From 340c2461c9d1133ab4eb55608982135ae8800fea Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Mon, 7 Mar 2022 06:14:39 +0100
Subject: [PATCH] serial and logging changes
---
crazyflie_groundstation/Makefile | 9 +-
crazyflie_groundstation/inc/CCrazyRadio.h | 4 +-
crazyflie_groundstation/inc/CCrazyflie.h | 23 +-
crazyflie_groundstation/inc/CTOC.h | 5 +
.../inc/serial/impl/unix.h | 221 ++
crazyflie_groundstation/inc/serial/impl/win.h | 207 ++
crazyflie_groundstation/inc/serial/serial.h | 776 ++++++
crazyflie_groundstation/inc/serial/v8stdint.h | 57 +
crazyflie_groundstation/inc/userInput.h | 6 +-
crazyflie_groundstation/loggingBlocks.txt | 35 +
crazyflie_groundstation/serial/CHANGELOG.rst | 85 +
crazyflie_groundstation/serial/CMakeLists.txt | 81 +
crazyflie_groundstation/serial/Makefile | 62 +
crazyflie_groundstation/serial/README.md | 71 +
crazyflie_groundstation/serial/changes.txt | 10 +
crazyflie_groundstation/serial/doc/Doxyfile | 2430 +++++++++++++++++
crazyflie_groundstation/serial/doc/serial.dox | 58 +
.../serial/examples/serial_example.cc | 182 ++
.../serial/include/serial/impl/unix.h | 221 ++
.../serial/include/serial/impl/win.h | 207 ++
.../serial/include/serial/serial.h | 775 ++++++
.../serial/include/serial/v8stdint.h | 57 +
crazyflie_groundstation/serial/package.xml | 24 +
.../serial/serial.sublime-project | 22 +
.../src/impl/list_ports/list_ports_linux.cc | 336 +++
.../src/impl/list_ports/list_ports_osx.cc | 286 ++
.../src/impl/list_ports/list_ports_win.cc | 152 ++
.../serial/src/impl/unix.cc | 1084 ++++++++
.../serial/src/impl/win.cc | 646 +++++
crazyflie_groundstation/serial/src/serial.cc | 432 +++
.../serial/tests/CMakeLists.txt | 12 +
.../serial/tests/proof_of_concepts/mdc2250.cc | 1 +
.../proof_of_concepts/python_serial_test.py | 15 +
.../tests/proof_of_concepts/tokenizer.cc | 31 +
.../serial/tests/unit/unix_timer_tests.cc | 63 +
.../serial/tests/unix_serial_tests.cc | 116 +
crazyflie_groundstation/src/CTOC.cpp | 128 +-
.../src/ccrazyflie/CCrazyflie.cpp | 23 +
.../src/ccrazyflie/CCrazyflie_commands.cpp | 209 +-
.../ccrazyflie/CCrazyflie_loggingFuncs.cpp | 182 ++
.../src/crazyflieGroundStation.cpp | 118 +-
.../src/quadcopterData.cpp | 2 +-
.../impl/list_ports/list_ports_linux.cc | 336 +++
.../serial/impl/list_ports/list_ports_osx.cc | 286 ++
.../serial/impl/list_ports/list_ports_win.cc | 152 ++
.../src/serial/impl/unix.cc | 1084 ++++++++
.../src/serial/impl/win.cc | 646 +++++
crazyflie_groundstation/src/serial/serial.cc | 432 +++
crazyflie_groundstation/src/userInput.cpp | 44 +-
crazyflie_groundstation/src/userOutput.cpp | 8 +
groundStation/adapters/crazyflie/Makefile | 4 +
.../adapters/crazyflie/src/cf_adapter.c | 19 +-
.../adapters/crazyflie/src/cf_adapter.h | 2 +
.../adapters/crazyflie/src/cf_callbacks.c | 118 +-
groundStation/src/backend/backend.c | 121 +-
groundStation/src/backend/backend_adapter.c | 2 +-
groundStation/src/backend/backend_adapter.h | 12 +-
groundStation/src/backend/logfile.c | 95 +
groundStation/src/backend/logfile.h | 42 +
groundStation/src/backend/param.c | 79 +-
groundStation/src/cli/cli.h | 11 +-
groundStation/src/cli/cli_logfile.c | 101 +
groundStation/src/cli/cli_logfile.h | 20 +
groundStation/src/cli/cli_param.c | 1 +
groundStation/src/frontend/frontend_common.h | 10 +
groundStation/src/frontend/frontend_logfile.c | 77 +
groundStation/src/frontend/frontend_logfile.h | 27 +
67 files changed, 13015 insertions(+), 178 deletions(-)
create mode 100644 crazyflie_groundstation/inc/serial/impl/unix.h
create mode 100644 crazyflie_groundstation/inc/serial/impl/win.h
create mode 100644 crazyflie_groundstation/inc/serial/serial.h
create mode 100644 crazyflie_groundstation/inc/serial/v8stdint.h
create mode 100644 crazyflie_groundstation/loggingBlocks.txt
create mode 100644 crazyflie_groundstation/serial/CHANGELOG.rst
create mode 100644 crazyflie_groundstation/serial/CMakeLists.txt
create mode 100644 crazyflie_groundstation/serial/Makefile
create mode 100644 crazyflie_groundstation/serial/README.md
create mode 100644 crazyflie_groundstation/serial/changes.txt
create mode 100644 crazyflie_groundstation/serial/doc/Doxyfile
create mode 100644 crazyflie_groundstation/serial/doc/serial.dox
create mode 100644 crazyflie_groundstation/serial/examples/serial_example.cc
create mode 100644 crazyflie_groundstation/serial/include/serial/impl/unix.h
create mode 100644 crazyflie_groundstation/serial/include/serial/impl/win.h
create mode 100644 crazyflie_groundstation/serial/include/serial/serial.h
create mode 100644 crazyflie_groundstation/serial/include/serial/v8stdint.h
create mode 100644 crazyflie_groundstation/serial/package.xml
create mode 100644 crazyflie_groundstation/serial/serial.sublime-project
create mode 100644 crazyflie_groundstation/serial/src/impl/list_ports/list_ports_linux.cc
create mode 100644 crazyflie_groundstation/serial/src/impl/list_ports/list_ports_osx.cc
create mode 100644 crazyflie_groundstation/serial/src/impl/list_ports/list_ports_win.cc
create mode 100644 crazyflie_groundstation/serial/src/impl/unix.cc
create mode 100644 crazyflie_groundstation/serial/src/impl/win.cc
create mode 100644 crazyflie_groundstation/serial/src/serial.cc
create mode 100644 crazyflie_groundstation/serial/tests/CMakeLists.txt
create mode 100644 crazyflie_groundstation/serial/tests/proof_of_concepts/mdc2250.cc
create mode 100644 crazyflie_groundstation/serial/tests/proof_of_concepts/python_serial_test.py
create mode 100644 crazyflie_groundstation/serial/tests/proof_of_concepts/tokenizer.cc
create mode 100644 crazyflie_groundstation/serial/tests/unit/unix_timer_tests.cc
create mode 100644 crazyflie_groundstation/serial/tests/unix_serial_tests.cc
create mode 100644 crazyflie_groundstation/src/serial/impl/list_ports/list_ports_linux.cc
create mode 100644 crazyflie_groundstation/src/serial/impl/list_ports/list_ports_osx.cc
create mode 100644 crazyflie_groundstation/src/serial/impl/list_ports/list_ports_win.cc
create mode 100644 crazyflie_groundstation/src/serial/impl/unix.cc
create mode 100644 crazyflie_groundstation/src/serial/impl/win.cc
create mode 100644 crazyflie_groundstation/src/serial/serial.cc
create mode 100644 groundStation/src/backend/logfile.c
create mode 100644 groundStation/src/backend/logfile.h
create mode 100644 groundStation/src/cli/cli_logfile.c
create mode 100644 groundStation/src/cli/cli_logfile.h
create mode 100644 groundStation/src/frontend/frontend_logfile.c
create mode 100644 groundStation/src/frontend/frontend_logfile.h
