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author Ideenmodellierer
date Mon, 12 Jan 2026 18:47:00 +0100
parents 9a3c1a6f9833
children
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1 //////////////////////////////////////////////////////////////////////////////
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2 /// \file Serial.cpp
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3 /// \brief RS232 serial i/o.
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4 /// \author JD Gascuel.
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5 ///
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6 /// \copyright (c) 2011-2016 JD Gascuel. All rights reserved.
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7 /// $Id$
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8 //////////////////////////////////////////////////////////////////////////////
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9 //
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10 // BSD 2-Clause License:
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11 //
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12 // Redistribution and use in source and binary forms, with or without
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13 // modification, are permitted provided that the following conditions
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14 // are met:
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15 //
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16 // 1. Redistributions of source code must retain the above copyright notice,
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17 // this list of conditions and the following disclaimer.
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18 //
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19 // 2. Redistributions in binary form must reproduce the above copyright notice,
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20 // this list of conditions and the following disclaimer in the documentation
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21 // and/or other materials provided with the distribution.
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22 //
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23 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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24 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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25 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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26 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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27 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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28 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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29 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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30 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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31 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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32 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
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33 // THE POSSIBILITY OF SUCH DAMAGE.
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34 //
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35 //////////////////////////////////////////////////////////////////////////////
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36
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37 #include "Serial.h"
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38
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39 #include "Utils/Exception.h"
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40 #include "Utils/Log.h"
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41
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42 #include <QString>
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43
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44 #ifdef Q_OS_LINUX
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45 #include <termios.h>
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46 #endif
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47
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48 #ifdef WIN32
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49 #define S_WRITE(p, b, li, lo) WriteFile(p, b, li, &lo, NULL)
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50 #define S_READ(p, b, li, lo) ReadFile(p, b, li, &lo, NULL)
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51 #define S_LEN DWORD
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52 #define S_FLUSH(p) FlushFileBuffers(p)
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53 #define S_PURGE(p) PurgeComm(p, PURGE_RXCLEAR | PURGE_TXCLEAR)
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54 #define S_CLOSE(p) CloseHandle(p)
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55 #else
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56 #include <fcntl.h>
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57 #include <sys/ioctl.h>
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58 #include <termios.h>
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59 #include <unistd.h>
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60
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61 #define INVALID_HANDLE_VALUE (-1)
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62 #define S_WRITE(p, b, li, lo) (lo = write(p, b, li))
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63 #define S_READ(p, b, li, lo) (lo = read(p, b, li))
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64 #define S_LEN ssize_t
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65 #define S_FLUSH(p) tcdrain(p)
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66 #define S_PURGE(p) tcflush(p, TCIOFLUSH)
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67 #define S_CLOSE(p) ::close(p)
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68 #endif
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69
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70 ///////////////////////////////////////////////////////////////////////////////
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71
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72 Serial::~Serial() {}
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73
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74 ///////////////////////////////////////////////////////////////////////////////
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75
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76 void Serial::open(const QString &port, const QString &type)
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77 {
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78 if (_isOpen)
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79 return;
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80 LOG_TRACE("Open " << port << " ...");
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81
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82 _hSerial = INVALID_HANDLE_VALUE;
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83
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84 //------------------------------------------------------------------------
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85 // Sanity checks.
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86 if (port.isEmpty())
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87 LOG_THROW("Port is not defined.");
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88 if (type.isEmpty())
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89 LOG_THROW("Port type is not defined.");
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90
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91 bool usbMode = type.contains("ostc2c", Qt::CaseInsensitive)
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92 || (type.contains("ostc3", Qt::CaseInsensitive)
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93 && !type.contains("ostc3p", Qt::CaseInsensitive))
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94 || type.contains("ostc_cr", Qt::CaseInsensitive);
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95 LOG_TRACE((usbMode ? "Fast USB" : "Slow Bluetooth") << " connection mode.");
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96
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97 //------------------------------------------------------------------------
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98 #ifdef Q_OS_WIN
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99 // BUGFIX: COM ports above COM9 are not automatically recognized,
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100 // hence we have to prepend DEVICE NAMESPACE...
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101 // http://msdn.microsoft.com/en-us/library/windows/desktop/aa365247(v=vs.85).aspx
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102 QByteArray com = port.toLatin1() + "\0";
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103 if (!com.startsWith("\\\\.\\"))
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104 com = "\\\\.\\" + com;
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105
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106 _hSerial = CreateFileA(com.data(),
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107 GENERIC_READ | GENERIC_WRITE,
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108 0, // Exclusive access.
