open_ == true) { - if (fd_ != -1) { - int ret; - ret = ::close (fd_); - if (ret == 0) { - fd_ = -1; - } else { - THROW (IOException, errno); - } - } - is_open_ = false; - } -} - -bool -Serial::SerialImpl::isOpen () const -{ - return is_open_; -} - -size_t -Serial::SerialImpl::available () -{ - if (!is_open_) { - return 0; - } - int count = 0; - if (-1 == ioctl (fd_, TIOCINQ, &count)) { - THROW (IOException, errno); - } else { - return static_cast (count); - } -} - -bool -Serial::SerialImpl::waitReadable (uint32_t timeout) -{ - // Setup a select call to block for serial data or a timeout - fd_set readfds; - FD_ZERO (&readfds); - FD_SET (fd_, &readfds); - timespec timeout_ts (timespec_from_ms (timeout)); - int r = pselect (fd_ + 1, &readfds, NULL, NULL, &timeout_ts, NULL); - - if (r < 0) { - // Select was interrupted - if (errno == EINTR) { - return false; - } - // Otherwise there was some error - THROW (IOException, errno); - } - // Timeout occurred - if (r == 0) { - return false; - } - // This shouldn't happen, if r > 0 our fd has to be in the list! - if (!FD_ISSET (fd_, &readfds)) { - THROW (IOException, "select reports ready to read, but our fd isn't" - " in the list, this shouldn't happen!"); - } - // Data available to read. - return true; -} - -void -Serial::SerialImpl::waitByteTimes (size_t count) -{ - timespec wait_time = { 0, static_cast(byte_time_ns_ * count)}; - pselect (0, NULL, NULL, NULL, &wait_time, NULL); -} - -size_t -Serial::SerialImpl::read (uint8_t *buf, size_t size) -{ - // If the port is not open, throw - if (!is_open_) { - throw PortNotOpenedException ("Serial::read"); - } - size_t bytes_read = 0; - - // Calculate total timeout in milliseconds t_c + (t_m * N) - long total_timeout_ms = timeout_.read_timeout_constant; - total_timeout_ms += timeout_.read_timeout_multiplier * static_cast (size); - MillisecondTimer total_timeout(total_timeout_ms); - - // Pre-fill buffer with available bytes - { - ssize_t bytes_read_now = ::read (fd_, buf, size); - if (bytes_read_now > 0) { - bytes_read = bytes_read_now; - } - } - - while (bytes_read < size) { - int64_t timeout_remaining_ms = total_timeout.remaining(); - if (timeout_remaining_ms <= 0) { - // Timed out - break; - } - // Timeout for the next select is whichever is less of the remaining - // total read timeout and the inter-byte timeout. - uint32_t timeout = std::min(static_cast (timeout_remaining_ms), - timeout_.inter_byte_timeout); - // Wait for the device to be readable, and then attempt to read. - if (waitReadable(timeout)) { - // If it's a fixed-length multi-byte read, insert a wait here so that - // we can attempt to grab the whole thing in a single IO call. Skip - // this wait if a non-max inter_byte_timeout is specified. - if (size > 1 && timeout_.inter_byte_timeout == Timeout::max()) { - size_t bytes_available = available(); - if (bytes_available + bytes_read < size) { - waitByteTimes(size - (bytes_available + bytes_read)); - } - } - // This should be non-blocking returning only what is available now - // Then returning so that select can block again. - ssize_t bytes_read_now = - ::read (fd_, buf + bytes_read, size - bytes_read); - // read should always return some data as select reported it was - // ready to read when we get to this point. - if (bytes_read_now < 1) { - // Disconnected devices, at least on Linux, show the - // behavior that they are always ready to read immediately - // but reading returns nothing. - throw SerialException ("device reports readiness to read but " - "returned no data (device disconnected?)"); - } - // Update bytes_read - bytes_read += static_cast (bytes_read_now); - // If bytes_read == size then we have read everything we need - if (bytes_read == size) { - break; - } - // If bytes_read < size then we have more to read - if (bytes_read < size) { - continue; - } - // If bytes_read > size then we have over read, which shouldn't happen - if (bytes_read > size) { - throw SerialException ("read over read, too many bytes where " - "read, this shouldn't happen, might be " - "a logical error!"); - } - } - } - return bytes_read; -} - -size_t -Serial::SerialImpl::write (const uint8_t *data, size_t length) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::write"); - } - fd_set writefds; - size_t bytes_written = 0; - - // Calculate total timeout in milliseconds t_c + (t_m * N) - long total_timeout_ms = timeout_.write_timeout_constant; - total_timeout_ms += timeout_.write_timeout_multiplier * static_cast (length); - MillisecondTimer total_timeout(total_timeout_ms); - - bool first_iteration = true; - while (bytes_written < length) { - int64_t timeout_remaining_ms = total_timeout.remaining(); - // Only consider the timeout if it's not the first iteration of the loop - // otherwise a timeout of 0 won't be allowed through - if (!first_iteration && (timeout_remaining_ms <= 0)) { - // Timed out - break; - } - first_iteration = false; - - timespec timeout(timespec_from_ms(timeout_remaining_ms)); - - FD_ZERO (&writefds); - FD_SET (fd_, &writefds); - - // Do the select - int r = pselect (fd_ + 1, NULL, &writefds, NULL, &timeout, NULL); - - // Figure out what happened by looking at select's response 'r' - /** Error **/ - if (r < 0) { - // Select was interrupted, try again - if (errno == EINTR) { - continue; - } - // Otherwise there was some error - THROW (IOException, errno); - } - /** Timeout **/ - if (r == 0) { - break; - } - /** Port ready to write **/ - if (r > 0) { - // Make sure our file descriptor is in the ready to write list - if (FD_ISSET (fd_, &writefds)) { - // This will write some - ssize_t bytes_written_now = - ::write (fd_, data + bytes_written, length - bytes_written); - // write should always return some data as select reported it was - // ready to write when we get to this point. - if (bytes_written_now < 1) { - // Disconnected devices, at least on Linux, show the - // behavior that they are always ready to write immediately - // but writing returns nothing. - throw SerialException ("device reports readiness to write but " - "returned no data (device disconnected?)"); - } - // Update bytes_written - bytes_written += static_cast (bytes_written_now); - // If bytes_written == size then we have written everything we need to - if (bytes_written == length) { - break; - } - // If bytes_written < size then we have more to write - if (bytes_written < length) { - continue; - } - // If bytes_written > size then we have over written, which shouldn't happen - if (bytes_written > length) { - throw SerialException ("write over wrote, too many bytes where " - "written, this shouldn't happen, might be " - "a logical error!"); - } - } - // This shouldn't happen, if r > 0 our fd has to be in the list! - THROW (IOException, "select reports ready to write, but our fd isn't" - " in the list, this shouldn't happen!"); - } - } - return bytes_written; -} - -void -Serial::SerialImpl::setPort (const string &port) -{ - port_ = port; -} - -string -Serial::SerialImpl::getPort () const -{ - return port_; -} - -void -Serial::SerialImpl::setTimeout (serial::Timeout &timeout) -{ - timeout_ = timeout; -} - -serial::Timeout -Serial::SerialImpl::getTimeout () const -{ - return timeout_; -} - -void -Serial::SerialImpl::setBaudrate (unsigned long baudrate) -{ - baudrate_ = baudrate; - if (is_open_) - reconfigurePort (); -} - -unsigned long -Serial::SerialImpl::getBaudrate () const -{ - return baudrate_; -} - -void -Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) -{ - bytesize_ = bytesize; - if (is_open_) - reconfigurePort (); -} - -serial::bytesize_t -Serial::SerialImpl::getBytesize () const -{ - return bytesize_; -} - -void -Serial::SerialImpl::setParity (serial::parity_t parity) -{ - parity_ = parity; - if (is_open_) - reconfigurePort (); -} - -serial::parity_t -Serial::SerialImpl::getParity () const -{ - return parity_; -} - -void -Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) -{ - stopbits_ = stopbits; - if (is_open_) - reconfigurePort (); -} - -serial::stopbits_t -Serial::SerialImpl::getStopbits () const -{ - return stopbits_; -} - -void -Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) -{ - flowcontrol_ = flowcontrol; - if (is_open_) - reconfigurePort (); -} - -serial::flowcontrol_t -Serial::SerialImpl::getFlowcontrol () const -{ - return flowcontrol_; -} - -void -Serial::SerialImpl::flush () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::flush"); - } - tcdrain (fd_); -} - -void -Serial::SerialImpl::flushInput () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::flushInput"); - } - tcflush (fd_, TCIFLUSH); -} - -void -Serial::SerialImpl::flushOutput () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::flushOutput"); - } - tcflush (fd_, TCOFLUSH); -} - -void -Serial::SerialImpl::sendBreak (int duration) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::sendBreak"); - } - tcsendbreak (fd_, static_cast (duration / 4)); -} - -void -Serial::SerialImpl::setBreak (bool level) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::setBreak"); - } - - if (level) { - if (-1 == ioctl (fd_, TIOCSBRK)) - { - stringstream ss; - ss << "setBreak failed on a call to ioctl(TIOCSBRK): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - } else { - if (-1 == ioctl (fd_, TIOCCBRK)) - { - stringstream ss; - ss << "setBreak failed on a call to ioctl(TIOCCBRK): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - } -} - -void -Serial::SerialImpl::setRTS (bool level) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::setRTS"); - } - - int command = TIOCM_RTS; - - if (level) { - if (-1 == ioctl (fd_, TIOCMBIS, &command)) - { - stringstream ss; - ss << "setRTS failed on a call to ioctl(TIOCMBIS): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - } else { - if (-1 == ioctl (fd_, TIOCMBIC, &command)) - { - stringstream ss; - ss << "setRTS failed on a call to ioctl(TIOCMBIC): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - } -} - -void -Serial::SerialImpl::setDTR (bool level) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::setDTR"); - } - - int command = TIOCM_DTR; - - if (level) { - if (-1 == ioctl (fd_, TIOCMBIS, &command)) - { - stringstream ss; - ss << "setDTR failed on a call to ioctl(TIOCMBIS): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - } else { - if (-1 == ioctl (fd_, TIOCMBIC, &command)) - { - stringstream ss; - ss << "setDTR failed on a call to ioctl(TIOCMBIC): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - } -} - -bool -Serial::SerialImpl::waitForChange () -{ -#ifndef TIOCMIWAIT - -while (is_open_ == true) { - - int status; - - if (-1 == ioctl (fd_, TIOCMGET, &status)) - { - stringstream ss; - ss << "waitForChange failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - else - { - if (0 != (status & TIOCM_CTS) - || 0 != (status & TIOCM_DSR) - || 0 != (status & TIOCM_RI) - || 0 != (status & TIOCM_CD)) - { - return true; - } - } - - usleep(1000); - } - - return false; -#else - int command = (TIOCM_CD|TIOCM_DSR|TIOCM_RI|TIOCM_CTS); - - if (-1 == ioctl (fd_, TIOCMIWAIT, &command)) { - stringstream ss; - ss << "waitForDSR failed on a call to ioctl(TIOCMIWAIT): " - << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - return true; -#endif -} - -bool -Serial::SerialImpl::getCTS () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getCTS"); - } - - int status; - - if (-1 == ioctl (fd_, TIOCMGET, &status)) - { - stringstream ss; - ss << "getCTS failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - else - { - return 0 != (status & TIOCM_CTS); - } -} - -bool -Serial::SerialImpl::getDSR () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getDSR"); - } - - int status; - - if (-1 == ioctl (fd_, TIOCMGET, &status)) - { - stringstream ss; - ss << "getDSR failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - else - { - return 0 != (status & TIOCM_DSR); - } -} - -bool -Serial::SerialImpl::getRI () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getRI"); - } - - int status; - - if (-1 == ioctl (fd_, TIOCMGET, &status)) - { - stringstream ss; - ss << "getRI failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - else - { - return 0 != (status & TIOCM_RI); - } -} - -bool -Serial::SerialImpl::getCD () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getCD"); - } - - int status; - - if (-1 == ioctl (fd_, TIOCMGET, &status)) - { - stringstream ss; - ss << "getCD failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno); - throw(SerialException(ss.str().c_str())); - } - else - { - return 0 != (status & TIOCM_CD); - } -} - -void -Serial::SerialImpl::readLock () -{ - int result = pthread_mutex_lock(&this->read_mutex); - if (result) { - THROW (IOException, result); - } -} - -void -Serial::SerialImpl::readUnlock () -{ - int result = pthread_mutex_unlock(&this->read_mutex); - if (result) { - THROW (IOException, result); - } -} - -void -Serial::SerialImpl::writeLock () -{ - int result = pthread_mutex_lock(&this->write_mutex); - if (result) { - THROW (IOException, result); - } -} - -void -Serial::SerialImpl::writeUnlock () -{ - int result = pthread_mutex_unlock(&this->write_mutex); - if (result) { - THROW (IOException, result); - } -} - -#endif // !defined(_WIN32) diff --git a/src/main/native/cpp/serial/win.cc b/src/main/native/cpp/serial/win.cc deleted file mode 100644 index 3b8b760..0000000 --- a/src/main/native/cpp/serial/win.cc +++ /dev/null @@ -1,651 +0,0 @@ -#if defined(_WIN32) - -/* Copyright 2012 William Woodall and John Harrison */ - -#include - -#include "win.h" - -using std::string; -using std::wstring; -using std::stringstream; -using std::invalid_argument; -using serial::Serial; -using serial::Timeout; -using serial::bytesize_t; -using serial::parity_t; -using serial::stopbits_t; -using serial::flowcontrol_t; -using serial::SerialException; -using serial::PortNotOpenedException; -using serial::IOException; - -inline wstring -_prefix_port_if_needed(const wstring &input) -{ - static wstring windows_com_port_prefix = L"\\\\.\\"; - if (input.compare(windows_com_port_prefix) != 0) - { - return windows_com_port_prefix + input; - } - return input; -} - -Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, - bytesize_t bytesize, - parity_t parity, stopbits_t stopbits, - flowcontrol_t flowcontrol) - : port_ (port.begin(), port.end()), fd_ (INVALID_HANDLE_VALUE), is_open_ (false), - baudrate_ (baudrate), parity_ (parity), - bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) -{ - // if (port_.empty () == false) - // open (); - read_mutex = CreateMutex(NULL, false, NULL); - write_mutex = CreateMutex(NULL, false, NULL); -} - -Serial::SerialImpl::~SerialImpl () -{ - this->close(); - CloseHandle(read_mutex); - CloseHandle(write_mutex); -} - -void -Serial::SerialImpl::open () -{ - if (port_.empty ()) { - throw invalid_argument ("Empty port is invalid."); - } - if (is_open_ == true) { - throw SerialException ("Serial port already open."); - } - - // See: https://github.com/wjwwood/serial/issues/84 - wstring port_with_prefix = _prefix_port_if_needed(port_); - LPCWSTR lp_port = port_with_prefix.c_str(); - fd_ = CreateFileW(lp_port, - GENERIC_READ | GENERIC_WRITE, - 0, - 0, - OPEN_EXISTING, - FILE_ATTRIBUTE_NORMAL, - 0); - - if (fd_ == INVALID_HANDLE_VALUE) { - DWORD create_file_err = GetLastError(); - stringstream ss; - // if (create_file_err) { - // return; - // } - switch (create_file_err) { - case ERROR_FILE_NOT_FOUND: - // Use this->getPort to convert to a std::string - ss << "Specified port, " << this->getPort() << ", does not exist."; - THROW (IOException, ss.str().c_str()); - break; - default: - ss << "Unknown error opening the serial port: " << create_file_err; - THROW (IOException, ss.str().c_str()); - } - } - - reconfigurePort(); - is_open_ = true; -} - -void -Serial::SerialImpl::reconfigurePort () -{ - if (fd_ == INVALID_HANDLE_VALUE) { - // Can only operate on a valid file descriptor - THROW (IOException, "Invalid file descriptor, is the serial port open?"); - } - - DCB dcbSerialParams = {0}; - - dcbSerialParams.DCBlength=sizeof(dcbSerialParams); - - if (!GetCommState(fd_, &dcbSerialParams)) { - //error getting state - THROW (IOException, "Error getting the serial port state."); - } - - // setup baud rate - switch (baudrate_) { -#ifdef CBR_0 - case 0: dcbSerialParams.BaudRate = CBR_0; break; -#endif -#ifdef CBR_50 - case 50: dcbSerialParams.BaudRate = CBR_50; break; -#endif -#ifdef CBR_75 - case 75: dcbSerialParams.BaudRate = CBR_75; break; -#endif -#ifdef CBR_110 - case 110: dcbSerialParams.BaudRate = CBR_110; break; -#endif -#ifdef CBR_134 - case 134: dcbSerialParams.BaudRate = CBR_134; break; -#endif -#ifdef CBR_150 - case 150: dcbSerialParams.BaudRate = CBR_150; break; -#endif -#ifdef CBR_200 - case 200: dcbSerialParams.BaudRate = CBR_200; break; -#endif -#ifdef CBR_300 - case 300: dcbSerialParams.BaudRate = CBR_300; break; -#endif -#ifdef CBR_600 - case 600: dcbSerialParams.BaudRate = CBR_600; break; -#endif -#ifdef CBR_1200 - case 1200: dcbSerialParams.BaudRate = CBR_1200; break; -#endif -#ifdef CBR_1800 - case 1800: dcbSerialParams.BaudRate = CBR_1800; break; -#endif -#ifdef CBR_2400 - case 2400: dcbSerialParams.BaudRate = CBR_2400; break; -#endif -#ifdef CBR_4800 - case 4800: dcbSerialParams.BaudRate = CBR_4800; break; -#endif -#ifdef CBR_7200 - case 7200: dcbSerialParams.BaudRate = CBR_7200; break; -#endif -#ifdef CBR_9600 - case 9600: dcbSerialParams.BaudRate = CBR_9600; break; -#endif -#ifdef CBR_14400 - case 14400: dcbSerialParams.BaudRate = CBR_14400; break; -#endif -#ifdef CBR_19200 - case 19200: dcbSerialParams.BaudRate = CBR_19200; break; -#endif -#ifdef CBR_28800 - case 28800: dcbSerialParams.BaudRate = CBR_28800; break; -#endif -#ifdef CBR_57600 - case 57600: dcbSerialParams.BaudRate = CBR_57600; break; -#endif -#ifdef CBR_76800 - case 76800: dcbSerialParams.BaudRate = CBR_76800; break; -#endif -#ifdef CBR_38400 - case 38400: dcbSerialParams.BaudRate = CBR_38400; break; -#endif -#ifdef CBR_115200 - case 115200: dcbSerialParams.BaudRate = CBR_115200; break; -#endif -#ifdef CBR_128000 - case 128000: dcbSerialParams.BaudRate = CBR_128000; break; -#endif -#ifdef CBR_153600 - case 153600: dcbSerialParams.BaudRate = CBR_153600; break; -#endif -#ifdef CBR_230400 - case 230400: dcbSerialParams.BaudRate = CBR_230400; break; -#endif -#ifdef CBR_256000 - case 256000: dcbSerialParams.BaudRate = CBR_256000; break; -#endif -#ifdef CBR_460800 - case 460800: dcbSerialParams.BaudRate = CBR_460800; break; -#endif -#ifdef CBR_921600 - case 921600: dcbSerialParams.BaudRate = CBR_921600; break; -#endif - default: - // Try to blindly assign it - dcbSerialParams.BaudRate = baudrate_; - } - - // setup char len - if (bytesize_ == eightbits) - dcbSerialParams.ByteSize = 8; - else if (bytesize_ == sevenbits) - dcbSerialParams.ByteSize = 7; - else if (bytesize_ == sixbits) - dcbSerialParams.ByteSize = 6; - else if (bytesize_ == fivebits) - dcbSerialParams.ByteSize = 5; - else - throw invalid_argument ("invalid char len"); - - // setup stopbits - if (stopbits_ == stopbits_one) - dcbSerialParams.StopBits = ONESTOPBIT; - else if (stopbits_ == stopbits_one_point_five) - dcbSerialParams.StopBits = ONE5STOPBITS; - else if (stopbits_ == stopbits_two) - dcbSerialParams.StopBits = TWOSTOPBITS; - else - throw invalid_argument ("invalid stop bit"); - - // setup parity - if (parity_ == parity_none) { - dcbSerialParams.Parity = NOPARITY; - } else if (parity_ == parity_even) { - dcbSerialParams.Parity = EVENPARITY; - } else if (parity_ == parity_odd) { - dcbSerialParams.Parity = ODDPARITY; - } else if (parity_ == parity_mark) { - dcbSerialParams.Parity = MARKPARITY; - } else if (parity_ == parity_space) { - dcbSerialParams.Parity = SPACEPARITY; - } else { - throw invalid_argument ("invalid parity"); - } - - // setup flowcontrol - if (flowcontrol_ == flowcontrol_none) { - dcbSerialParams.fOutxCtsFlow = false; - dcbSerialParams.fRtsControl = RTS_CONTROL_DISABLE; - dcbSerialParams.fOutX = false; - dcbSerialParams.fInX = false; - } - if (flowcontrol_ == flowcontrol_software) { - dcbSerialParams.fOutxCtsFlow = false; - dcbSerialParams.fRtsControl = RTS_CONTROL_DISABLE; - dcbSerialParams.fOutX = true; - dcbSerialParams.fInX = true; - } - if (flowcontrol_ == flowcontrol_hardware) { - dcbSerialParams.fOutxCtsFlow = true; - dcbSerialParams.fRtsControl = RTS_CONTROL_HANDSHAKE; - dcbSerialParams.fOutX = false; - dcbSerialParams.fInX = false; - } - - // activate settings - if (!SetCommState(fd_, &dcbSerialParams)){ - CloseHandle(fd_); - THROW (IOException, "Error setting serial port settings."); - } - - // Setup timeouts - COMMTIMEOUTS timeouts = {0}; - timeouts.ReadIntervalTimeout = timeout_.inter_byte_timeout; - timeouts.ReadTotalTimeoutConstant = timeout_.read_timeout_constant; - timeouts.ReadTotalTimeoutMultiplier = timeout_.read_timeout_multiplier; - timeouts.WriteTotalTimeoutConstant = timeout_.write_timeout_constant; - timeouts.WriteTotalTimeoutMultiplier = timeout_.write_timeout_multiplier; - if (!SetCommTimeouts(fd_, &timeouts)) { - THROW (IOException, "Error setting timeouts."); - } -} - -void -Serial::SerialImpl::close () -{ - if (is_open_ == true) { - if (fd_ != INVALID_HANDLE_VALUE) { - int