diff --git a/crazyflie_groundstation/Makefile b/crazyflie_groundstation/Makefile
index 8d83e70de..fa0686bfd 100644
--- a/crazyflie_groundstation/Makefile
+++ b/crazyflie_groundstation/Makefile
@@ -19,14 +19,21 @@ STRUCTURE := $(shell find $(SRC_DIR) -type d)
ALL_FILES := $(addsuffix /*,$(STRUCTURE))
ALL_FILES := $(wildcard $(ALL_FILES))
SRC_FILES := $(filter %.cpp,$(ALL_FILES))
+SRC_FILES += $(filter %.cc,$(ALL_FILES))
all:
$(g++) -I$(INC_DIR) $(FLAGS) -o $(EXE_NAME) $(SRC_FILES) $(LIBS)
-
clean:
rm -f *.o $(EXE_NAME)
rm -f test_connection
test:
gcc -g -o test_connection test_connection.c
+
+serial:
+ cd src/serial && make
+
+serial_clean:
+ cd serial && make clean
+
diff --git a/crazyflie_groundstation/inc/CCrazyRadio.h b/crazyflie_groundstation/inc/CCrazyRadio.h
index deb60456d..852b32aed 100644
--- a/crazyflie_groundstation/inc/CCrazyRadio.h
+++ b/crazyflie_groundstation/inc/CCrazyRadio.h
@@ -93,7 +93,7 @@ private:
bool claimInterface(int nInterface);
void closeDevice();
- CCRTPPacket *readACK();
+
CCRTPPacket *writeData(void *vdData, int nLength);
bool writeControl(void *vdData, int nLength, uint8_t u8Request, uint16_t u16Value, uint16_t u16Index);
@@ -111,6 +111,8 @@ public:
*/
void addCrazyflie(CCrazyflie *flie);
+ CCRTPPacket *readACK();
+
/**
* Main loop for the thread running the radio
*/
diff --git a/crazyflie_groundstation/inc/CCrazyflie.h b/crazyflie_groundstation/inc/CCrazyflie.h
index f0c5307d8..62281cefe 100644
--- a/crazyflie_groundstation/inc/CCrazyflie.h
+++ b/crazyflie_groundstation/inc/CCrazyflie.h
@@ -49,7 +49,7 @@
#include "CCrazyRadio.h"
#include "computations/NetworkForwarding.h"
#include "CTOC.h"
-
+#include "serial/serial.h"
#include "vrpn_Connection.h"
#include "vrpn_Tracker.h"
@@ -142,6 +142,7 @@ class CCrazyflie {
int m_quadNum;
int m_nRadioChannel;
XferRate m_radioDataRate;
+ std::string logfilename;
int m_nAckMissTolerance;
int m_nAckMissCounter;
@@ -202,6 +203,7 @@ class CCrazyflie {
// Last time a position packet was received
double lastPositionTime;
double positionTimeDelta;
+ double testStandData;
// File stream for the console output and log file
std::ofstream file_console;
@@ -237,7 +239,6 @@ class CCrazyflie {
double m_dSendSetpointPeriod;
double m_dSetpointLastSent;
- CTOC *m_tocLogs;
enum State m_enumState;
// Flags to say whether to send packets
@@ -248,6 +249,8 @@ class CCrazyflie {
bool readTOCParameters();
bool readTOCLogs();
+ serial::Serial * test_stand;
+
/*! \brief Send a set point to the copter controller
Send the set point for the internal copter controllers. The
@@ -290,6 +293,8 @@ class CCrazyflie {
with. */
lateralPosition m_currentLocalPosition;
CTOC *m_tocParameters;
+ CTOC *m_tocLogs;
+ int testStandError = 0;
CCrazyflie(CCrazyRadio *crRadio, int radioChannel, XferRate dataRate, int quadNum, double startTime);
/*! \brief Destructor for the copter convenience class
@@ -307,6 +312,16 @@ class CCrazyflie {
* @param baseFileName The base filename for the logfile
*/
void openLogFile(char *baseFileName);
+
+ bool loadLoggingBlocksFromFile(std::string blockFileName);
+
+ bool resetLoggingBlocks();
+
+ bool setTestStand(serial::Serial* ptr);
+
+ bool enableLogging(std::string strBlockName);
+
+ bool disableLogging(std::string strBlockName);
/*
* Write data to the log file
@@ -322,6 +337,8 @@ class CCrazyflie {
int getQuadcopterNumber();
+ std::string getlogfile();
+
/*
* Callback called whenever there is a new VRPN position packet.
* Note: This function is static in the class.
@@ -554,6 +571,8 @@ class CCrazyflie {
copter. */
double batteryLevel();
+ double readTestStand();
+
float batteryState();
enum State getCurrentState();
diff --git a/crazyflie_groundstation/inc/CTOC.h b/crazyflie_groundstation/inc/CTOC.h
index fceaeaee1..22da31fdc 100644
--- a/crazyflie_groundstation/inc/CTOC.h
+++ b/crazyflie_groundstation/inc/CTOC.h
@@ -84,6 +84,8 @@ class CTOC {
std::list<struct LoggingBlock> m_lstLoggingBlocks;
std::ofstream param_toc_file;
std::ofstream log_toc_file;
+ std::string paramfilename;
+ std::string logidfilename;
bool requestInitialItem();
bool requestItem(int nID, bool bInitial);
@@ -124,6 +126,7 @@ class CTOC {
double doubleValue(std::string strName);
bool enableLogging(std::string strBlockName);
+ bool disableLogging(std::string strBlockName);
// void processPackets(std::list<CCRTPPacket*> lstPackets);
void processPackets(CCRTPPacket *crtpPacket);
@@ -135,6 +138,8 @@ class CTOC {
void openLogTOCFile(char *baseFileName);
void openParamTOCFile(char *baseFileName);
+ std::string getLogTOCFile();
+ std::string getParamTOCFile();
};
diff --git a/crazyflie_groundstation/inc/serial/impl/unix.h b/crazyflie_groundstation/inc/serial/impl/unix.h
new file mode 100644
index 000000000..0fb38f244
--- /dev/null
+++ b/crazyflie_groundstation/inc/serial/impl/unix.h
@@ -0,0 +1,221 @@
+/*!
+ * \file serial/impl/unix.h
+ * \author William Woodall <wjwwood@gmail.com>
+ * \author John Harrison <ash@greaterthaninfinity.com>
+ * \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_IMPL_UNIX_H
+#define SERIAL_IMPL_UNIX_H
+
+#include "serial/serial.h"
+
+#include <pthread.h>
+
+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/crazyflie_groundstation/inc/serial/impl/win.h b/crazyflie_groundstation/inc/serial/impl/win.h
new file mode 100644
index 000000000..2c0c6cde1
--- /dev/null
+++ b/crazyflie_groundstation/inc/serial/impl/win.h
@@ -0,0 +1,207 @@
+/*!
+ * \file serial/impl/windows.h
+ * \author William Woodall <wjwwood@gmail.com>
+ * \author John Harrison <ash@greaterthaninfinity.com>
+ * \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_IMPL_WINDOWS_H
+#define SERIAL_IMPL_WINDOWS_H
+
+#include "serial/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)
diff --git a/crazyflie_groundstation/inc/serial/serial.h b/crazyflie_groundstation/inc/serial/serial.h
new file mode 100644
index 000000000..dc24cef14
--- /dev/null
+++ b/crazyflie_groundstation/inc/serial/serial.h
@@ -0,0 +1,776 @@
+/*!
+ * \file serial/serial.h
+ * \author William Woodall <wjwwood@gmail.com>
+ * \author John Harrison <ash.gti@gmail.com>
+ * \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 <limits>
+#include <vector>
+#include <string>
+#include <cstring>
+#include <sstream>
+#include <exception>
+#include <stdexcept>
+#include <serial/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<uint32_t>::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<uint8_t> &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<string> containing the lines.
