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[Gearbox-commit] SF.net SVN: gearbox: [104] gearbox/trunk/src
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From: <bo...@us...> - 2008-03-19 07:59:14
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Revision: 104
http://gearbox.svn.sourceforge.net/gearbox/?rev=104&view=rev
Author: borax00
Date: 2008-03-19 00:59:12 -0700 (Wed, 19 Mar 2008)
Log Message:
-----------
fixed write-has-to-wait-for-read problem.
Modified Paths:
--------------
gearbox/trunk/src/gbxserialacfr/serial.cpp
gearbox/trunk/src/gbxserialacfr/serial.h
gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp
gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h
Modified: gearbox/trunk/src/gbxserialacfr/serial.cpp
===================================================================
--- gearbox/trunk/src/gbxserialacfr/serial.cpp 2008-03-19 00:16:15 UTC (rev 103)
+++ gearbox/trunk/src/gbxserialacfr/serial.cpp 2008-03-19 07:59:12 UTC (rev 104)
@@ -597,7 +597,6 @@
{
got += ret;
}
-
else if (timeoutsEnabled() && (errno == EAGAIN) )
{
if ( waitForDataOrTimeout() == TIMED_OUT )
@@ -642,7 +641,7 @@
char nextChar = 0;
do {
- //Check for buf overrun Must leave room for NULL terminator
+ // Check for buf overrun Must leave room for NULL terminator
if ( dataPtr >= bufPtr + (count - 1) )
{
stringstream ss;
@@ -664,12 +663,12 @@
{
continue;
}else{
- *dataPtr = 0x00; //Timed out. terminate string just incase it's used anyway
+ *dataPtr = 0x00; // Timed out. terminate string just incase it's used anyway
return -1;
}
}
- //If we get here then it was a more serious error
+ // If we get here then it was a more serious error
stringstream ss;
ss << "Serial::"<<__func__<<"(): "<<strerror(errno);
throw SerialException( ss.str() );
@@ -682,8 +681,6 @@
// Return the number of chars not including the NULL
return ( (int) (dataPtr - bufPtr) );
-
- //TODO: Duncan! I think that this should cope with any <CR><LF> pair gracefully!
}
Modified: gearbox/trunk/src/gbxserialacfr/serial.h
===================================================================
--- gearbox/trunk/src/gbxserialacfr/serial.h 2008-03-19 00:16:15 UTC (rev 103)
+++ gearbox/trunk/src/gbxserialacfr/serial.h 2008-03-19 07:59:12 UTC (rev 104)
@@ -38,8 +38,6 @@
//! - 8 data bits
//! - no handshaking
//!
-//! Warning: this thing is _NOT_ thread-safe.
-//!
//! @author Matthew Ridley, Alex Brooks
//!
class Serial : public Uncopyable
@@ -173,7 +171,7 @@
int portFd_;
Timeout timeout_;
-
+
int debugLevel_;
lockfile::LockFile *lockFile_;
Modified: gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp
===================================================================
--- gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp 2008-03-19 00:16:15 UTC (rev 103)
+++ gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp 2008-03-19 07:59:12 UTC (rev 104)
@@ -51,8 +51,6 @@
serial_(serialPort),
responseParser_(responseParser),
responseBuffer_(-1,gbxiceutilacfr::BufferTypeCircular),
- isMessageWaitingToBeSent_(false),
- baudRateChangePending_(false),
unparsedBytesWarnThreshold_(unparsedBytesWarnThreshold),
tracer_(tracer),
status_(status)
@@ -73,31 +71,19 @@
void
SerialDeviceHandler::setBaudRate( int baudRate )
{
- stringstream ss; ss << "SerialDeviceHandler: baud rate change requested: " << baudRate;
- tracer_.debug( ss.str() );
-
- IceUtil::Mutex::Lock lock(mutex_);
-
- assert( !baudRateChangePending_ );
-
- baudRateChangePending_ = true;
- newBaudRate_ = baudRate;
+ tracer_.debug( "SerialDeviceHandler: Changing baud rate and flushing." );
+ serial_.setBaudRate( baudRate );
+ // TODO: AlexB: not entirely sure if these are
+ // necessary, they should either be removed or
+ // added to the setBaudRate function.
+ serial_.flush();
+ serial_.drain();
}
void
SerialDeviceHandler::send( const char *commandBytes, int numCommandBytes )
{
- IceUtil::Mutex::Lock lock(mutex_);
-
- if ( isMessageWaitingToBeSent_ )
- {
- stringstream ss;
- ss << "SerialDeviceHandler::send(): there's a message already waiting to be sent!";
- throw gbxutilacfr::Exception( ERROR_INFO, ss.str() );
- }
- isMessageWaitingToBeSent_ = true;
- toSend_.resize(numCommandBytes);
- memcpy( &(toSend_[0]), commandBytes, numCommandBytes*sizeof(char) );
+ serial_.write( commandBytes, numCommandBytes );
}
void
@@ -112,41 +98,6 @@
try {
- // Check for house-keeping jobs first
- try
- {
- IceUtil::Mutex::Lock lock(mutex_);
-
- if ( baudRateChangePending_ )
- {
- tracer_.debug( "SerialDeviceHandler: Changing baud rate and flushing." );
- baudRateChangePending_ = false;
- serial_.setBaudRate( newBaudRate_ );
- // TODO: AlexB: not entirely sure if these are
- // necessary, they should either be removed or
- // added to the setBaudRate function.
- serial_.flush();
- serial_.drain();
- }
-
- if ( isMessageWaitingToBeSent_ )
- {
- stringstream ss;
- ss<<"SerialDeviceHandler: sending: " << toHexString(toSend_);
- tracer_.debug( ss.str() );
-
- isMessageWaitingToBeSent_ = false;
- serial_.write( &(toSend_[0]), toSend_.size() );
- }
- }
- catch ( std::exception &e )
- {
- stringstream ss;
- ss << "SerialDeviceHandler: During house-keeping jobs: " << e.what();
- tracer_.error( ss.str() );
- throw;
- }
-
// Wait for data to arrive, put it in our buffer_
try {
if ( getDataFromSerial() )
Modified: gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h
===================================================================
--- gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h 2008-03-19 00:16:15 UTC (rev 103)
+++ gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h 2008-03-19 07:59:12 UTC (rev 104)
@@ -125,8 +125,6 @@
// Returns: true if statusOK, false it something bad happened
bool processBuffer( const int &timeStampSec, int &timeStampUsec );
- IceUtil::Mutex mutex_;
-
gbxserialacfr::Serial &serial_;
// Knows how to parse for responses
@@ -138,13 +136,6 @@
// Thread-safe store of responses from the device
gbxiceutilacfr::Buffer<TimedResponse> responseBuffer_;
- // Stuff waiting to be sent
- bool isMessageWaitingToBeSent_;
- std::vector<char> toSend_;
-
- bool baudRateChangePending_;
- int newBaudRate_;
-
int unparsedBytesWarnThreshold_;
gbxutilacfr::Tracer& tracer_;
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