ret; - ret = CloseHandle(fd_); - if (ret == 0) { - stringstream ss; - ss << "Error while closing serial port: " << GetLastError(); - THROW (IOException, ss.str().c_str()); - } else { - fd_ = INVALID_HANDLE_VALUE; - } - } - is_open_ = false; - } -} - -bool -Serial::SerialImpl::isOpen () const -{ - return is_open_; -} - -size_t -Serial::SerialImpl::available () -{ - if (!is_open_) { - return 0; - } - COMSTAT cs; - if (!ClearCommError(fd_, NULL, &cs)) { - stringstream ss; - ss << "Error while checking status of the serial port: " << GetLastError(); - THROW (IOException, ss.str().c_str()); - } - return static_cast(cs.cbInQue); -} - -bool -Serial::SerialImpl::waitReadable (uint32_t /*timeout*/) -{ - THROW (IOException, "waitReadable is not implemented on Windows."); - return false; -} - -void -Serial::SerialImpl::waitByteTimes (size_t /*count*/) -{ - THROW (IOException, "waitByteTimes is not implemented on Windows."); -} - -size_t -Serial::SerialImpl::read (uint8_t *buf, size_t size) -{ - if (!is_open_) { - throw PortNotOpenedException ("Serial::read"); - } - DWORD bytes_read; - if (!ReadFile(fd_, buf, static_cast(size), &bytes_read, NULL)) { - stringstream ss; - ss << "Error while reading from the serial port: " << GetLastError(); - printf(ss.str().c_str()); - // THROW (IOException, ss.str().c_str()); - } - return (size_t) (bytes_read); -} - -size_t -Serial::SerialImpl::write (const uint8_t *data, size_t length) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::write"); - } - DWORD bytes_written; - if (!WriteFile(fd_, data, static_cast(length), &bytes_written, NULL)) { - stringstream ss; - ss << "Error while writing to the serial port: " << GetLastError(); - THROW (IOException, ss.str().c_str()); - } - return (size_t) (bytes_written); -} - -void -Serial::SerialImpl::setPort (const string &port) -{ - port_ = wstring(port.begin(), port.end()); -} - -string -Serial::SerialImpl::getPort () const -{ - return string(port_.begin(), port_.end()); -} - -void -Serial::SerialImpl::setTimeout (serial::Timeout &timeout) -{ - timeout_ = timeout; - if (is_open_) { - reconfigurePort (); - } -} - -serial::Timeout -Serial::SerialImpl::getTimeout () const -{ - return timeout_; -} - -void -Serial::SerialImpl::setBaudrate (unsigned long baudrate) -{ - baudrate_ = baudrate; - if (is_open_) { - reconfigurePort (); - } -} - -unsigned long -Serial::SerialImpl::getBaudrate () const -{ - return baudrate_; -} - -void -Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) -{ - bytesize_ = bytesize; - if (is_open_) { - reconfigurePort (); - } -} - -serial::bytesize_t -Serial::SerialImpl::getBytesize () const -{ - return bytesize_; -} - -void -Serial::SerialImpl::setParity (serial::parity_t parity) -{ - parity_ = parity; - if (is_open_) { - reconfigurePort (); - } -} - -serial::parity_t -Serial::SerialImpl::getParity () const -{ - return parity_; -} - -void -Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) -{ - stopbits_ = stopbits; - if (is_open_) { - reconfigurePort (); - } -} - -serial::stopbits_t -Serial::SerialImpl::getStopbits () const -{ - return stopbits_; -} - -void -Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) -{ - flowcontrol_ = flowcontrol; - if (is_open_) { - reconfigurePort (); - } -} - -serial::flowcontrol_t -Serial::SerialImpl::getFlowcontrol () const -{ - return flowcontrol_; -} - -void -Serial::SerialImpl::flush () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::flush"); - } - FlushFileBuffers (fd_); -} - -void -Serial::SerialImpl::flushInput () -{ - if (is_open_ == false) { - throw PortNotOpenedException("Serial::flushInput"); - } - PurgeComm(fd_, PURGE_RXCLEAR); -} - -void -Serial::SerialImpl::flushOutput () -{ - if (is_open_ == false) { - throw PortNotOpenedException("Serial::flushOutput"); - } - PurgeComm(fd_, PURGE_TXCLEAR); -} - -void -Serial::SerialImpl::sendBreak (int /*duration*/) -{ - THROW (IOException, "sendBreak is not supported on Windows."); -} - -void -Serial::SerialImpl::setBreak (bool level) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::setBreak"); - } - if (level) { - EscapeCommFunction (fd_, SETBREAK); - } else { - EscapeCommFunction (fd_, CLRBREAK); - } -} - -void -Serial::SerialImpl::setRTS (bool level) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::setRTS"); - } - if (level) { - EscapeCommFunction (fd_, SETRTS); - } else { - EscapeCommFunction (fd_, CLRRTS); - } -} - -void -Serial::SerialImpl::setDTR (bool level) -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::setDTR"); - } - if (level) { - EscapeCommFunction (fd_, SETDTR); - } else { - EscapeCommFunction (fd_, CLRDTR); - } -} - -bool -Serial::SerialImpl::waitForChange () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::waitForChange"); - } - DWORD dwCommEvent; - - if (!SetCommMask(fd_, EV_CTS | EV_DSR | EV_RING | EV_RLSD)) { - // Error setting communications mask - return false; - } - - if (!WaitCommEvent(fd_, &dwCommEvent, NULL)) { - // An error occurred waiting for the event. - return false; - } else { - // Event has occurred. - return true; - } -} - -bool -Serial::SerialImpl::getCTS () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getCTS"); - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - THROW (IOException, "Error getting the status of the CTS line."); - } - - return (MS_CTS_ON & dwModemStatus) != 0; -} - -bool -Serial::SerialImpl::getDSR () -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getDSR"); - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - THROW (IOException, "Error getting the status of the DSR line."); - } - - return (MS_DSR_ON & dwModemStatus) != 0; -} - -bool -Serial::SerialImpl::getRI() -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getRI"); - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - THROW (IOException, "Error getting the status of the RI line."); - } - - return (MS_RING_ON & dwModemStatus) != 0; -} - -bool -Serial::SerialImpl::getCD() -{ - if (is_open_ == false) { - throw PortNotOpenedException ("Serial::getCD"); - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - // Error in GetCommModemStatus; - THROW (IOException, "Error getting the status of the CD line."); - } - - return (MS_RLSD_ON & dwModemStatus) != 0; -} - -void -Serial::SerialImpl::readLock() -{ - if (WaitForSingleObject(read_mutex, INFINITE) != WAIT_OBJECT_0) { - THROW (IOException, "Error claiming read mutex."); - } -} - -void -Serial::SerialImpl::readUnlock() -{ - if (!ReleaseMutex(read_mutex)) { - THROW (IOException, "Error releasing read mutex."); - } -} - -void -Serial::SerialImpl::writeLock() -{ - if (WaitForSingleObject(write_mutex, INFINITE) != WAIT_OBJECT_0) { - THROW (IOException, "Error claiming write mutex."); - } -} - -void -Serial::SerialImpl::writeUnlock() -{ - if (!ReleaseMutex(write_mutex)) { - THROW (IOException, "Error releasing write mutex."); - } -} - -#endif // #if defined(_WIN32) - diff --git a/src/main/native/include/rev/Drivers/SerialPort/SerialDevice.h b/src/main/native/include/rev/Drivers/SerialPort/SerialDevice.h deleted file mode 100644 index a8c6447..0000000 --- a/src/main/native/include/rev/Drivers/SerialPort/SerialDevice.h +++ /dev/null @@ -1,72 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once - -#include -#include - -#include "rev/Drivers/SerialPort/SerialDeviceThread.h" -#include "rev/CANDevice.h" -#include "rev/CANMessage.h" -#include "rev/CANStatus.h" - -namespace rev { -namespace usb { - -class SerialDevice : public CANDevice { -public: - SerialDevice() =delete; - SerialDevice(std::string port); - virtual ~SerialDevice(); - - virtual std::string GetName() const override; - virtual std::string GetDescriptor() const override; - virtual int GetNumberOfErrors() override; - - virtual int GetId() const override; - - virtual CANStatus SendCANMessage(const CANMessage& msg, int periodMs) override; - virtual CANStatus ReceiveCANMessage(std::shared_ptr& msg, uint32_t messageID, uint32_t messageMask) override; - virtual CANStatus OpenStreamSession(uint32_t* sessionHandle, CANBridge_CANFilter filter, uint32_t maxSize) override; - virtual CANStatus CloseStreamSession(uint32_t sessionHandle) override; - virtual CANStatus ReadStreamSession(uint32_t sessionHandle, HAL_CANStreamMessage* msgs, uint32_t messagesToRead, uint32_t* messagesRead) override; - - virtual CANStatus GetCANDetailStatus(float* percentBusUtilization, uint32_t* busOff, uint32_t* txFull, uint32_t* receiveErr, uint32_t* transmitErr) override; - virtual CANStatus GetCANDetailStatus(float* percentBusUtilization, uint32_t* busOff, uint32_t* txFull, uint32_t* receiveErr, uint32_t* transmitErr, uint32_t* lastErrorTime) override; - - virtual bool IsConnected() override; - virtual bool CopyReceivedMessagesMap(std::map>& receivedMessagesMap) override; -private: - SerialDeviceThread m_thread; - std::string m_descriptor; - std::string m_name; -}; - -} // namespace usb -} // namespace rev diff --git a/src/main/native/include/rev/Drivers/SerialPort/SerialDeviceThread.h b/src/main/native/include/rev/Drivers/SerialPort/SerialDeviceThread.h deleted file mode 100644 index a85d97d..0000000 --- a/src/main/native/include/rev/Drivers/SerialPort/SerialDeviceThread.h +++ /dev/null @@ -1,307 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -// TODO: remove me -#include -#include -#include -#include - -#include "rev/CANMessage.h" -#include "rev/CANBridgeUtils.h" -#include "rev/CANStatus.h" -#include "rev/Drivers/DriverDeviceThread.h" - -#include "SerialMessage.h" - -#include "serial/serial.h" - -#include -#include - -namespace rev { -namespace usb { - - -class SerialDeviceThread : public DriverDeviceThread { -public: - SerialDeviceThread() =delete; - SerialDeviceThread(std::string port, long long threadIntervalMs = 1) : DriverDeviceThread(0xa45b5597, threadIntervalMs) - { - serial::Timeout timeout = serial::Timeout::simpleTimeout(1); - m_device.setPort(port); - m_device.setBaudrate(115200); - m_device.setTimeout(timeout); - m_device.setBytesize(serial::bytesize_t::eightbits); - m_device.setParity(serial::parity_t::parity_even); - m_device.setStopbits(serial::stopbits_t::stopbits_one); - m_device.setFlowcontrol(serial::flowcontrol_t::flowcontrol_none); - - if (!m_device.isOpen()) { - m_device.open(); - } else { - std::cout << port << " already open" << std::endl; - } - - } - ~SerialDeviceThread() - { - m_device.close(); - } - - void Start() override { - if (m_thread.get() != nullptr && m_thread->joinable()) { - m_thread->join(); - } - m_thread = std::make_unique(&SerialDeviceThread::SerialRun, this); - } - - void OpenStream(uint32_t* handle, CANBridge_CANFilter