+ *
+ * \throw serial::PortNotOpenedException
+ * \throw serial::SerialException
+ */
+ std::vector<std::string>
+ 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<uint8_t> &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<PortInfo>
+list_ports();
+
+} // namespace serial
+
+#endif
diff --git a/crazyflie_groundstation/inc/serial/v8stdint.h b/crazyflie_groundstation/inc/serial/v8stdint.h
new file mode 100644
index 000000000..f3be96b1c
--- /dev/null
+++ b/crazyflie_groundstation/inc/serial/v8stdint.h
@@ -0,0 +1,57 @@
+// 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 <stddef.h>
+#include <stdio.h>
+
+#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 <stdint.h>
+
+#endif
+
+#endif // V8STDINT_H_
diff --git a/crazyflie_groundstation/inc/userInput.h b/crazyflie_groundstation/inc/userInput.h
index 7c099d05b..751212ed3 100644
--- a/crazyflie_groundstation/inc/userInput.h
+++ b/crazyflie_groundstation/inc/userInput.h
@@ -22,6 +22,8 @@ enum commandType {
ACMD_GETPARAM = 0x08,
ACMD_SETPARAM = 0x07,
ACMD_SETPOINT = 0x13,
+ ACMD_GETLOGFILE = 0x15,
+ ACMD_LOGBLOCKCOMMAND = 0x17,
};
struct metadata {
@@ -33,8 +35,8 @@ struct metadata {
struct command {
enum commandType type;
- struct metadata* meta;
- uint8_t* data;
+ struct metadata meta;
+ uint8_t data[50];
};
extern const std::string CLEAR; // When sent to cout, this clears the terminal screen
diff --git a/crazyflie_groundstation/loggingBlocks.txt b/crazyflie_groundstation/loggingBlocks.txt
new file mode 100644
index 000000000..06bcfd5f6
--- /dev/null
+++ b/crazyflie_groundstation/loggingBlocks.txt
@@ -0,0 +1,35 @@
+START BLOCK
+0
+gyro
+100
+gyro.x
+gyro.y
+gyro.z
+END BLOCK
+
+START BLOCK
+1
+acc
+100
+acc.x
+acc.y
+acc.z
+END BLOCK
+
+START BLOCK
+2
+stabilizer
+100
+stabilizer.roll
+stabilizer.pitch
+stabilizer.yaw
+END BLOCK
+
+START BLOCK
+3
+pwm
+100
+pwm.m1_pwm
+pwm.m2_pwm
+pwm.m3_pwm
+END BLOCK
\ No newline at end of file
diff --git a/crazyflie_groundstation/serial/CHANGELOG.rst b/crazyflie_groundstation/serial/CHANGELOG.rst
new file mode 100644
index 000000000..ccd32f939
--- /dev/null
+++ b/crazyflie_groundstation/serial/CHANGELOG.rst
@@ -0,0 +1,85 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package serial
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.2.1 (2015-04-21)
+------------------
+* Removed the use of a C++11 feature for compatibility with older browsers.
+* Fixed an issue with cross compiling with mingw on Windows.
+* Restructured Visual Studio project layout.
+* Added include of ``#include <AvailabilityMacros.h>`` on OS X (listing of ports).
+* Fixed MXE for the listing of ports on Windows.
+* Now closes file device if ``reconfigureDevice`` fails (Windows).
+* Added the MARK/SPACE parity bit option, also made it optional.
+ Adding the enumeration values for MARK and SPACE was the only code change to an API header.
+ It should not affect ABI or API.
+* Added support for 576000 baud on Linux.
+* Now releases iterator properly in listing of ports code for OS X.
+* Fixed the ability to open COM ports over COM10 on Windows.
+* Fixed up some documentation about exceptions in ``serial.h``.
+
+1.2.0 (2014-07-02)
+------------------
+* Removed vestigial ``read_cache_`` private member variable from Serial::Serial
+* Fixed usage of scoped locks
+ Previously they were getting destroyed immediately because they were not stored in a temporary scope variable
+* Added check of return value from close in Serial::SerialImpl::close () in unix.cc and win.cc
+* Added ability to enumerate ports on linux and windows.
+ Updated serial_example.cc to show example of port enumeration.
+* Fixed compile on VS2013
+* Added functions ``waitReadable`` and ``waitByteTimes`` with implemenations for Unix to support high performance reading
+* Contributors: Christopher Baker, Craig Lilley, Konstantina Kastanara, Mike Purvis, William Woodall
+
+1.1.7 (2014-02-20)
+------------------
+* Improved support for mingw (mxe.cc)
+* Fix compilation warning
+ See issue `#53 <https://github.com/wjwwood/serial/issues/53>`_
+* Improved timer handling in unix implementation
+* fix broken ifdef _WIN32
+* Fix broken ioctl calls, add exception handling.
+* Code guards for platform-specific implementations. (when not using cmake / catkin)
+* Contributors: Christopher Baker, Mike Purvis, Nicolas Bigaouette, William Woodall, dawid
+
+1.1.6 (2013-10-17)
+------------------
+* Move stopbits_one_point_five to the end of the enum, so that it doesn't alias with stopbits_two.
+
+1.1.5 (2013-09-23)
+------------------
+* Fix license labeling, I put BSD, but the license has always been MIT...
+* Added Microsoft Visual Studio 2010 project to make compiling on Windows easier.
+* Implemented Serial::available() for Windows
+* Update how custom baudrates are handled on OS X
+ This is taken from the example serial program on Apple's developer website, see:
+ http://free-pascal-general.1045716.n5.nabble.com/Non-standard-baud-rates-in-OS-X-IOSSIOSPEED-IOCTL-td4699923.html
+* Timout settings are now applied by reconfigurePort
+* Pass LPCWSTR to CreateFile in Windows impl
+* Use wstring for ``port_`` type in Windows impl
+
+1.1.4 (2013-06-12 00:13:18 -0600)
+---------------------------------
+* Timing calculation fix for read and write.
+ Fixes `#27 <https://github.com/wjwwood/serial/issues/27>`_
+* Update list of exceptions thrown from constructor.
+* fix, by Thomas Hoppe <thomas.hoppe@cesys.com>
+ For SerialException's:
+ * The name was misspelled...
+ * Use std::string's for error messages to prevent corruption of messages on some platforms
+* alloca.h does not exist on OpenBSD either.
+
+1.1.3 (2013-01-09 10:54:34 -0800)
+---------------------------------
+* Install headers
+
+1.1.2 (2012-12-14 14:08:55 -0800)
+---------------------------------
+* Fix buildtool depends
+
+1.1.1 (2012-12-03)
+------------------
+* Removed rt linking on OS X. Fixes `#24 <https://github.com/wjwwood/serial/issues/24>`_.
+
+1.1.0 (2012-10-24)
+------------------
+* Previous history is unstructured and therefore has been truncated. See the commit messages for more info.
diff --git a/crazyflie_groundstation/serial/CMakeLists.txt b/crazyflie_groundstation/serial/CMakeLists.txt
new file mode 100644
index 000000000..e65d2e0f9
--- /dev/null
+++ b/crazyflie_groundstation/serial/CMakeLists.txt
@@ -0,0 +1,81 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(serial)
+
+# Find catkin
+find_package(catkin REQUIRED)
+
+if(APPLE)
+ find_library(IOKIT_LIBRARY IOKit)
+ find_library(FOUNDATION_LIBRARY Foundation)
+endif()
+
+if(UNIX AND NOT APPLE)
+ # If Linux, add rt and pthread
+ set(rt_LIBRARIES rt)
+ set(pthread_LIBRARIES pthread)
+ catkin_package(
+ LIBRARIES ${PROJECT_NAME}
+ INCLUDE_DIRS include
+ DEPENDS rt pthread
+ )
+else()
+ # Otherwise normal call
+ catkin_package(
+ LIBRARIES ${PROJECT_NAME}
+ INCLUDE_DIRS include
+ )
+endif()
+
+## Sources
+set(serial_SRCS
+ src/serial.cc
+ include/serial/serial.h
+ include/serial/v8stdint.h
+)
+if(APPLE)
+ # If OSX
+ list(APPEND serial_SRCS src/impl/unix.cc)
+ list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
+elseif(UNIX)
+ # If unix
+ list(APPEND serial_SRCS src/impl/unix.cc)
+ list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
+else()
+ # If windows
+ list(APPEND serial_SRCS src/impl/win.cc)
+ list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc)
+endif()
+
+## Add serial library
+add_library(${PROJECT_NAME} ${serial_SRCS})
+if(APPLE)
+ target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
+elseif(UNIX)
+ target_link_libraries(${PROJECT_NAME} rt pthread)
+else()
+ target_link_libraries(${PROJECT_NAME} setupapi)
+endif()
+
+## Uncomment for example
+add_executable(serial_example examples/serial_example.cc)
+add_dependencies(serial_example ${PROJECT_NAME})
+target_link_libraries(serial_example ${PROJECT_NAME})
+
+## Include headers
+include_directories(include)
+
+## Install executable
+install(TARGETS ${PROJECT_NAME}
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+## Install headers
+install(FILES include/serial/serial.h include/serial/v8stdint.h
+ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
+
+## Tests
+if(CATKIN_ENABLE_TESTING)
+ add_subdirectory(tests)
+endif()
\ No newline at end of file
diff --git a/crazyflie_groundstation/serial/Makefile b/crazyflie_groundstation/serial/Makefile
new file mode 100644
index 000000000..e17207223
--- /dev/null
+++ b/crazyflie_groundstation/serial/Makefile
@@ -0,0 +1,62 @@
+all: serial
+
+CMAKE_FLAGS := -DCMAKE_INSTALL_PREFIX=/tmp/usr/local
+UNAME := $(shell uname -s)
+
+install_deps:
+ifeq ($(UNAME),Darwin)
+ brew tap ros/deps
+ brew update
+ brew outdated boost || brew upgrade boost || brew install boost
+ brew outdated python || brew upgrade python || brew install python
+ sudo -H python2 -m pip install -U pip setuptools
+ sudo -H python2 -m pip install --force-reinstall --no-deps -U pip
+ sudo -H python2 -m pip install rosinstall_generator wstool rosdep empy catkin_pkg
+ sudo -H rosdep init
+ rosdep update
+ mkdir catkin_ws
+ cd catkin_ws && rosinstall_generator catkin --rosdistro hydro --tar > catkin.rosinstall
+ cd catkin_ws && wstool init src catkin.rosinstall
+ cd catkin_ws && rosdep install --from-paths src --ignore-src -y
+ cd catkin_ws && python2 ./src/catkin/bin/catkin_make -DPYTHON_EXECUTABLE=`which python2` install
+ echo "source catkin_ws/install/setup.bash" > setup.bash
+else
+ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt-get install ros-hydro-catkin libboost-dev
+ echo "source /opt/ros/hydro/setup.bash" > setup.bash
+endif
+
+install:
+ cd build && make install
+
+serial:
+ @mkdir -p build
+ cd build && cmake $(CMAKE_FLAGS) ..