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109 NULL, // No security
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110 OPEN_EXISTING,
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111 FILE_ATTRIBUTE_DEVICE | FILE_FLAG_NO_BUFFERING,
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112 0);
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113 if (_hSerial == INVALID_HANDLE_VALUE) {
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114 if (GetLastError() == ERROR_FILE_NOT_FOUND)
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115 LOG_THROW("Unknown port");
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116 LOG_THROW("Unable to open port");
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117 }
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118 S_PURGE(_hSerial);
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119
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120 DCB dcbSerial = {sizeof(dcbSerial), 0};
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121 if (!GetCommState(_hSerial, &dcbSerial))
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122 LOG_THROW("Unable to get COM port config");
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123
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124 dcbSerial.BaudRate = CBR_115200;
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125 dcbSerial.ByteSize = 8;
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126 dcbSerial.Parity = NOPARITY;
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127 dcbSerial.StopBits = ONESTOPBIT;
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128 dcbSerial.fOutxCtsFlow = DTR_CONTROL_ENABLE; // NO HARDWARE FLOW CONTROL
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129 dcbSerial.fRtsControl = RTS_CONTROL_ENABLE; //RTS_CONTROL_DISABLE; // NO HARDWARE FLOW CONTROL
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130
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131 if (!SetCommState(_hSerial, &dcbSerial))
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132 LOG_THROW("Unable to set COM port config");
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133
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134 COMMTIMEOUTS timeouts = {0};
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135 if (usbMode) {
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136 timeouts.ReadTotalTimeoutConstant = 500; // 0.5 sec
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137 timeouts.WriteTotalTimeoutConstant = 1000; // 1.0 sec
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138 } else {
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139 timeouts.ReadTotalTimeoutConstant = 2000; // 2.0 sec timeout.
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140 }
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141 if (!SetCommTimeouts(_hSerial, &timeouts))
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142 LOG_THROW("Unable to configure port");
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143
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144 LOG_TRACE("Connection:");
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145 LOG_TRACE(" " << dcbSerial.BaudRate << " bauds.");
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146 LOG_TRACE(
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147 " " << (int) dcbSerial.ByteSize << " bits, "
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148 << (dcbSerial.Parity ? "+parity, " : "no parity, ")
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149 << (dcbSerial.StopBits ? QString(" +%1").arg(dcbSerial.StopBits) : QString("no"))
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150 << " stops bits.");
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151 LOG_TRACE(" CTS is " << (dcbSerial.fOutxCtsFlow ? "ON." : "OFF."));
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152 LOG_TRACE(" RTS is " << ((dcbSerial.fRtsControl == RTS_CONTROL_HANDSHAKE) ? "ON."
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153 : (dcbSerial.fRtsControl == RTS_CONTROL_ENABLE) ? "FORCED."
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154 : "OFF."));
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155 LOG_TRACE(" Read timeout " << timeouts.ReadTotalTimeoutConstant << " msec.");
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156 LOG_TRACE(" Write timeout " << timeouts.WriteTotalTimeoutConstant << " msec.");
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157 #endif
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158
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159 //------------------------------------------------------------------------
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160 #if defined(Q_OS_MAC) || defined(Q_OS_LINUX)
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161 QByteArray p = port.toLatin1();
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162 if (!p.startsWith("/dev/"))
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163 p = "/dev/" + p;
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164 _hSerial = ::open(p.constData(), O_RDWR | O_NOCTTY | O_NONBLOCK, 0);
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165 if (_hSerial < 0)
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166 LOG_THROW("Unable to open port " << p);
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167
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168 if (ioctl(_hSerial, TIOCEXCL) < 0)
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169 LOG_THROW("Port in use");
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170
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171 // Once opened, clearing the O_NONBLOCK flag.
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172 if (fcntl(_hSerial, F_SETFL, 0) < 0)
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173 LOG_THROW("Can't reset non-blocking I/O");
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174
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175 struct termios termios;
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176 tcgetattr(_hSerial, &termios);
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177
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178 cfmakeraw(&termios);
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179 if (cfsetspeed(&termios, B115200) < 0)
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180 LOG_THROW("Bad port speed");
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181
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182 termios.c_cflag |= CLOCAL | CS8 | CREAD; // No DTR/DSR/DCD, 8bit.
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183 termios.c_cflag &= ~(PARENB | CSTOPB ); // No parity, one stop bit.
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184 // | CCTS_OFLOW | CRTS_IFLOW); // No hardware flow control.