filter, uint32_t maxSize, CANStatus *status) override { - { - std::lock_guard lock(m_streamMutex); - // Create the handle - *handle = m_counter++; - - // Add to the map - m_readStream[*handle] = std::unique_ptr(new CANStreamHandle{filter.messageId, filter.messageMask, maxSize, utils::CircularBuffer>{maxSize}}); - - } - // use drv status for serial port to identify - uint32_t msgId = 0x2051A80; - uint8_t dataBuffer[8] = {0}; - EnqueueMessage(rev::usb::CANMessage(msgId, dataBuffer, 0, 0), 0); - - *status = CANStatus::kOk; - } - -private: - serial::Serial m_device; - - static const size_t bufferSize = 12; - - void ReadMessages(bool &reading) { - uint8_t data[bufferSize] = {0}; // 12 bytes of data - try { - size_t bytesRead = m_device.read(data, bufferSize); - - if (bytesRead == bufferSize) { - - std::stringstream msgStream; - std::stringstream devStream; - uint32_t msgId; - uint32_t devId; - - // Gets the full message ID - msgStream << "0x" << std::setfill('0') << std::setw(2) << std::hex << (int)data[3] << std::setfill('0') << std::setw(2) - << std::hex << (int)data[2] << std::setfill('0') << std::setw(2) << std::hex << (int)data[1] - << std::setfill('0') << std::setw(2) << std::hex << (int)data[0]; - msgStream >> msgId; - - // Gets just the manufacturer and device type IDs - devStream << "0x" << std::setfill('0') << std::setw(2) << std::hex << (int)data[3] << std::setfill('0') << std::setw(2) - << std::hex << (int)data[2] << "0000"; - devStream >> devId; - - // Make sure message ID isn't empty - if (msgId != 0x0 ) { - uint8_t msgData[8]; - // Check if parameter access - if (IsLegacyGetParam(msgId)) { - memcpy(msgData, data+6, 6*sizeof(uint8_t)); - msgId = devId | ((CMD_API_PARAM_ACCESS | data[4]) << 6) | (msgId & 0x3F); - } else { - memcpy(msgData, data+4, 8*sizeof(uint8_t)); - } - - auto msg = std::make_shared(msgId, msgData, 8); - - { - std::lock_guard lock(m_readMutex); - if (msg->GetSize() != 0) { - m_readStore[msgId] = msg; - } - } - - { - std::lock_guard lock(m_streamMutex); - for (auto& stream : m_readStream) { - // Compare current size of the buffer to the max size of the buffer - if (!stream.second->messages.IsFull() - && rev::usb::CANBridge_ProcessMask({stream.second->messageId, stream.second->messageMask}, - msg->GetMessageId())) { - stream.second->messages.Add(msg); - } - } - } - - reading = false; - } - } else { - reading = false; - } - } catch(...) { - // std::cout << e.what() << std::endl; - m_threadStatus = CANStatus::kDeviceWriteError; - m_statusErrCount++; - } - } - - bool WriteMessages(detail::CANThreadSendQueueElement el, std::chrono::steady_clock::time_point now) { - uint32_t sentMsgId = el.m_msg.GetMessageId(); - uint16_t apiId = el.m_msg.GetApiId(); - - if (el.m_msg.GetDeviceType() == CANDeviceType::gearToothSensor) { - //Special message by motor controller to reboot into DFU - sentMsgId |= (1 << 29); - } - // std::cout << "serial write >> " << std::hex << sentMsgId << " Is API ID: " << std::hex << apiId << " Valid? " << (IsValidSerialMessageId(apiId) ? "Yes" : "No") << std::endl; - - - if ((el.m_intervalMs == 0 || now - el.m_prevTimestamp >= std::chrono::milliseconds(el.m_intervalMs)) && (IsValidSerialMessageId(apiId) || IsConfigParameter(apiId))) { - // Little endian - uint8_t idBuffer[4]; - uint8_t dataBuffer[8]; - - //std::cout << "serial write >> " << std::hex << sentMsgId << std::endl; - - idBuffer[0] = (sentMsgId & 0x000000ff); - idBuffer[2] = (sentMsgId & 0x00ff0000) >> 16; - idBuffer[3] = (sentMsgId & 0xff000000) >> 24; - - // Check to see if it's parameter access - if (IsConfigParameter(apiId)) { - uint32_t paramConfig; - // If the message has empty data, then it's getting parameter value. Otherwise setting parameter value - if (el.m_msg.IsEmpty()) { - paramConfig = GET_CONFIG_PARAM; - } else { - paramConfig = SET_CONFIG_PARAM; - } - - // Need to change the id to have the right parameter access value - idBuffer[0] = (paramConfig & 0x000000ff); - idBuffer[1] = (paramConfig & 0x0000ff00) >> 8; - - // Only 5-6 bytes of data for parameter access, leave first 2 spots free for id and buffer 0 - memcpy(dataBuffer + 2, el.m_msg.GetData(), sizeof(uint8_t)*6); - - // First data byte needs to be the parameter id, second one always needs to be a zero - dataBuffer[0] = CMD_API_PARAM_ACCESS | apiId; // needs to be the paramter id - dataBuffer[1] = 0; - - } else { - // If not parameter access, leave api ID as is - idBuffer[1] = (sentMsgId & 0x0000ff00) >> 8; - memcpy(dataBuffer, el.m_msg.GetData(), sizeof(uint8_t)*8); - } - - uint8_t buffer[bufferSize]; - std::copy(dataBuffer, dataBuffer + 8, std::copy(idBuffer, idBuffer + 4, buffer)); - - size_t bytesWritten = 0; - try { - bytesWritten = m_device.write(buffer, bufferSize); - } catch(...) { - m_threadStatus = CANStatus::kDeviceWriteError; - m_statusErrCount++; - } - - //TODO: figure out why this is sometimes neccessary on WIN32 to avoid recieving - //1 byte frames... Maybe reading the buffer when size = 1? - //Maybe on the read side call read with size 1 - //in a loop of 12 with an overall timeout? - std::this_thread::sleep_for(std::chrono::milliseconds(2)); - - // std::this_thread::sleep_for(std::chrono::milliseconds(500)); - if (bytesWritten != bufferSize) { - m_threadStatus = CANStatus::kDeviceWriteError; - m_statusErrCount++; - return false; - } else { - m_threadStatus = CANStatus::kOk; - return true; - // std::cout << "Message sent" << std::endl; - } - } - return false; - } - - void SerialRun() { - while (m_threadComplete == false) { - m_threadStatus = CANStatus::kOk; // Start each loop with the status being good. Really only a write issue. - auto sleepTime = std::chrono::steady_clock::now() + std::chrono::milliseconds(m_threadIntervalMs); - - // Legacy serial port devices always do Write[12 bits] ... Read[12 bits] for every operation - bool doRead = false; - { - std::lock_guard lock(m_writeMutex); - if (m_sendQueue.size() > 0) { - detail::CANThreadSendQueueElement el = m_sendQueue.front(); - m_sendQueue.pop_front(); - if (el.m_intervalMs == -1) { - continue; - } - - auto now = std::chrono::steady_clock::now(); - - // Legacy serial driver skips a lot of unsupported messages, don't requeue - if (WriteMessages(el, now)) { - // Return to end of queue if repeated - if (el.m_intervalMs > 0 ) { - el.m_prevTimestamp = now; - - m_sendQueue.push_back(el); - } - doRead = true; - } - } - } - if (doRead) { - ReadMessages(doRead); - } - - // 3) Stall thread - if (m_sendQueue.size() == 0) { - std::this_thread::sleep_until(sleepTime); - } - } - } -}; - -} // namespace usb -} // namespace rev diff --git a/src/main/native/include/rev/Drivers/SerialPort/SerialDriver.h b/src/main/native/include/rev/Drivers/SerialPort/SerialDriver.h deleted file mode 100644 index dc6bf20..0000000 --- a/src/main/native/include/rev/Drivers/SerialPort/SerialDriver.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once - -#include -#include - -#include "rev/CANDriver.h" - -namespace rev { -namespace usb { - -class SerialDriver : public CANDriver { -public: - SerialDriver() {} - virtual ~SerialDriver() override {} - - virtual std::string GetName() const override {return "Legacy";} - - virtual std::vector GetDevices() override; - virtual std::unique_ptr CreateDeviceFromDescriptor(const char* descriptor) override; -}; - -} // namespace usb -} // namespace rev diff --git a/src/main/native/include/rev/Drivers/SerialPort/SerialMessage.h b/src/main/native/include/rev/Drivers/SerialPort/SerialMessage.h deleted file mode 100644 index 90c404f..0000000 --- a/src/main/native/include/rev/Drivers/SerialPort/SerialMessage.h +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Copyright (c) 2019 REV Robotics - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * 3. Neither the name of REV Robotics nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#pragma once - -#include -#include - -const int CMD_API_PARAM_ACCESS = 0x300; -const int SET_CONFIG_PARAM = 0x02051C00; -const int GET_CONFIG_PARAM = 0x02051C40; - -bool IsValidSerialMessageId(uint16_t apiId); -bool IsConfigParameter(uint16_t apiId); -bool IsLegacyGetParam(uint32_t msgId); - diff --git a/src/main/native/include/serial/serial.h b/src/main/native/include/serial/serial.h deleted file mode 100644 index 46aa055..0000000 --- a/src/main/native/include/serial/serial.h +++ /dev/null @@ -1,775 +0,0 @@ -/*! - * \file serial/serial.h - * \author William Woodall - * \author John Harrison - * \version 0.1 - * - * \section LICENSE - * - * The MIT License - * - * Copyright (c) 2012 William Woodall - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and associated documentation files (the "Software"), - * to deal in the Software without restriction, including without limitation - * the rights to use, copy, modify, merge, publish, distribute, sublicense, - * and/or sell copies of the Software, and to permit persons to whom the - * Software is furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING - * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER - * DEALINGS IN THE SOFTWARE. - * - * \section DESCRIPTION - * - * This provides a cross platform interface for interacting with Serial Ports. - */ - -#ifndef SERIAL_H -#define SERIAL_H - -#include -#include -#include -#include -#include -#include -#include -#include "v8stdint.h" - -#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \ -__LINE__, (message) ) - -namespace serial { - -/*! - * Enumeration defines the possible bytesizes for the serial port. - */ -typedef enum { - fivebits = 5, - sixbits = 6, - sevenbits = 7, - eightbits = 8 -} bytesize_t; - -/*! - * Enumeration defines the possible parity types for the serial port. - */ -typedef enum { - parity_none = 0, - parity_odd = 1, - parity_even = 2, - parity_mark = 3, - parity_space = 4 -} parity_t; - -/*! - * Enumeration defines the possible stopbit types for the serial port. - */ -typedef enum { - stopbits_one = 1, - stopbits_two = 2, - stopbits_one_point_five -} stopbits_t; - -/*! - * Enumeration defines the possible flowcontrol types for the serial port. - */ -typedef enum { - flowcontrol_none = 0, - flowcontrol_software, - flowcontrol_hardware -} flowcontrol_t; - -/*! - * Structure for setting the timeout of the serial port, times are - * in milliseconds. - * - * In order to disable the interbyte timeout, set it to Timeout::max(). - */ -struct Timeout { -#ifdef max -# undef max -#endif - static uint32_t max() {return std::numeric_limits::max();} - /*! - * Convenience function to generate Timeout structs using a - * single absolute timeout. - * - * \param