+ifneq ($(MAKE),)
+ cd build && $(MAKE)
+else
+ cd build && make
+endif
+
+.PHONY: clean
+clean:
+ rm -rf build
+
+.PHONY: doc
+doc:
+ @doxygen doc/Doxyfile
+ifeq ($(UNAME),Darwin)
+ @open doc/html/index.html
+endif
+
+.PHONY: test
+test:
+ @mkdir -p build
+ cd build && cmake $(CMAKE_FLAGS) ..
+ifneq ($(MAKE),)
+ cd build && $(MAKE) run_tests
+else
+ cd build && make run_tests
+endif
diff --git a/crazyflie_groundstation/serial/README.md b/crazyflie_groundstation/serial/README.md
new file mode 100644
index 000000000..5e043c284
--- /dev/null
+++ b/crazyflie_groundstation/serial/README.md
@@ -0,0 +1,71 @@
+# Serial Communication Library
+
+[](https://travis-ci.org/wjwwood/serial)*(Linux and OS X)* [](https://ci.appveyor.com/project/wjwwood/serial)*(Windows)*
+
+This is a cross-platform library for interfacing with rs-232 serial like ports written in C++. It provides a modern C++ interface with a workflow designed to look and feel like PySerial, but with the speed and control provided by C++.
+
+This library is in use in several robotics related projects and can be built and installed to the OS like most unix libraries with make and then sudo make install, but because it is a catkin project it can also be built along side other catkin projects in a catkin workspace.
+
+Serial is a class that provides the basic interface common to serial libraries (open, close, read, write, etc..) and requires no extra dependencies. It also provides tight control over timeouts and control over handshaking lines.
+
+### Documentation
+
+Website: http://wjwwood.github.io/serial/
+
+API Documentation: http://wjwwood.github.io/serial/doc/1.1.0/index.html
+
+### Dependencies
+
+Required:
+* [catkin](http://www.ros.org/wiki/catkin) - cmake and Python based buildsystem
+* [cmake](http://www.cmake.org) - buildsystem
+* [Python](http://www.python.org) - scripting language
+ * [empy](http://www.alcyone.com/pyos/empy/) - Python templating library
+ * [catkin_pkg](http://pypi.python.org/pypi/catkin_pkg/) - Runtime Python library for catkin
+
+Optional (for documentation):
+* [Doxygen](http://www.doxygen.org/) - Documentation generation tool
+* [graphviz](http://www.graphviz.org/) - Graph visualization software
+
+### Install
+
+Get the code:
+
+ git clone https://github.com/wjwwood/serial.git
+
+Build:
+
+ make
+
+Build and run the tests:
+
+ make test
+
+Build the documentation:
+
+ make doc
+
+Install:
+
+ make install
+
+### 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.
+
+### Authors
+
+William Woodall <wjwwood@gmail.com>
+John Harrison <ash.gti@gmail.com>
+
+### Contact
+
+William Woodall <william@osrfoundation.org>
diff --git a/crazyflie_groundstation/serial/changes.txt b/crazyflie_groundstation/serial/changes.txt
new file mode 100644
index 000000000..ca14dae5c
--- /dev/null
+++ b/crazyflie_groundstation/serial/changes.txt
@@ -0,0 +1,10 @@
+# 1.1.0 10-24-2012
+
+* Converted the build system to catkin
+
+# v1.0.1 8-27-2012
+
+* Added baudrates: 1000000, 11520000, 2000000, 2500000, 3000000, 3500000, and 4000000
+* Linking related bug fixes on Linux and OS X
+* Custom baudrate bug fix. Closes issue #18.
+
diff --git a/crazyflie_groundstation/serial/doc/Doxyfile b/crazyflie_groundstation/serial/doc/Doxyfile
new file mode 100644
index 000000000..20bbe97fa
--- /dev/null
+++ b/crazyflie_groundstation/serial/doc/Doxyfile
@@ -0,0 +1,2430 @@
+# Doxyfile 1.8.11
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all text
+# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
+# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
+# for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME = serial
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER = 1.1.0
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF = "Cross-platform, serial port library written in C++"
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY = doc
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
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+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
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+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
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+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
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+# specify the list of include paths that are normally passed to the compiler
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+
+STRIP_FROM_INC_PATH =
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+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
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+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
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+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
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+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". You can put \n's in the value part of an alias to insert
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+
+ALIASES =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding "class=itcl::class"
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+TCL_SUBST =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C = YES
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
+# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
+# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
+# Fortran. In the later case the parser tries to guess whether the code is fixed
+# or free formatted code, this is the default for Fortran type files), VHDL. For
+# instance to make doxygen treat .inc files as Fortran files (default is PHP),
+# and .f files as C (default is Fortran), use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See http://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT = YES
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE = 0
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO, these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES, upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES = NO
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered.
+# The default value is: NO.
+
+WARN_AS_ERROR = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT = doc/serial.dox \
+ include \
+ src \
+ examples
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl,
+# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js.
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES = YES
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
+# cost of reduced performance. This can be particularly helpful with template
+# rich C++ code for which doxygen's built-in parser lacks the necessary type
+# information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse-libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the master .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH = http://www.mathjax.org/mathjax
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES, to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE =
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT = docbook
+
+# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
+# program listings (including syntax highlighting and cross-referencing
+# information) to the DOCBOOK output. Note that enabling this will significantly
+# increase the size of the DOCBOOK output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_PROGRAMLISTING = NO
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sf.net) file that captures the
+# structure of the code including all documentation. Note that this feature is
+# still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
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diff --git a/crazyflie_groundstation/serial/doc/serial.dox b/crazyflie_groundstation/serial/doc/serial.dox
new file mode 100644
index 000000000..407fc2673
--- /dev/null
+++ b/crazyflie_groundstation/serial/doc/serial.dox
@@ -0,0 +1,58 @@
+/*!
+\mainpage Serial Library
+
+\author William Woodall <wjwwood@gmail.com>, John Harrison <ash@greaterthaninfinity.com>
+
+\section what_is What is serial?
+Serial is a cross-platform, simple to use library for using serial ports on computers. This library provides a C++, object oriented interface for interacting with RS-232 like devices on Linux and Windows.
+
+Want to use it with ROS(Robot Operating System)? No problem, it compiles as a unary stack.
+
+\section getting_started Getting Started
+
+Ready to jump in?
