Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 18:38:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

desktop: use non-blocking IO

Browse Source
This commit is contained in:
Andrew Tridgell 2011-10-09 20:40:51 +11:00
parent e3fd61d758
commit ea2823cd5f
1 changed files with 23 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/Desktop/support/FastSerial.cpp
View File

@ -34,6 +34,7 @@
#include "WProgram.h" #include "WProgram.h"
#include <unistd.h> #include <unistd.h>
#include <pty.h> #include <pty.h>
#include <fcntl.h>
#if defined(UDR3) #if defined(UDR3)
# define FS_MAX_PORTS 4 # define FS_MAX_PORTS 4
@ -57,7 +58,7 @@ FastSerial::FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volati
_ubrrl(ubrrl), _ubrrl(ubrrl),
_ucsra(ucsra), _ucsra(ucsra),
_ucsrb(ucsrb), _ucsrb(ucsrb),
_u2x(u2x), _u2x(portNumber),
_portEnableBits(portEnableBits), _portEnableBits(portEnableBits),
_portTxBits(portTxBits), _portTxBits(portTxBits),
_rxBuffer(&__FastSerial__rxBuffer[portNumber]), _rxBuffer(&__FastSerial__rxBuffer[portNumber]),
@ -69,7 +70,13 @@ FastSerial::FastSerial(const uint8_t portNumber, volatile uint8_t *ubrrh, volati
void FastSerial::begin(long baud) void FastSerial::begin(long baud)
{ {
printf("Starting serial port\n"); if (_u2x == 0) {
unsigned v;
v = fcntl(0, F_GETFL, 0);
fcntl(0, F_SETFL, v | O_NONBLOCK);
v = fcntl(1, F_GETFL, 0);
fcntl(1, F_SETFL, v | O_NONBLOCK);
}
} }
void FastSerial::begin(long baud, unsigned int rxSpace, unsigned int txSpace) void FastSerial::begin(long baud, unsigned int rxSpace, unsigned int txSpace)
@ -83,6 +90,11 @@ void FastSerial::end()
int FastSerial::available(void) int FastSerial::available(void)
{ {
if (_u2x != 0) return 0;
int num_ready;
if (ioctl(0, FIONREAD, &num_ready) == 0) {
return num_ready;
}
return 0; return 0;
} }
@ -93,8 +105,13 @@ int FastSerial::txspace(void)
int FastSerial::read(void) int FastSerial::read(void)
{ {
if (_u2x != 0) {
return -1;
}
char c; char c;
pread(0, (void *)&c, 1, 0); if (fread(&c, 1, 1, stdin) != 1) {
return -1;
}
return (int)c; return (int)c;
} }
@ -109,6 +126,9 @@ void FastSerial::flush(void)
void FastSerial::write(uint8_t c) void FastSerial::write(uint8_t c)
{ {
if (_u2x != 0) {
return;
}
fwrite(&c, 1, 1, stdout); fwrite(&c, 1, 1, stdout);
fflush(stdout); fflush(stdout);
} }