timeout A long that defines the time in milliseconds until a - * timeout occurs after a call to read or write is made. - * - * \return Timeout struct that represents this simple timeout provided. - */ - static Timeout simpleTimeout(uint32_t timeout) { - return Timeout(max(), timeout, 0, timeout, 0); - } - - /*! Number of milliseconds between bytes received to timeout on. */ - uint32_t inter_byte_timeout; - /*! A constant number of milliseconds to wait after calling read. */ - uint32_t read_timeout_constant; - /*! A multiplier against the number of requested bytes to wait after - * calling read. - */ - uint32_t read_timeout_multiplier; - /*! A constant number of milliseconds to wait after calling write. */ - uint32_t write_timeout_constant; - /*! A multiplier against the number of requested bytes to wait after - * calling write. - */ - uint32_t write_timeout_multiplier; - - explicit Timeout (uint32_t inter_byte_timeout_=0, - uint32_t read_timeout_constant_=0, - uint32_t read_timeout_multiplier_=0, - uint32_t write_timeout_constant_=0, - uint32_t write_timeout_multiplier_=0) - : inter_byte_timeout(inter_byte_timeout_), - read_timeout_constant(read_timeout_constant_), - read_timeout_multiplier(read_timeout_multiplier_), - write_timeout_constant(write_timeout_constant_), - write_timeout_multiplier(write_timeout_multiplier_) - {} -}; - -/*! - * Class that provides a portable serial port interface. - */ -class Serial { -public: - /*! - * Creates a Serial object and opens the port if a port is specified, - * otherwise it remains closed until serial::Serial::open is called. - * - * \param port A std::string containing the address of the serial port, - * which would be something like 'COM1' on Windows and '/dev/ttyS0' - * on Linux. - * - * \param baudrate An unsigned 32-bit integer that represents the baudrate - * - * \param timeout A serial::Timeout struct that defines the timeout - * conditions for the serial port. \see serial::Timeout - * - * \param bytesize Size of each byte in the serial transmission of data, - * default is eightbits, possible values are: fivebits, sixbits, sevenbits, - * eightbits - * - * \param parity Method of parity, default is parity_none, possible values - * are: parity_none, parity_odd, parity_even - * - * \param stopbits Number of stop bits used, default is stopbits_one, - * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two - * - * \param flowcontrol Type of flowcontrol used, default is - * flowcontrol_none, possible values are: flowcontrol_none, - * flowcontrol_software, flowcontrol_hardware - * - * \throw serial::PortNotOpenedException - * \throw serial::IOException - * \throw std::invalid_argument - */ - Serial (const std::string &port = "", - uint32_t baudrate = 9600, - Timeout timeout = Timeout(), - bytesize_t bytesize = eightbits, - parity_t parity = parity_none, - stopbits_t stopbits = stopbits_one, - flowcontrol_t flowcontrol = flowcontrol_none); - - /*! Destructor */ - virtual ~Serial (); - - /*! - * Opens the serial port as long as the port is set and the port isn't - * already open. - * - * If the port is provided to the constructor then an explicit call to open - * is not needed. - * - * \see Serial::Serial - * - * \throw std::invalid_argument - * \throw serial::SerialException - * \throw serial::IOException - */ - void - open (); - - /*! Gets the open status of the serial port. - * - * \return Returns true if the port is open, false otherwise. - */ - bool - isOpen () const; - - /*! Closes the serial port. */ - void - close (); - - /*! Return the number of characters in the buffer. */ - size_t - available (); - - /*! Block until there is serial data to read or read_timeout_constant - * number of milliseconds have elapsed. The return value is true when - * the function exits with the port in a readable state, false otherwise - * (due to timeout or select interruption). */ - bool - waitReadable (); - - /*! Block for a period of time corresponding to the transmission time of - * count characters at present serial settings. This may be used in con- - * junction with waitReadable to read larger blocks of data from the - * port. */ - void - waitByteTimes (size_t count); - - /*! Read a given amount of bytes from the serial port into a given buffer. - * - * The read function will return in one of three cases: - * * The number of requested bytes was read. - * * In this case the number of bytes requested will match the size_t - * returned by read. - * * A timeout occurred, in this case the number of bytes read will not - * match the amount requested, but no exception will be thrown. One of - * two possible timeouts occurred: - * * The inter byte timeout expired, this means that number of - * milliseconds elapsed between receiving bytes from the serial port - * exceeded the inter byte timeout. - * * The total timeout expired, which is calculated by multiplying the - * read timeout multiplier by the number of requested bytes and then - * added to the read timeout constant. If that total number of - * milliseconds elapses after the initial call to read a timeout will - * occur. - * * An exception occurred, in this case an actual exception will be thrown. - * - * \param buffer An uint8_t array of at least the requested size. - * \param size A size_t defining how many bytes to be read. - * - * \return A size_t representing the number of bytes read as a result of the - * call to read. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - size_t - read (uint8_t *buffer, size_t size); - - /*! Read a given amount of bytes from the serial port into a give buffer. - * - * \param buffer A reference to a std::vector of uint8_t. - * \param size A size_t defining how many bytes to be read. - * - * \return A size_t representing the number of bytes read as a result of the - * call to read. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - size_t - read (std::vector &buffer, size_t size = 1); - - /*! Read a given amount of bytes from the serial port into a give buffer. - * - * \param buffer A reference to a std::string. - * \param size A size_t defining how many bytes to be read. - * - * \return A size_t representing the number of bytes read as a result of the - * call to read. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - size_t - read (std::string &buffer, size_t size = 1); - - /*! Read a given amount of bytes from the serial port and return a string - * containing the data. - * - * \param size A size_t defining how many bytes to be read. - * - * \return A std::string containing the data read from the port. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - std::string - read (size_t size = 1); - - /*! Reads in a line or until a given delimiter has been processed. - * - * Reads from the serial port until a single line has been read. - * - * \param buffer A std::string reference used to store the data. - * \param size A maximum length of a line, defaults to 65536 (2^16) - * \param eol A string to match against for the EOL. - * - * \return A size_t representing the number of bytes read. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - size_t - readline (std::string &buffer, size_t size = 65536, std::string eol = "\n"); - - /*! Reads in a line or until a given delimiter has been processed. - * - * Reads from the serial port until a single line has been read. - * - * \param size A maximum length of a line, defaults to 65536 (2^16) - * \param eol A string to match against for the EOL. - * - * \return A std::string containing the line. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - std::string - readline (size_t size = 65536, std::string eol = "\n"); - - /*! Reads in multiple lines until the serial port times out. - * - * This requires a timeout > 0 before it can be run. It will read until a - * timeout occurs and return a list of strings. - * - * \param size A maximum length of combined lines, defaults to 65536 (2^16) - * - * \param eol A string to match against for the EOL. - * - * \return A vector containing the lines. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - */ - std::vector - readlines (size_t size = 65536, std::string eol = "\n"); - - /*! Write a string to the serial port. - * - * \param data A const reference containing the data to be written - * to the serial port. - * - * \param size A size_t that indicates how many bytes should be written from - * the given data buffer. - * - * \return A size_t representing the number of bytes actually written to - * the serial port. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - * \throw serial::IOException - */ - size_t - write (const uint8_t *data, size_t size); - - /*! Write a string to the serial port. - * - * \param data A const reference containing the data to be written - * to the serial port. - * - * \return A size_t representing the number of bytes actually written to - * the serial port. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - * \throw serial::IOException - */ - size_t - write (const std::vector &data); - - /*! Write a string to the serial port. - * - * \param data A const reference containing the data to be written - * to the serial port. - * - * \return A size_t representing the number of bytes actually written to - * the serial port. - * - * \throw serial::PortNotOpenedException - * \throw serial::SerialException - * \throw serial::IOException - */ - size_t - write (const std::string &data); - - /*! Sets the serial port identifier. - * - * \param port A const std::string reference containing the address of the - * serial port, which would be something like 'COM1' on Windows and - * '/dev/ttyS0' on Linux. - * - * \throw std::invalid_argument - */ - void - setPort (const std::string &port); - - /*! Gets the serial port identifier. - * - * \see Serial::setPort - * - * \throw std::invalid_argument - */ - std::string - getPort () const; - - /*! Sets the timeout for reads and writes using the Timeout struct. - * - * There are two timeout conditions described here: - * * The inter byte timeout: - * * The inter_byte_timeout component of serial::Timeout defines the - * maximum amount of time, in milliseconds, between receiving bytes on - * the serial port that can pass before a timeout occurs. Setting this - * to zero will prevent inter byte timeouts from occurring. - * * Total time timeout: - * * The constant and multiplier component of this timeout condition, - * for both read and write, are defined in serial::Timeout. This - * timeout occurs if the total time since the read or write call was - * made exceeds the specified time in