+- Checkout our examples: \ref serial_example.cc
+- Look at the main class documentation: \ref serial::Serial
+
+\section features Features
+- Linux, Mac OS X, and Windows Support
+- Easy to use interface (modeled after PySerial)
+- Minimal dependencies (cmake)
+- Complete timeout control \ref serial::Serial::setTimeout
+- Check and set handshaking lines (CTS, DSR, RI, CD and RTS, DTR)
+- Block for changes in handshaking lines (Linux and Windows)
+- Flush I/O separately and block until all writing done
+
+\section install Installation
+
+\subsection Dependencies
+
+- CMake:
+ - CMake is required for building the system and can be located here: http://www.cmake.org/
+
+\subsection building Compiling
+
+Once you have gathered the dependencies, you need to checkout the software from github.com:
+
+<pre>
+ git clone git://github.com/wjwwood/serial.git
+</pre>
+
+Once you have checked out the source code from github.com you can enter the directory and build the software.
+
+<pre>
+ cd serial
+ make
+ make test # (optional) builds the example and tests, and runs the tests.
+ make doc # (optional) builds _this_ documentation.
+</pre>
+
+\subsection installing Installing
+
+To install simply:
+
+<pre>
+ sudo make install
+</pre>
+
+ */
\ No newline at end of file
diff --git a/crazyflie_groundstation/serial/examples/serial_example.cc b/crazyflie_groundstation/serial/examples/serial_example.cc
new file mode 100644
index 000000000..a82963532
--- /dev/null
+++ b/crazyflie_groundstation/serial/examples/serial_example.cc
@@ -0,0 +1,182 @@
+/***
+ * This example expects the serial port has a loopback on it.
+ *
+ * Alternatively, you could use an Arduino:
+ *
+ * <pre>
+ * void setup() {
+ * Serial.begin(<insert your baudrate here>);
+ * }
+ *
+ * void loop() {
+ * if (Serial.available()) {
+ * Serial.write(Serial.read());
+ * }
+ * }
+ * </pre>
+ */
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+
+// OS Specific sleep
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include "serial/serial.h"
+
+using std::string;
+using std::exception;
+using std::cout;
+using std::cerr;
+using std::endl;
+using std::vector;
+
+void my_sleep(unsigned long milliseconds) {
+#ifdef _WIN32
+ Sleep(milliseconds); // 100 ms
+#else
+ usleep(milliseconds*1000); // 100 ms
+#endif
+}
+
+void enumerate_ports()
+{
+ vector<serial::PortInfo> devices_found = serial::list_ports();
+
+ vector<serial::PortInfo>::iterator iter = devices_found.begin();
+
+ while( iter != devices_found.end() )
+ {
+ serial::PortInfo device = *iter++;
+
+ printf( "(%s, %s, %s)\n", device.port.c_str(), device.description.c_str(),
+ device.hardware_id.c_str() );
+ }
+}
+
+void print_usage()
+{
+ cerr << "Usage: test_serial {-e|<serial port address>} ";
+ cerr << "<baudrate> [test string]" << endl;
+}
+
+int run(int argc, char **argv)
+{
+ if(argc < 2) {
+ print_usage();
+ return 0;
+ }
+
+ // Argument 1 is the serial port or enumerate flag
+ string port(argv[1]);
+
+ if( port == "-e" ) {
+ enumerate_ports();
+ return 0;
+ }
+ else if( argc < 3 ) {
+ print_usage();
+ return 1;
+ }
+
+ // Argument 2 is the baudrate
+ unsigned long baud = 0;
+#if defined(WIN32) && !defined(__MINGW32__)
+ sscanf_s(argv[2], "%lu", &baud);
+#else
+ sscanf(argv[2], "%lu", &baud);
+#endif
+
+ // port, baudrate, timeout in milliseconds
+ serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1000));
+
+ cout << "Is the serial port open?";
+ if(my_serial.isOpen())
+ cout << " Yes." << endl;
+ else
+ cout << " No." << endl;
+
+ // Get the Test string
+ int count = 0;
+ string test_string;
+ if (argc == 4) {
+ test_string = argv[3];
+ } else {
+ test_string = "Testing.";
+ }
+
+ // Test the timeout, there should be 1 second between prints
+ cout << "Timeout == 1000ms, asking for 1 more byte than written." << endl;
+ while (count < 10) {
+ size_t bytes_wrote = my_serial.write(test_string);
+
+ string result = my_serial.read(test_string.length()+1);
+
+ cout << "Iteration: " << count << ", Bytes written: ";
+ cout << bytes_wrote << ", Bytes read: ";
+ cout << result.length() << ", String read: " << result << endl;
+
+ count += 1;
+ }
+
+ // Test the timeout at 250ms
+ my_serial.setTimeout(serial::Timeout::max(), 250, 0, 250, 0);
+ count = 0;
+ cout << "Timeout == 250ms, asking for 1 more byte than written." << endl;
+ while (count < 10) {
+ size_t bytes_wrote = my_serial.write(test_string);
+
+ string result = my_serial.read(test_string.length()+1);
+
+ cout << "Iteration: " << count << ", Bytes written: ";
+ cout << bytes_wrote << ", Bytes read: ";
+ cout << result.length() << ", String read: " << result << endl;
+
+ count += 1;
+ }
+
+ // Test the timeout at 250ms, but asking exactly for what was written
+ count = 0;
+ cout << "Timeout == 250ms, asking for exactly what was written." << endl;
+ while (count < 10) {
+ size_t bytes_wrote = my_serial.write(test_string);
+
+ string result = my_serial.read(test_string.length());
+
+ cout << "Iteration: " << count << ", Bytes written: ";
+ cout << bytes_wrote << ", Bytes read: ";
+ cout << result.length() << ", String read: " << result << endl;
+
+ count += 1;
+ }
+
+ // Test the timeout at 250ms, but asking for 1 less than what was written
+ count = 0;
+ cout << "Timeout == 250ms, asking for 1 less than was written." << endl;
+ while (count < 10) {
+ size_t bytes_wrote = my_serial.write(test_string);
+
+ string result = my_serial.read(test_string.length()-1);
+
+ cout << "Iteration: " << count << ", Bytes written: ";
+ cout << bytes_wrote << ", Bytes read: ";
+ cout << result.length() << ", String read: " << result << endl;
+
+ count += 1;
+ }
+
+ return 0;
+}
+
+int main(int argc, char **argv) {
+ try {
+ return run(argc, argv);
+ } catch (exception &e) {
+ cerr << "Unhandled Exception: " << e.what() << endl;
+ }
+}
diff --git a/crazyflie_groundstation/serial/include/serial/impl/unix.h b/crazyflie_groundstation/serial/include/serial/impl/unix.h
new file mode 100644
index 000000000..0fb38f244
--- /dev/null
+++ b/crazyflie_groundstation/serial/include/serial/impl/unix.h
@@ -0,0 +1,221 @@
+/*!
+ * \file serial/impl/unix.h
+ * \author William Woodall <wjwwood@gmail.com>
+ * \author John Harrison <ash@greaterthaninfinity.com>
+ * \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_IMPL_UNIX_H
+#define SERIAL_IMPL_UNIX_H
+
+#include "serial/serial.h"
+
+#include <pthread.h>
+
+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/crazyflie_groundstation/serial/include/serial/impl/win.h b/crazyflie_groundstation/serial/include/serial/impl/win.h
new file mode 100644
index 000000000..2c0c6cde1
--- /dev/null
+++ b/crazyflie_groundstation/serial/include/serial/impl/win.h
@@ -0,0 +1,207 @@
+/*!
+ * \file serial/impl/windows.h
+ * \author William Woodall <wjwwood@gmail.com>
+ * \author John Harrison <ash@greaterthaninfinity.com>
+ * \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_IMPL_WINDOWS_H
+#define SERIAL_IMPL_WINDOWS_H
+
+#include "serial/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)
diff --git a/crazyflie_groundstation/serial/include/serial/serial.h b/crazyflie_groundstation/serial/include/serial/serial.h
new file mode 100644
index 000000000..a16578522
--- /dev/null
+++ b/crazyflie_groundstation/serial/include/serial/serial.h
@@ -0,0 +1,775 @@
+/*!
+ * \file serial/serial.h
+ * \author William Woodall <wjwwood@gmail.com>
+ * \author John Harrison <ash.gti@gmail.com>
+ * \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 <limits>
+#include <vector>
+#include <string>
+#include <cstring>
+#include <sstream>
+#include <exception>
+#include <stdexcept>
+#include <serial/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<uint32_t>::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<uint8_t> &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<string> containing the lines.