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185
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186 if (usbMode) {
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187 // FAST USB: Fix timeout to 0.5 seconde:
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188 termios.c_cc[VMIN] = 0; // Pure timout mode (no char needed).
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189 termios.c_cc[VTIME] = 5; // 0.5s timeout after last received byte.
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190 } else {
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191 // SLOW BLUETOOTH: Fix timeout to 2.0 sec:
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192 termios.c_cc[VMIN] = 0; // Pure timout mode (no char needed).
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193 termios.c_cc[VTIME] = 20; // 2.0sec timeout after last received byte.
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194 }
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195
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196 if (tcsetattr(_hSerial, TCSANOW, &termios) < 0)
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197 LOG_THROW("Unable to configure port");
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198 #endif
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199
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200 if (_hSerial == INVALID_HANDLE_VALUE)
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201 LOG_THROW("Port not open");
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202
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203 _isOpen = true;
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204 LOG_TRACE("Device open successfull.");
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205 }
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206
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207 ///////////////////////////////////////////////////////////////////////////////
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208
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209 void Serial::close()
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210 {
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211 if (!_isOpen)
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212 return;
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213 LOG_TRACE("Device close ...");
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214
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215 #ifdef Q_OS_MAC
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216 if (ioctl(_hSerial, TIOCNXCL) < 0)
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217 LOG_THROW("Port in use");
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218 #endif
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219
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220 if (_hSerial == INVALID_HANDLE_VALUE)
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221 LOG_THROW("Port not open");
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222 S_CLOSE(_hSerial);
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223
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224 _hSerial = INVALID_HANDLE_VALUE;
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225 _isOpen = false;
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226 LOG_TRACE("Device close successfull.");
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227 }
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228
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229 ///////////////////////////////////////////////////////////////////////////////
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230
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231 unsigned char Serial::readByte() const
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232 {
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233 if (!_isOpen)
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234 LOG_THROW("Port not open");
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235
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236 unsigned char byte = 0;
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237 S_LEN len = 0;
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238 S_READ(_hSerial, &byte, 1, len);
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239 if (len != 1)
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240 LOG_THROW_E(ReadTimeout, "< timeout");
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241
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242 if (isprint(byte))
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243 LOG_DEBUG("< " << QString::asprintf("%02x '%c'", byte, byte));
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244 else
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245 LOG_DEBUG("< " << QString::asprintf("%02x", byte));
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246
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247 return byte;
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248 }
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249
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250 void Serial::writeByte(unsigned char byte) const
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251 {
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252 if (!_isOpen)
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253 LOG_THROW("Port not open");
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254
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255 if (isprint(byte))
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256 LOG_DEBUG("> " << QString::asprintf("%02x '%c'", byte, byte));
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257 else
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258 LOG_DEBUG("> " << QString::asprintf("%02x", byte));
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259
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260 S_LEN len = 0;
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261 S_WRITE(_hSerial, &byte, 1, len);
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262 if (len != 1)
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263 // LOG_THROW_E(WriteTimeout, "> timeout");
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264 LOG_THROW("> timeout");
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265 }
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266
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267 ///////////////////////////////////////////////////////////////////////////////
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268
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269 unsigned short Serial::readShort() const
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270 {
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271 unsigned char lo = readByte();
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272 unsigned char hi = readByte();
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273 return hi << 8 | lo;
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274 }
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275
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276 void Serial::writeShort(unsigned short word) const
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277 {
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278 unsigned char lo = word & 0xFF;
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279 unsigned char hi = word >> 8;
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280 writeByte(lo);
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281 writeByte(hi);
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282 }
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283
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284 ///////////////////////////////////////////////////////////////////////////////
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285
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286 void Serial::writeInt24(unsigned int int24) const
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287 {
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288 unsigned char lo = int24 & 0xFF;
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289 unsigned char hi = (int24 >> 8) & 0xFF;
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290 unsigned char up = (int24 >> 16) & 0xFF;
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291 writeByte(lo);
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292 writeByte(hi);
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293 writeByte(up);
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294 }
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295
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296 unsigned int Serial::readInt24() const
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297 {
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298 unsigned char lo = readByte();
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299 unsigned char hi = readByte();
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300 unsigned char up = readByte();
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301 return up << 16 | hi << 8 | lo;
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302 }
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303
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304 ///////////////////////////////////////////////////////////////////////////////
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305
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306 unsigned int Serial::readBlock(unsigned char *ptr, unsigned int size) const
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307 {
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308 if (!_isOpen)
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309 LOG_THROW("Port not open");
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310
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311 unsigned int bytes = 0;
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312
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313 bool timeout = false;
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314 while (size > 0) {
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315 // Allow up to 1.0sec for each 4K block.