milliseconds. - * * The limit is defined by multiplying the multiplier component by the - * number of requested bytes and adding that product to the constant - * component. In this way if you want a read call, for example, to - * timeout after exactly one second regardless of the number of bytes - * you asked for then set the read_timeout_constant component of - * serial::Timeout to 1000 and the read_timeout_multiplier to zero. - * This timeout condition can be used in conjunction with the inter - * byte timeout condition with out any problems, timeout will simply - * occur when one of the two timeout conditions is met. This allows - * users to have maximum control over the trade-off between - * responsiveness and efficiency. - * - * Read and write functions will return in one of three cases. When the - * reading or writing is complete, when a timeout occurs, or when an - * exception occurs. - * - * A timeout of 0 enables non-blocking mode. - * - * \param timeout A serial::Timeout struct containing the inter byte - * timeout, and the read and write timeout constants and multipliers. - * - * \see serial::Timeout - */ - void - setTimeout (Timeout &timeout); - - /*! Sets the timeout for reads and writes. */ - void - setTimeout (uint32_t inter_byte_timeout, uint32_t read_timeout_constant, - uint32_t read_timeout_multiplier, uint32_t write_timeout_constant, - uint32_t write_timeout_multiplier) - { - Timeout timeout(inter_byte_timeout, read_timeout_constant, - read_timeout_multiplier, write_timeout_constant, - write_timeout_multiplier); - return setTimeout(timeout); - } - - /*! Gets the timeout for reads in seconds. - * - * \return A Timeout struct containing the inter_byte_timeout, and read - * and write timeout constants and multipliers. - * - * \see Serial::setTimeout - */ - Timeout - getTimeout () const; - - /*! Sets the baudrate for the serial port. - * - * Possible baudrates depends on the system but some safe baudrates include: - * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000, - * 57600, 115200 - * Some other baudrates that are supported by some comports: - * 128000, 153600, 230400, 256000, 460800, 500000, 921600 - * - * \param baudrate An integer that sets the baud rate for the serial port. - * - * \throw std::invalid_argument - */ - void - setBaudrate (uint32_t baudrate); - - /*! Gets the baudrate for the serial port. - * - * \return An integer that sets the baud rate for the serial port. - * - * \see Serial::setBaudrate - * - * \throw std::invalid_argument - */ - uint32_t - getBaudrate () const; - - /*! Sets the bytesize for the serial port. - * - * \param bytesize Size of each byte in the serial transmission of data, - * default is eightbits, possible values are: fivebits, sixbits, sevenbits, - * eightbits - * - * \throw std::invalid_argument - */ - void - setBytesize (bytesize_t bytesize); - - /*! Gets the bytesize for the serial port. - * - * \see Serial::setBytesize - * - * \throw std::invalid_argument - */ - bytesize_t - getBytesize () const; - - /*! Sets the parity for the serial port. - * - * \param parity Method of parity, default is parity_none, possible values - * are: parity_none, parity_odd, parity_even - * - * \throw std::invalid_argument - */ - void - setParity (parity_t parity); - - /*! Gets the parity for the serial port. - * - * \see Serial::setParity - * - * \throw std::invalid_argument - */ - parity_t - getParity () const; - - /*! Sets the stopbits for the serial port. - * - * \param stopbits Number of stop bits used, default is stopbits_one, - * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two - * - * \throw std::invalid_argument - */ - void - setStopbits (stopbits_t stopbits); - - /*! Gets the stopbits for the serial port. - * - * \see Serial::setStopbits - * - * \throw std::invalid_argument - */ - stopbits_t - getStopbits () const; - - /*! Sets the flow control for the serial port. - * - * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none, - * possible values are: flowcontrol_none, flowcontrol_software, - * flowcontrol_hardware - * - * \throw std::invalid_argument - */ - void - setFlowcontrol (flowcontrol_t flowcontrol); - - /*! Gets the flow control for the serial port. - * - * \see Serial::setFlowcontrol - * - * \throw std::invalid_argument - */ - flowcontrol_t - getFlowcontrol () const; - - /*! Flush the input and output buffers */ - void - flush (); - - /*! Flush only the input buffer */ - void - flushInput (); - - /*! Flush only the output buffer */ - void - flushOutput (); - - /*! Sends the RS-232 break signal. See tcsendbreak(3). */ - void - sendBreak (int duration); - - /*! Set the break condition to a given level. Defaults to true. */ - void - setBreak (bool level = true); - - /*! Set the RTS handshaking line to the given level. Defaults to true. */ - void - setRTS (bool level = true); - - /*! Set the DTR handshaking line to the given level. Defaults to true. */ - void - setDTR (bool level = true); - - /*! - * Blocks until CTS, DSR, RI, CD changes or something interrupts it. - * - * Can throw an exception if an error occurs while waiting. - * You can check the status of CTS, DSR, RI, and CD once this returns. - * Uses TIOCMIWAIT via ioctl if available (mostly only on Linux) with a - * resolution of less than +-1ms and as good as +-0.2ms. Otherwise a - * polling method is used which can give +-2ms. - * - * \return Returns true if one of the lines changed, false if something else - * occurred. - * - * \throw SerialException - */ - bool - waitForChange (); - - /*! Returns the current status of the CTS line. */ - bool - getCTS (); - - /*! Returns the current status of the DSR line. */ - bool - getDSR (); - - /*! Returns the current status of the RI line. */ - bool - getRI (); - - /*! Returns the current status of the CD line. */ - bool - getCD (); - -private: - // Disable copy constructors - Serial(const Serial&); - Serial& operator=(const Serial&); - - // Pimpl idiom, d_pointer - class SerialImpl; - SerialImpl *pimpl_; - - // Scoped Lock Classes - class ScopedReadLock; - class ScopedWriteLock; - - // Read common function - size_t - read_ (uint8_t *buffer, size_t size); - // Write common function - size_t - write_ (const uint8_t *data, size_t length); - -}; - -class SerialException : public std::exception -{ - // Disable copy constructors - SerialException& operator=(const SerialException&); - std::string e_what_; -public: - SerialException (const char *description) { - std::stringstream ss; - ss << "SerialException " << description << " failed."; - e_what_ = ss.str(); - } - SerialException (const SerialException& other) : e_what_(other.e_what_) {} - virtual ~SerialException() throw() {} - virtual const char* what () const throw () { - return e_what_.c_str(); - } -}; - -class IOException : public std::exception -{ - // Disable copy constructors - IOException& operator=(const IOException&); - std::string file_; - int line_; - std::string e_what_; - int errno_; -public: - explicit IOException (std::string file, int line, int errnum) - : file_(file), line_(line), errno_(errnum) { - std::stringstream ss; -#if defined(_WIN32) && !defined(__MINGW32__) - char error_str [1024]; - strerror_s(error_str, 1024, errnum); -#else - char * error_str = strerror(errnum); -#endif - ss << "IO Exception (" << errno_ << "): " << error_str; - ss << ", file " << file_ << ", line " << line_ << "."; - e_what_ = ss.str(); - } - explicit IOException (std::string file, int line, const char * description) - : file_(file), line_(line), errno_(0) { - std::stringstream ss; - ss << "IO Exception: " << description; - ss << ", file " << file_ << ", line " << line_ << "."; - e_what_ = ss.str(); - } - virtual ~IOException() throw() {} - IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {} - - int getErrorNumber () const { return errno_; } - - virtual const char* what () const throw () { - return e_what_.c_str(); - } -}; - -class PortNotOpenedException : public std::exception -{ - // Disable copy constructors - const PortNotOpenedException& operator=(PortNotOpenedException); - std::string e_what_; -public: - PortNotOpenedException (const char * description) { - std::stringstream ss; - ss << "PortNotOpenedException " << description << " failed."; - e_what_ = ss.str(); - } - PortNotOpenedException (const PortNotOpenedException& other) : e_what_(other.e_what_) {} - virtual ~PortNotOpenedException() throw() {} - virtual const char* what () const throw () { - return e_what_.c_str(); - } -}; - -/*! - * Structure that describes a serial device. - */ -struct PortInfo { - - /*! Address of the serial port (this can be passed to the constructor of Serial). */ - std::string port; - - /*! Human readable description of serial device if available. */ - std::string description; - - /*! Hardware ID (e.g. VID:PID of USB serial devices) or "n/a" if not available. */ - std::string hardware_id; - -}; - -/* Lists the serial ports available on the system - * - * Returns a vector of available serial ports, each represented - * by a serial::PortInfo data structure: - * - * \return vector of serial::PortInfo. - */ -std::vector -list_ports(); - -} // namespace serial - -#endif diff --git a/src/main/native/include/serial/unix.h b/src/main/native/include/serial/unix.h deleted file mode 100644 index f1c461f..0000000 --- a/src/main/native/include/serial/unix.h +++ /dev/null @@ -1,221 +0,0 @@ -/*! - * \file serial/impl/unix.h - * \author William Woodall - * \author John Harrison - * \version 0.1 - * - * \section LICENSE - * - * The MIT License - * - * Copyright (c) 2012 William Woodall, John Harrison - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and associated documentation files (the "Software"), - * to deal in the Software without restriction, including without limitation - * the rights to use, copy, modify, merge, publish, distribute, sublicense, - * and/or sell copies of the Software, and to permit persons to whom the - * Software is furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING - * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER - * DEALINGS IN THE SOFTWARE. - * - * \section DESCRIPTION - * - * This provides a unix based pimpl for the Serial class. This implementation is - * based off termios.h and uses select for multiplexing the IO ports. - * - */ - -#if !defined(_WIN32) - -#ifndef SERIAL_UNIX_H -#define SERIAL_UNIX_H - -#include "serial.h" - -#include - -namespace serial { - -using std::size_t; -using std::string; -using std::invalid_argument; - -using serial::SerialException; -using serial::IOException; - -class MillisecondTimer { -public: - MillisecondTimer(const uint32_t millis); - int64_t remaining(); - -private: - static timespec timespec_now(); - timespec expiry; -}; - -class serial::Serial::SerialImpl { -public: - SerialImpl (const string &port, - unsigned long baudrate, - bytesize_t bytesize, - parity_t parity, - stopbits_t stopbits, - flowcontrol_t flowcontrol); - - virtual ~SerialImpl (); - - void - open (); - - void - close (); - - bool - isOpen () const; - - size_t - available (); - - bool - waitReadable (uint32_t timeout); - - void - waitByteTimes (size_t count); - - size_t - read (uint8_t *buf, size_t size = 1); - - size_t - write (const uint8_t *data, size_t length); - - void - flush (); - - void - flushInput (); - - void - flushOutput (); - - void - sendBreak (int duration); - - void - setBreak (bool level); - - void - setRTS (bool level); - - void - setDTR (bool level); - - bool - waitForChange (); - - bool - getCTS (); - - bool - getDSR (); - - bool - getRI (); - - bool - getCD (); - - void - setPort (const string &port); - - string - getPort () const; - - void - setTimeout (Timeout &timeout); - - Timeout - getTimeout () const; - - void - setBaudrate (unsigned long baudrate); - - unsigned long - getBaudrate () const; - - void - setBytesize (bytesize_t bytesize); - - bytesize_t - getBytesize () const; - - void - setParity (parity_t parity); - - parity_t - getParity () const; - - void - setStopbits (stopbits_t stopbits); - - stopbits_t - getStopbits () const; - - void - setFlowcontrol (flowcontrol_t flowcontrol); - - flowcontrol_t - getFlowcontrol () const; - - void - readLock (); - - void - readUnlock (); - - void - writeLock (); - - void - writeUnlock (); - -protected: - void reconfigurePort (); - -private: - string port_; // Path to the file descriptor - int fd_; // The current file descriptor - - bool is_open_; - bool xonxoff_; - bool rtscts_; - - Timeout timeout_; // Timeout for read operations - unsigned long baudrate_; // Baudrate - uint32_t byte_time_ns_; // Nanoseconds to transmit/receive a single byte - - parity_t parity_; // Parity - bytesize_t bytesize_; // Size of the bytes - stopbits_t stopbits_; // Stop Bits - flowcontrol_t flowcontrol_; // Flow Control - - // Mutex used to lock the read functions - pthread_mutex_t read_mutex; - // Mutex used to lock the write functions - pthread_mutex_t write_mutex; -}; - -} - -#endif // SERIAL_IMPL_UNIX_H - -#endif // !defined(_WIN32) diff --git a/src/main/native/include/serial/v8stdint.h b/src/main/native/include/serial/v8stdint.h deleted file mode 100644 index f3be96b..0000000 --- a/src/main/native/include/serial/v8stdint.h +++ /dev/null @@ -1,57 +0,0 @@ -// This header is from the v8 google project: -// http://code.google.com/p/v8/source/browse/trunk/include/v8stdint.h - -// Copyright 2012 the V8 project authors. All rights reserved. -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions are -// met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of Google Inc. nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -// Load definitions of standard types. - -#ifndef V8STDINT_H_ -#define V8STDINT_H_ - -#include -#include - -#if defined(_WIN32) && !defined(__MINGW32__) - -typedef signed char int8_t; -typedef unsigned char uint8_t; -typedef short int16_t; // NOLINT -typedef unsigned short uint16_t; // NOLINT -typedef int int32_t; -typedef unsigned int uint32_t; -typedef __int64 int64_t; -typedef unsigned __int64 uint64_t; -// intptr_t and friends are defined in crtdefs.h through stdio.h. - -#else - -#include - -#endif - -#endif // V8STDINT_H_ diff --git a/src/main/native/include/serial/win.h b/src/main/native/include/serial/win.h deleted file mode 100644 index f4ac21c..0000000 --- a/src/main/native/include/serial/win.h +++ /dev/null @@ -1,207 +0,0 @@ -/*! - * \file serial/impl/windows.h - * \author William Woodall - * \author John Harrison - * \version 0.1 - * - * \section LICENSE - * - * The MIT License - * - * Copyright (c) 2012 William Woodall, John Harrison - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and associated documentation files (the "Software"), - * to deal in the Software without restriction, including without limitation - * the rights to use, copy, modify, merge, publish, distribute, sublicense, - * and/or sell copies of the Software, and to permit persons to whom the - * Software is furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING - * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER - * DEALINGS IN THE SOFTWARE. - * - * \section DESCRIPTION - * - * This provides a windows implementation of the Serial class interface. - * - */ - -#if defined(_WIN32) - -#ifndef SERIAL_WINDOWS_H -#define SERIAL_WINDOWS_H - -#include "serial.h" - -#include "windows.h" - -namespace serial { - -using std::string; -using std::wstring; -using std::invalid_argument; - -using serial::SerialException; -using serial::IOException; - -class serial::Serial::SerialImpl { -public: - SerialImpl (const string &port, - unsigned long baudrate, - bytesize_t bytesize, - parity_t parity, - stopbits_t stopbits, - flowcontrol_t flowcontrol); - - virtual ~SerialImpl (); - - void - open (); - - void - close (); - - bool - isOpen () const; - - size_t - available (); - - bool - waitReadable (uint32_t timeout); - - void - waitByteTimes (size_t count); - - size_t - read (uint8_t *buf, size_t size = 1); - - size_t - write (const uint8_t *data, size_t length); - - void - flush (); - - void - flushInput (); - - void - flushOutput (); - - void - sendBreak (int duration); - - void - setBreak (bool level); - - void - setRTS (bool level); - - void - setDTR (bool level); - - bool - waitForChange (); - - bool - getCTS (); - - bool - getDSR (); - - bool - getRI (); - - bool - getCD (); - - void - setPort (const string &port); - - string - getPort () const; - - void - setTimeout (Timeout &timeout); - - Timeout - getTimeout () const; - - void - setBaudrate (unsigned long baudrate); - - unsigned long - getBaudrate () const; - - void - setBytesize (bytesize_t bytesize); - - bytesize_t - getBytesize () const; - - void - setParity (parity_t parity); - - parity_t - getParity () const; - - void - setStopbits (stopbits_t stopbits); - - stopbits_t - getStopbits () const; - - void - setFlowcontrol (flowcontrol_t flowcontrol); - - flowcontrol_t - getFlowcontrol () const; - - void - readLock (); - - void - readUnlock (); - - void - writeLock (); - - void - writeUnlock (); - -protected: - void reconfigurePort (); - -private: - wstring port_; // Path to the file descriptor - HANDLE fd_; - - bool is_open_; - - Timeout timeout_; // Timeout for read operations - unsigned long baudrate_; // Baudrate - - parity_t parity_; // Parity - bytesize_t bytesize_; // Size of the bytes - stopbits_t stopbits_; // Stop Bits - flowcontrol_t flowcontrol_; // Flow Control - - // Mutex used to lock the read functions - HANDLE read_mutex; - // Mutex used to lock the write functions - HANDLE write_mutex; -}; - -} - -#endif // SERIAL_IMPL_WINDOWS_H - -#endif // if defined(_WIN32) From c44600035b23a931985d6dc26c9e62ab281ae1b8 Mon Sep 17 00:00:00 2001 From: Garrett Summerfield Date: Mon, 23 Sep 2024 14:05:14 -0500 Subject: [PATCH 6/9] Create Dependabot update task Dependabot keeps repo dependencies updated. For this configuration, we are just updating GitHub Actions. This can extend into Gradle if needed but this is just to keep individual Actions updated. --- .github/dependabot.yml | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 .github/dependabot.yml diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 0000000..0f83d09 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,7 @@ +version: 2 +updates: + # Dependabot updates for GitHub Actions + - package-ecosystem: github-actions + directory: "/" + schedule: + interval: "weekly" \ No newline at end of file From a2920117f67d830d5c1e8f0c6d48aeeeb9c59b91 Mon Sep 17 00:00:00 2001 From: NoahAndrews <10224994+NoahAndrews@users.noreply.github.com.> Date: Mon, 11 Nov 2024 22:09:05 -0600 Subject: [PATCH 7/9] Fix CI: Make curl follow redirects Port of 44bdc5b --- .github/workflows/build.yml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index a93abf8..5f82eed 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -57,8 +57,8 @@ jobs: halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - curl -o halPlatform.zip "$halPlatformUrl" - curl -o utilPlatform.zip "$utilPlatformUrl" + curl -L -o halPlatform.zip "$halPlatformUrl" + curl -L -o utilPlatform.zip "$utilPlatformUrl" - name: Unzip WPILib HAL artifacts and headers run: | @@ -128,8 +128,8 @@ jobs: halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - curl -o halPlatform.zip "$halPlatformUrl" - curl -o utilPlatform.zip "$utilPlatformUrl" + curl -L -o halPlatform.zip "$halPlatformUrl" + curl -L -o utilPlatform.zip "$utilPlatformUrl" - name: Unzip WPILib HAL artifacts and headers run: | @@ -184,8 +184,8 @@ jobs: halHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-headers.zip utilHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-headers.zip - curl -o halHeaders.zip "$halHeadersUrl" - curl -o utilHeaders.zip "$utilHeadersUrl" + curl -L -o halHeaders.zip "$halHeadersUrl" + curl -L -o utilHeaders.zip "$utilHeadersUrl" - name: Unzip WPILib HAL artifacts and headers run: | @@ -233,4 +233,4 @@ jobs: uses: actions/upload-artifact@v4 with: name: version - path: build/allOutputs/version.txt \ No newline at end of file + path: build/allOutputs/version.txt From 4e47f70c0abfe9946acd2d7a01d7e741f0573bfe Mon Sep 17 00:00:00 2001 From: NoahAndrews <10224994+NoahAndrews@users.noreply.github.com.