+ *
+ * \throw serial::PortNotOpenedException
+ * \throw serial::SerialException
+ */
+ std::vector<std::string>
+ 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<uint8_t> &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<PortInfo>
+list_ports();
+
+} // namespace serial
+
+#endif
diff --git a/crazyflie_groundstation/serial/include/serial/v8stdint.h b/crazyflie_groundstation/serial/include/serial/v8stdint.h
new file mode 100644
index 000000000..f3be96b1c
--- /dev/null
+++ b/crazyflie_groundstation/serial/include/serial/v8stdint.h
@@ -0,0 +1,57 @@
+// 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 <stddef.h>
+#include <stdio.h>
+
+#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 <stdint.h>
+
+#endif
+
+#endif // V8STDINT_H_
diff --git a/crazyflie_groundstation/serial/package.xml b/crazyflie_groundstation/serial/package.xml
new file mode 100644
index 000000000..959f9b879
--- /dev/null
+++ b/crazyflie_groundstation/serial/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+ <name>serial</name>
+ <version>1.2.1</version>
+ <description>
+ Serial is a cross-platform, simple to use library for using serial ports on computers.
+ This library provides a C++, object oriented interface for interacting with RS-232
+ like devices on Linux and Windows.
+ </description>
+
+ <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
+
+ <license>MIT</license>
+
+ <url type="website">http://wjwwood.github.com/serial/</url>
+ <url type="repository">https://github.com/wjwwood/serial</url>
+ <url type="bugtracker">https://github.com/wjwwood/serial/issues</url>
+
+ <author email="wjwwood@gmail.com">William Woodall</author>
+ <author email="ash.gti@gmail.com">John Harrison</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+</package>
diff --git a/crazyflie_groundstation/serial/serial.sublime-project b/crazyflie_groundstation/serial/serial.sublime-project
new file mode 100644
index 000000000..7ca307fcd
--- /dev/null
+++ b/crazyflie_groundstation/serial/serial.sublime-project
@@ -0,0 +1,22 @@
+{
+ "word_wrap": "on",
+ "wrap_width": 80,
+ "folders":
+ [
+ {
+ "path": "./"
+ }
+ ],
+ "settings":
+ {
+ "sublimeclang_options":
+ [
+ "-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include/c++/v1",
+ "-I/usr/local/include",
+ "-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/9.0.0/include",
+ "-I/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include",
+ "-I/usr/include",
+ "-I${folder:${project_path:serial.sublime-project}}/include",
+ ]
+ }
+}
diff --git a/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_linux.cc b/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_linux.cc
new file mode 100644
index 000000000..db2afb2c9
--- /dev/null
+++ b/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_linux.cc
@@ -0,0 +1,336 @@
+#if defined(__linux__)
+
+/*
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * 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 <vector>
+#include <string>
+#include <sstream>
+#include <stdexcept>
+#include <iostream>
+#include <fstream>
+#include <cstdio>
+#include <cstdarg>
+#include <cstdlib>
+
+#include <glob.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "serial/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<string> glob(const vector<string>& 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<string> 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<string>
+glob(const vector<string>& patterns)
+{
+ vector<string> paths_found;
+
+ if(patterns.size() == 0)
+ return paths_found;
+
+ glob_t glob_results;
+
+ int glob_retval = glob(patterns[0].c_str(), 0, NULL, &glob_results);
+
+ vector<string>::const_iterator iter = patterns.begin();
+
+ while(++iter != patterns.end())
+ {
+ glob_retval = glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results);
+ }
+
+ for(int 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<string>
+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<string> 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 >= 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<PortInfo>
+serial::list_ports()
+{
+ vector<PortInfo> results;
+
+ vector<string> 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.*");
+ search_globs.push_back("/dev/rfcomm*");
+
+ vector<string> devices_found = glob( search_globs );
+
+ vector<string>::iterator iter = devices_found.begin();
+
+ while( iter != devices_found.end() )
+ {
+ string device = *iter++;
+
+ vector<string> 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/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_osx.cc b/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_osx.cc
new file mode 100644
index 000000000..333c55c27
--- /dev/null
+++ b/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_osx.cc
@@ -0,0 +1,286 @@
+#if defined(__APPLE__)
+
+#include <sys/param.h>
+#include <stdint.h>
+
+#include <CoreFoundation/CoreFoundation.h>
+#include <IOKit/IOKitLib.h>
+#include <IOKit/serial/IOSerialKeys.h>
+#include <IOKit/IOBSD.h>
+
+#include <iostream>
+#include <string>
+#include <vector>
+
+#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<CFStringRef>(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<CFStringRef>(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<CFNumberRef>(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<PortInfo>
+serial::list_ports(void)
+{
+ vector<PortInfo> 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/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_win.cc b/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_win.cc
new file mode 100644
index 000000000..7da40c440
--- /dev/null
+++ b/crazyflie_groundstation/serial/src/impl/list_ports/list_ports_win.cc
@@ -0,0 +1,152 @@
+#if defined(_WIN32)
+
+/*
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * 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/serial.h"
+#include <tchar.h>
+#include <windows.h>
+#include <setupapi.h>
+#include <initguid.h>
+#include <devguid.h>
+#include <cstring>
+
+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<PortInfo>
+serial::list_ports()
+{
+ vector<PortInfo> 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/crazyflie_groundstation/serial/src/impl/unix.cc b/crazyflie_groundstation/serial/src/impl/unix.cc
new file mode 100644
index 000000000..a40b0fa07
--- /dev/null
+++ b/crazyflie_groundstation/serial/src/impl/unix.cc
@@ -0,0 +1,1084 @@
+/* Copyright 2012 William Woodall and John Harrison
+ *
+ * Additional Contributors: Christopher Baker @bakercp
+ */
+
+#if !defined(_WIN32)
+
+#include <stdio.h>
+#include <string.h>
+#include <sstream>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/signal.h>
+#include <errno.h>
+#include <paths.h>
+#include <sysexits.h>
+#include <termios.h>
+#include <sys/param.h>
+#include <pthread.h>
+
+#if defined(__linux__)
+# include <linux/serial.h>
+#endif
+
+#include <sys/select.h>
+#include <sys/time.h>
+#include <time.h>
+#ifdef __MACH__
+#include <AvailabilityMacros.h>
+#include <mach/clock.h>
+#include <mach/mach.h>
+#endif
+
+#include "serial/impl/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 <IOKit/serial/ioss.h>
+#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<int> (1e9);
+ expiry.tv_nsec = tv_nsec % static_cast<int>(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;
+ }
+ 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);
+
+ // apply custom baud rate, if any
+ if (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<speed_t> (baudrate_);
+ // PySerial uses IOSSIOSPEED=0x80045402
+ 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<int> (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
+ }
+
+ // 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<size_t> (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<long>(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<long> (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<uint32_t> (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<size_t> (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<long> (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);
+
+ // even though pselect returned readiness the call might still be
+ // interrupted. In that case simply retry.
+ if (bytes_written_now == -1 && errno == EINTR) {
+ continue;
+ }
+
+ // 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.