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316 S_LEN todo = (size > 4096) ? 4096 : size;
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317 S_LEN done = 0;
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318 S_READ(_hSerial, ptr + bytes, todo, done);
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319
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320 if (done == 0) {
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321 timeout = true;
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322 break;
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323 }
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324
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325 size -= done;
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326 bytes += (unsigned int) done;
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327 }
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328
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329 if (Log::minLevel <= Log::LEVEL_DEBUG) {
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330 const int DUMP_LINE = 16;
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331 const int DUMP_MAX = 3 * DUMP_LINE;
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332 const unsigned int length = (bytes < DUMP_MAX) ? bytes : DUMP_MAX;
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333 for (unsigned int i = 0; i < length; i += DUMP_LINE) {
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334 LogAction logger(Log::LEVEL_DEBUG, __FILE__, __LINE__, "readBlock()");
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335 logger << "< ";
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336 for (unsigned int j = i; j < bytes && j < (i + DUMP_LINE); ++j)
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337 logger << QString::asprintf("%02x ", ptr[j]);
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338 for (unsigned int j = i; j < bytes && j < (i + DUMP_LINE); ++j)
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339 logger << (isprint(ptr[j]) ? ptr[j] : (unsigned char) '.');
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340 }
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341 if (length < bytes)
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342 LOG_DEBUG("< ... " << (bytes - length) << " more bytes.");
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343 }
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344
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345 if (timeout)
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346 LOG_THROW_E(ReadTimeout, "< block timeout (missing " << size << " bytes)");
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347
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348 return bytes;
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349 }
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350
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351 ///////////////////////////////////////////////////////////////////////////////
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352
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353 void Serial::writeBlock(const unsigned char *ptr, unsigned int size) const
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354 {
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355 if (!_isOpen)
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356 LOG_THROW("Port not open");
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357
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358 if (Log::minLevel <= Log::LEVEL_DEBUG) {
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359 const int DUMP_LINE = 16;
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360 const int DUMP_MAX = 3 * DUMP_LINE;
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361 const unsigned int length = (size < DUMP_MAX) ? size : DUMP_MAX;
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362 for (unsigned int i = 0; i < length; i += DUMP_LINE) {
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363 LogAction logger(Log::LEVEL_DEBUG, __FILE__, __LINE__, "writeBlock()");
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364 logger << "> ";
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365 for (unsigned int j = i; j < size && j < (i + DUMP_LINE); ++j)
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366 logger << QString::asprintf("%02x ", ptr[j]);
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367 for (unsigned int j = i; j < size && j < (i + DUMP_LINE); ++j)
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368 logger << (isprint(ptr[j]) ? ptr[j] : (unsigned char) '.');
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369 }
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370 if (length < size)
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371 LOG_DEBUG("> ... " << (size - length) << " more bytes.");
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372 }
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373
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374 while (size > 0) {
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375 // Allow up to 1.0sec for each 4K block.
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376 S_LEN chunck = (size > 4096) ? 4096 : size;
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377 S_LEN len = 0;
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378 S_WRITE(_hSerial, ptr, chunck, len);
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379
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380 if (len == 0)
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381 LOG_THROW_E(WriteTimeout, "> block timeout");
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382
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383 size -= len;
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384 ptr += len;
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385 }
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386
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387 // Auto-fluh on each write.
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388 flush();
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389 }
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390
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391 ///////////////////////////////////////////////////////////////////////////////
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392
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393 void Serial::purge()
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394 {
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395 if (!_isOpen)
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396 LOG_THROW("Port not open");
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397
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398 // Empty incomming buffer
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399 S_PURGE(_hSerial);
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400
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401 LOG_TRACE("Device purged.");
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402 }
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403
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404 ///////////////////////////////////////////////////////////////////////////////
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405
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406 void Serial::flush() const
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407 {
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408 if (!_isOpen)
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409 LOG_THROW("Port not open");
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410
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411 S_FLUSH(_hSerial);
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412 }
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413
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414 ///////////////////////////////////////////////////////////////////////////////
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415
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416 void Serial::sleep(int msec) const
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417 {
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418 #ifdef WIN32
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419 Sleep(msec);
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420 #else
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421 usleep(msec * 1000);
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422 #endif
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423 }