> Date: Mon, 11 Nov 2024 22:53:38 -0600 Subject: [PATCH 8/9] Include both static and shared WPILib artifacts --- .github/workflows/build.yml | 96 +++++++++++++++++++++++-------------- 1 file changed, 61 insertions(+), 35 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 5f82eed..9fedfe5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -54,25 +54,35 @@ jobs: run : | halVersion=$(cat wpiHalVersion.txt) - halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - - curl -L -o halPlatform.zip "$halPlatformUrl" - curl -L -o utilPlatform.zip "$utilPlatformUrl" + sharedHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + sharedUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + curl -L -o sharedHalPlatform.zip "$sharedHalPlatformUrl" + curl -L -o sharedUtilPlatform.zip "$sharedUtilPlatformUrl" + + staticHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip + staticUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip + curl -L -o staticHalPlatform.zip "$staticHalPlatformUrl" + curl -L -o staticUtilPlatform.zip "$staticUtilPlatformUrl" - name: Unzip WPILib HAL artifacts and headers run: | - unzip halPlatform.zip -d halPlatform - unzip utilPlatform.zip -d utilPlatform - mkdir -p CANBridge-artifacts + unzip sharedHalPlatform.zip -d sharedHalPlatform + unzip sharedUtilPlatform.zip -d sharedUtilPlatform + unzip staticHalPlatform.zip -d staticHalPlatform + unzip staticUtilPlatform.zip -d staticUtilPlatform + mkdir -p CANBridge-artifacts/static + mkdir -p CANBridge-artifacts/shared # Put Linux ARM release files together in one directory - name: Create Artifact run: | - cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a - cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so - cp halPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so - cp utilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so + cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/shared/libCANBridge.so + cp sharedHalPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/shared/libwpiHal.so + cp sharedUtilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/shared/libwpiutil.so + + cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/static/libCANBridge.a + cp staticHalPlatform/linux/${{ matrix.arch }}/static/libwpiHal.a CANBridge-artifacts/static/libwpiHal.a + cp staticUtilPlatform/linux/${{ matrix.arch }}/static/libwpiutil.a CANBridge-artifacts/static/libwpiutil.a # Upload build artifact - name: Upload build artifact @@ -125,40 +135,56 @@ jobs: run : | halVersion=$(cat wpiHalVersion.txt) - halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - - curl -L -o halPlatform.zip "$halPlatformUrl" - curl -L -o utilPlatform.zip "$utilPlatformUrl" + sharedHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + sharedUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip + curl -L -o sharedHalPlatform.zip "$sharedHalPlatformUrl" + curl -L -o sharedUtilPlatform.zip "$sharedUtilPlatformUrl" + + staticHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip + staticUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip + curl -L -o staticHalPlatform.zip "$staticHalPlatformUrl" + curl -L -o staticUtilPlatform.zip "$staticUtilPlatformUrl" - name: Unzip WPILib HAL artifacts and headers run: | - unzip halPlatform.zip -d halPlatform - unzip utilPlatform.zip -d utilPlatform - mkdir -p CANBridge-artifacts + unzip sharedHalPlatform.zip -d sharedHalPlatform + unzip sharedUtilPlatform.zip -d sharedUtilPlatform + unzip staticHalPlatform.zip -d staticHalPlatform + unzip staticUtilPlatform.zip -d staticUtilPlatform + mkdir -p CANBridge-artifacts/static + mkdir -p CANBridge-artifacts/shared # Put release files together in one directory based on platform - name: Create Artifact run: | mkdir -p CANBridge-artifacts if [[ "${{ matrix.platform-type }}" == "windowsx86-64" ]]; then - cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib - cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll - cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib - cp halPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll - cp halPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib - cp utilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll - cp utilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib + cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/shared/ + cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/shared/ + cp sharedHalPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/shared/ + cp sharedHalPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/shared/ + cp sharedUtilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/shared/ + cp sharedUtilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/shared/ + + cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/static/ + cp staticHalPlatform/windows/x86-64/static/wpiHal.lib CANBridge-artifacts/static/ + cp staticUtilPlatform/windows/x86-64/static/wpiutil.lib CANBridge-artifacts/static/ elif [[ "${{ matrix.platform-type }}" == "linuxx86-64" ]]; then - cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a - cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so - cp halPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so - cp utilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so + cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/shared/ + cp sharedHalPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/shared/ + cp sharedUtilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/shared/ + + cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/static/ + cp staticHalPlatform/linux/x86-64/static/libwpiHal.a CANBridge-artifacts/static/ + cp staticUtilPlatform/linux/x86-64/static/libwpiutil.a CANBridge-artifacts/static/ elif [[ "${{ matrix.platform-type }}" == "osxuniversal" ]]; then - cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a - cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/libCANBridge.dylib - cp halPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/libwpiHal.dylib - cp utilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/libwpiutil.dylib + cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/shared/ + cp sharedHalPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/shared/ + cp sharedUtilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/shared + + cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/static/ + cp staticHalPlatform/osx/universal/static/libwpiHal.a CANBridge-artifacts/static/ + cp staticUtilPlatform/osx/universal/static/libwpiutil.a CANBridge-artifacts/static/ fi # Upload build artifact From 2fa667d623c87e03f314ac91fd431cb6295459b1 Mon Sep 17 00:00:00 2001 From: QwertyChouskie Date: Sat, 23 Nov 2024 22:05:03 -0800 Subject: [PATCH 9/9] Remove code duplication in build workflow --- .github/workflows/build.yml | 105 ++++++++---------------------------- 1 file changed, 23 insertions(+), 82 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 9fedfe5..50cb9e2 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -12,88 +12,8 @@ defaults: shell: bash jobs: - # Use WPI provided Docker images to build for Linux ARM32 and ARM64 platforms - build-docker: - strategy: - fail-fast: false - matrix: - include: - - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04 - name: LinuxARM64 - build-options: "-Ponlylinuxarm64" - platform-type: linuxarm64 - arch: arm64 - - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04 - name: LinuxARM32 - build-options: "-Ponlylinuxarm32" - platform-type: linuxarm32 - arch: arm32 - runs-on: ubuntu-latest - name: "Build - ${{ matrix.name }}" - container: ${{ matrix.container }} - steps: - - name: Checkout - uses: actions/checkout@v4 - with: - ref: ${{ github.sha }} - - - name: Setup Java - uses: actions/setup-java@v4 - with: - distribution: 'zulu' - java-version: 11 - - - name: Setup Gradle - uses: gradle/actions/setup-gradle@v4 - - - name: Build - run: | - ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode - - - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }} - run : | - halVersion=$(cat wpiHalVersion.txt) - - sharedHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - sharedUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip - curl -L -o sharedHalPlatform.zip "$sharedHalPlatformUrl" - curl -L -o sharedUtilPlatform.zip "$sharedUtilPlatformUrl" - - staticHalPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip - staticUtilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}static.zip - curl -L -o staticHalPlatform.zip "$staticHalPlatformUrl" - curl -L -o staticUtilPlatform.zip "$staticUtilPlatformUrl" - - - name: Unzip WPILib HAL artifacts and headers - run: | - unzip sharedHalPlatform.zip -d sharedHalPlatform - unzip sharedUtilPlatform.zip -d sharedUtilPlatform - unzip staticHalPlatform.zip -d staticHalPlatform - unzip staticUtilPlatform.zip -d staticUtilPlatform - mkdir -p CANBridge-artifacts/static - mkdir -p CANBridge-artifacts/shared - - # Put Linux ARM release files together in one directory - - name: Create Artifact - run: | - cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/shared/libCANBridge.so - cp sharedHalPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/shared/libwpiHal.so - cp sharedUtilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/shared/libwpiutil.so - - cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/static/libCANBridge.a - cp staticHalPlatform/linux/${{ matrix.arch }}/static/libwpiHal.a CANBridge-artifacts/static/libwpiHal.a - cp staticUtilPlatform/linux/${{ matrix.arch }}/static/libwpiutil.a CANBridge-artifacts/static/libwpiutil.a - - # Upload build artifact - - name: Upload build artifact - uses: actions/upload-artifact@v4 - with: - name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}} - path: CANBridge-artifacts/ - - # Use native runners to build for Windows, Linux, and macOS - build-native: - timeout-minutes: 15 + # Use native runners to build for Windows, Linux x86-64, and macOS; use WPI provided Docker images to build for Linux ARM32 and ARM64 platforms + build: strategy: fail-fast: false matrix: @@ -110,8 +30,21 @@ jobs: name: macOS platform-type: osxuniversal build-options: "" + - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04 + os: ubuntu-latest + name: LinuxARM64 + build-options: "-Ponlylinuxarm64" + platform-type: linuxarm64 + arch: arm64 + - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04 + os: ubuntu-latest + name: LinuxARM32 + build-options: "-Ponlylinuxarm32" + platform-type: linuxarm32 + arch: arm32 name: "Build - ${{ matrix.name }}" runs-on: ${{ matrix.os }} + container: ${{ matrix.container }} steps: - name: Checkout uses: actions/checkout@v4 @@ -185,6 +118,14 @@ jobs: cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/static/ cp staticHalPlatform/osx/universal/static/libwpiHal.a CANBridge-artifacts/static/ cp staticUtilPlatform/osx/universal/static/libwpiutil.a CANBridge-artifacts/static/ + elif [[ "${{ matrix.platform-type }}" == "linuxarm32" || "${{ matrix.platform-type }}" == "linuxarm64" ]]; then + cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/shared/libCANBridge.so + cp sharedHalPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/shared/libwpiHal.so + cp sharedUtilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/shared/libwpiutil.so + + cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/static/libCANBridge.a + cp staticHalPlatform/linux/${{ matrix.arch }}/static/libwpiHal.a CANBridge-artifacts/static/libwpiHal.a + cp staticUtilPlatform/linux/${{ matrix.arch }}/static/libwpiutil.a CANBridge-artifacts/static/libwpiutil.a fi # Upload build artifact