+ std::stringstream strs;
+ strs << "device reports readiness to write but "
+ "returned no data (device disconnected?)";
+ strs << " errno=" << errno;
+ strs << " bytes_written_now= " << bytes_written_now;
+ strs << " bytes_written=" << bytes_written;
+ strs << " length=" << length;
+ throw SerialException(strs.str().c_str());
+ }
+ // Update bytes_written
+ bytes_written += static_cast<size_t> (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<int> (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/crazyflie_groundstation/serial/src/impl/win.cc b/crazyflie_groundstation/serial/src/impl/win.cc
new file mode 100644
index 000000000..889e06f1c
--- /dev/null
+++ b/crazyflie_groundstation/serial/src/impl/win.cc
@@ -0,0 +1,646 @@
+#if defined(_WIN32)
+
+/* Copyright 2012 William Woodall and John Harrison */
+
+#include <sstream>
+
+#include "serial/impl/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(0, windows_com_port_prefix.size(), 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;
+ 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());
+ 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<size_t>(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<DWORD>(size), &bytes_read, NULL)) {
+ stringstream ss;
+ ss << "Error while reading from the serial port: " << GetLastError();
+ 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<DWORD>(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/crazyflie_groundstation/serial/src/serial.cc b/crazyflie_groundstation/serial/src/serial.cc
new file mode 100644
index 000000000..a9e6f84b2
--- /dev/null
+++ b/crazyflie_groundstation/serial/src/serial.cc
@@ -0,0 +1,432 @@
+/* Copyright 2012 William Woodall and John Harrison */
+#include <algorithm>
+
+#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
+# include <alloca.h>
+#endif
+
+#if defined (__MINGW32__)
+# define alloca __builtin_alloca
+#endif
+
+#include "serial/serial.h"
+
+#ifdef _WIN32
+#include "serial/impl/win.h"
+#else
+#include "serial/impl/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<uint8_t> &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;
+ }
+
+ 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;
+ }
+ buffer.append (reinterpret_cast<const char*>(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<uint8_t*>
+ (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(read_so_far < eol_len) continue;
+ if (string (reinterpret_cast<const char*>
+ (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<const char*> (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<string>
+Serial::readlines (size_t size, string eol)
+{
+ ScopedReadLock lock(this->pimpl_);
+ std::vector<std::string> lines;
+ size_t eol_len = eol.length ();
+ uint8_t *buffer_ = static_cast<uint8_t*>
+ (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<const char*> (buffer_ + start_of_line),
+ read_so_far - start_of_line));
+ }
+ break; // Timeout occured on reading 1 byte
+ }
+ if(read_so_far < eol_len) continue;
+ if (string (reinterpret_cast<const char*>
+ (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+ // EOL found
+ lines.push_back(
+ string(reinterpret_cast<const char*> (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<const char*> (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<const uint8_t*>(data.c_str()),
+ data.length());
+}
+
+size_t
+Serial::write (const std::vector<uint8_t> &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/crazyflie_groundstation/serial/tests/CMakeLists.txt b/crazyflie_groundstation/serial/tests/CMakeLists.txt
new file mode 100644
index 000000000..ac9a4214d
--- /dev/null
+++ b/crazyflie_groundstation/serial/tests/CMakeLists.txt
@@ -0,0 +1,12 @@
+if(UNIX)
+ catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
+ target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+ if(NOT APPLE)
+ target_link_libraries(${PROJECT_NAME}-test util)
+ endif()
+
+ if(NOT APPLE) # these tests are unreliable on macOS
+ catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
+ target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
+ endif()
+endif()
diff --git a/crazyflie_groundstation/serial/tests/proof_of_concepts/mdc2250.cc b/crazyflie_groundstation/serial/tests/proof_of_concepts/mdc2250.cc
new file mode 100644
index 000000000..ff7ec1bcb
--- /dev/null
+++ b/crazyflie_groundstation/serial/tests/proof_of_concepts/mdc2250.cc
@@ -0,0 +1 @@
+#include ""
\ No newline at end of file
diff --git a/crazyflie_groundstation/serial/tests/proof_of_concepts/python_serial_test.py b/crazyflie_groundstation/serial/tests/proof_of_concepts/python_serial_test.py
new file mode 100644
index 000000000..6f92b84a2
--- /dev/null
+++ b/crazyflie_groundstation/serial/tests/proof_of_concepts/python_serial_test.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+import serial, sys
+
+if len(sys.argv) != 2:
+ print "python: Usage_serial_test <port name like: /dev/ttyUSB0>"
+ sys.exit(1)
+
+sio = serial.Serial(sys.argv[1], 115200)
+sio.timeout = 250
+
+while True:
+ sio.write("Testing.")
+ print sio.read(8)
+
diff --git a/crazyflie_groundstation/serial/tests/proof_of_concepts/tokenizer.cc b/crazyflie_groundstation/serial/tests/proof_of_concepts/tokenizer.cc
new file mode 100644
index 000000000..da15a093b
--- /dev/null
+++ b/crazyflie_groundstation/serial/tests/proof_of_concepts/tokenizer.cc
@@ -0,0 +1,31 @@
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include <boost/bind.hpp>
+#include <boost/function.hpp>
+#include <boost/algorithm/string.hpp>
+#include <boost/foreach.hpp>
+
+void
+_delimeter_tokenizer (std::string &data, std::vector<std::string> &tokens,
+ std::string delimeter)
+{
+ boost::split(tokens, data, boost::is_any_of(delimeter));
+}
+
+typedef boost::function<void(std::string&,std::vector<std::string>&)> TokenizerType;
+
+int main(void) {
+ std::string data = "a\rb\rc\r";
+ std::vector<std::string> tokens;
+ std::string delimeter = "\r";
+
+ TokenizerType f = boost::bind(_delimeter_tokenizer, _1, _2, delimeter);
+ f(data, tokens);
+
+ BOOST_FOREACH(std::string token, tokens)
+ std::cout << token << std::endl;
+
+ return 0;
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/serial/tests/unit/unix_timer_tests.cc b/crazyflie_groundstation/serial/tests/unit/unix_timer_tests.cc
new file mode 100644
index 000000000..5bbd1edca
--- /dev/null
+++ b/crazyflie_groundstation/serial/tests/unit/unix_timer_tests.cc
@@ -0,0 +1,63 @@
+#include "gtest/gtest.h"
+#include "serial/impl/unix.h"
+
+#include <unistd.h>
+#include <stdlib.h>
+
+using serial::MillisecondTimer;
+
+namespace {
+
+/**
+ * Do 100 trials of timing gaps between 0 and 19 milliseconds.
+ * Expect accuracy within one millisecond.
+ */
+TEST(timer_tests, short_intervals) {
+ for (int trial = 0; trial < 100; trial++)
+ {
+ uint32_t ms = rand() % 20;
+ MillisecondTimer mt(ms);
+ usleep(1000 * ms);
+ int32_t r = mt.remaining();
+
+ // 1ms slush, for the cost of calling usleep.
+ EXPECT_NEAR(r+1, 0, 1);
+ }
+}
+
+TEST(timer_tests, overlapping_long_intervals) {
+ MillisecondTimer* timers[10];
+
+ // Experimentally determined. Corresponds to the extra time taken by the loops,
+ // the big usleep, and the test infrastructure itself.
+ const int slush_factor = 14;
+
+ // Set up the timers to each time one second, 1ms apart.
+ for (int t = 0; t < 10; t++)
+ {
+ timers[t] = new MillisecondTimer(1000);
+ usleep(1000);
+ }
+
+ // Check in on them after 500ms.
+ usleep(500000);
+ for (int t = 0; t < 10; t++)
+ {
+ EXPECT_NEAR(timers[t]->remaining(), 500 - slush_factor + t, 5);
+ }
+
+ // Check in on them again after another 500ms and free them.
+ usleep(500000);
+ for (int t = 0; t < 10; t++)
+ {
+ EXPECT_NEAR(timers[t]->remaining(), -slush_factor + t, 5);
+ delete timers[t];
+ }
+}
+
+} // namespace
+
+int main(int argc, char **argv) {
+ ::testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/crazyflie_groundstation/serial/tests/unix_serial_tests.cc b/crazyflie_groundstation/serial/tests/unix_serial_tests.cc
new file mode 100644
index 000000000..c34868a2f
--- /dev/null
+++ b/crazyflie_groundstation/serial/tests/unix_serial_tests.cc
@@ -0,0 +1,116 @@
+/* To run these tests you need to change the define below to the serial port
+ * with a loop back device attached.
+ *
+ * Alternatively you could use an Arduino:
+
+void setup()
+{
+ Serial.begin(115200);
+}
+
+void loop()
+{
+ while (Serial.available() > 0) {
+ Serial.write(Serial.read());
+ }
+}
+
+*/
+
+#include <string>
+#include "gtest/gtest.h"
+
+// Use FRIEND_TEST... its not as nasty, thats what friends are for
+// // OMG this is so nasty...
+// #define private public
+// #define protected public
+
+#include "serial/serial.h"
+
+#if defined(__linux__)
+#include <pty.h>
+#else
+#include <util.h>
+#endif
+
+using namespace serial;
+
+using std::string;
+
+namespace {
+
+class SerialTests : public ::testing::Test {
+protected:
+ virtual void SetUp() {
+ if (openpty(&master_fd, &slave_fd, name, NULL, NULL) == -1) {
+ perror("openpty");
+ exit(127);
+ }
+
+ ASSERT_TRUE(master_fd > 0);
+ ASSERT_TRUE(slave_fd > 0);
+ ASSERT_TRUE(string(name).length() > 0);
+
+ port1 = new Serial(string(name), 115200, Timeout::simpleTimeout(250));
+ }
+
+ virtual void TearDown() {
+ port1->close();
+ delete port1;
+ }
+
+ Serial * port1;
+ int master_fd;
+ int slave_fd;
+ char name[100];
+};
+
+TEST_F(SerialTests, readWorks) {
+ write(master_fd, "abc\n", 4);
+ string r = port1->read(4);
+ EXPECT_EQ(r, string("abc\n"));
+}
+
+TEST_F(SerialTests, writeWorks) {
+ char buf[5] = "";
+ port1->write("abc\n");
+ read(master_fd, buf, 4);
+ EXPECT_EQ(string(buf, 4), string("abc\n"));
+}
+
+TEST_F(SerialTests, timeoutWorks) {
+ // Timeout a read, returns an empty string
+ string empty = port1->read();
+ EXPECT_EQ(empty, string(""));
+
+ // Ensure that writing/reading still works after a timeout.
+ write(master_fd, "abc\n", 4);
+ string r = port1->read(4);
+ EXPECT_EQ(r, string("abc\n"));
+}
+
+TEST_F(SerialTests, partialRead) {
+ // Write some data, but request more than was written.
+ write(master_fd, "abc\n", 4);
+
+ // Should timeout, but return what was in the buffer.
+ string empty = port1->read(10);
+ EXPECT_EQ(empty, string("abc\n"));
+
+ // Ensure that writing/reading still works after a timeout.
+ write(master_fd, "abc\n", 4);
+ string r = port1->read(4);
+ EXPECT_EQ(r, string("abc\n"));
+}
+
+} // namespace
+
+int main(int argc, char **argv) {
+ try {
+ ::testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+ } catch (std::exception &e) {
+ std::cerr << "Unhandled Exception: " << e.what() << std::endl;
+ }
+ return 1;
+}
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
index 2ecc8423e..d60940447 100644
--- a/crazyflie_groundstation/src/CTOC.cpp
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -58,7 +58,7 @@ CTOC::~CTOC() {
bool CTOC::sendTOCPointerReset() {
if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__);
- CCRTPPacket* crtpPacket = new CCRTPPacket(0x01, 0);
+ CCRTPPacket* crtpPacket = new CCRTPPacket(0, 0);
crtpPacket->setPort(m_nPort);
crtpPacket->setChannel(0);
CCRTPPacket* crtpReceived = m_crRadio->sendPacket(m_nRadioChannel,
@@ -77,19 +77,19 @@ bool CTOC::requestMetaData() {
bool bReturnvalue = false;
if( ALL_THE_DEBUG ) printf( "new CCRTP Packet\n" );
- CCRTPPacket* crtpPacket = new CCRTPPacket(m_nPort == 0x02 ? 0x03 : 0x01, 0);
+ CCRTPPacket* crtpPacket = new CCRTPPacket(0x03, 0);
if( ALL_THE_DEBUG ) printf( "set port\n" );
crtpPacket->setPort(m_nPort);
- crtpPacket->setChannel(0);
+ //crtpPacket->setChannel(0);
if( ALL_THE_DEBUG ) printf( "..sendAndReceive\n" );
CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpPacket,
m_nRadioChannel, m_crazyflie);
- if (crtpReceived->data()[0] == 0x03) {
- m_nItemCount = (uint8_t) crtpReceived->data()[1];
- bReturnvalue = true;
- }
- else if(crtpReceived->data()[0] == 0x01) {
+ // if (crtpReceived->data()[0] == 0x03) {
+ // m_nItemCount = (uint8_t) crtpReceived->data()[1];
+ // bReturnvalue = true;
+ // }
+ if(crtpReceived->data()[0] == 0x03) {
m_nItemCount = (uint8_t) crtpReceived->data()[1];
bReturnvalue = true;
}
@@ -112,14 +112,14 @@ bool CTOC::requestItem(int nID) {
bool CTOC::requestItem(int nID, bool bInitial) {
if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
bool bReturnvalue = false;
+ uint16_t rID = (uint16_t) nID;
+ char cRequest[3];
+ cRequest[0] = 0x02;
+ memcpy(&cRequest[1], &rID, sizeof(uint16_t));
- char cRequest[2];
- cRequest[0] = 0x0;
- cRequest[1] = nID;
-
- CCRTPPacket* crtpPacket = new CCRTPPacket(cRequest, (bInitial ? 1 : 2), 0);
+ CCRTPPacket* crtpPacket = new CCRTPPacket(cRequest, (bInitial ? 1 : 3), 0);
crtpPacket->setPort(m_nPort);
- crtpPacket->setChannel(0x0);
+ //crtpPacket->setChannel(0x0);
CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, m_crazyflie);
bReturnvalue = this->processItem(crtpReceived);
@@ -134,7 +134,7 @@ bool CTOC::requestNextItem() {
bool bReturnvalue = false;
if( ALL_THE_DEBUG ) printf( "new CCRTP Packet\n" );
- CCRTPPacket* crtpPacket = new CCRTPPacket(0x01, 0);
+ CCRTPPacket* crtpPacket = new CCRTPPacket(1, 0);
if( ALL_THE_DEBUG ) printf( "set port\n" );
crtpPacket->setPort(m_nPort);
crtpPacket->setChannel(0);
@@ -167,10 +167,10 @@ bool CTOC::downloadTOC() {
if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__);
if(m_nPort == 2) {
this->requestMetaData();
- this->sendTOCPointerReset();
+ //this->sendTOCPointerReset();
for (int nI = 0; nI < m_nItemCount; nI++) {
printf("Parameter Progress: %i / %i\n", nI+1, m_nItemCount);
- this->requestNextItem();
+ this->requestItem(nI);
}
}
else {
@@ -191,13 +191,14 @@ bool CTOC::processItem(CCRTPPacket* crtpItem) {
char* cData = crtpItem->data();
//int nLength = crtpItem->dataLength(); -- unused variable
- if (cData[0] == 0x0 || cData[0] == 0x1) { // Command identification ok?
- uint8_t nID = cData[1];
- uint8_t nType = cData[2];
+ if (cData[0] == 0x2 || cData[0] == 0x3) { // Command identification ok?
+ uint16_t nID;
+ memcpy(&nID, &cData[1], sizeof(uint16_t));
+ uint8_t nType = cData[3] & 0x0F;
std::string strGroup;
int nI;
- for (nI = 3; cData[nI] != '\0'; nI++) {
+ for (nI = 4; cData[nI] != '\0'; nI++) {
strGroup += cData[nI];
}
@@ -463,9 +464,12 @@ bool CTOC::startLogging(std::string strName, std::string strBlockName) {
if (bFound) {
struct TOCElement teCurrent = this->elementForName(strName, bFound);
if (bFound) {
- char cPayload[5] = { 0x01, (char)lbCurrent.nID, (char)teCurrent.nType,
- (char)teCurrent.nID };
- CCRTPPacket* crtpLogVariable = new CCRTPPacket(cPayload, 4, 1);
+ char cID[2];
+ uint16_t idOS = (uint16_t) teCurrent.nID;
+ memcpy(cID, &idOS, sizeof(uint16_t));
+ char cPayload[5] = { 0x07, (char)lbCurrent.nID, (char)teCurrent.nType,
+ cID[0], cID[1] };
+ CCRTPPacket* crtpLogVariable = new CCRTPPacket(cPayload, 5, 1);
crtpLogVariable->setPort(m_nPort);
crtpLogVariable->setChannel(1);
CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(
@@ -475,7 +479,7 @@ bool CTOC::startLogging(std::string strName, std::string strBlockName) {
char* cData = crtpReceived->data();
bool bCreateOK = false;
- if (cData[0] == 0x01 && cData[1] == lbCurrent.nID
+ if (cData[0] == 0x07 && cData[1] == lbCurrent.nID
&& cData[2] == 0x00) {
bCreateOK = true;
} else {
@@ -603,7 +607,7 @@ bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
if (dFrequency > 0) { // Only do it if a valid frequency > 0 is given
this->loggingBlockForName(strName, bFound);
if (bFound) {
- //this->unregisterLoggingBlock(strName);
+ this->unregisterLoggingBlock(strName);
}
do {
@@ -614,11 +618,11 @@ bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
}
} while (bFound);
- //this->unregisterLoggingBlockID(nID);
+ this->unregisterLoggingBlockID(nID);
uint8_t logPeriod= (uint8_t) ( (1 / dFrequency) * 1000 );
- char cPayload[4] = { 0x00, (char)nID, logPeriod }; // JRB: A little concerned about this cast from double to char
- CCRTPPacket* crtpRegisterBlock = new CCRTPPacket(cPayload, 3, 1);
+ char cPayload[4] = { 0x06, (char)nID }; // JRB: A little concerned about this cast from double to char
+ CCRTPPacket* crtpRegisterBlock = new CCRTPPacket(cPayload, 2, 1);
crtpRegisterBlock->setPort(m_nPort);
crtpRegisterBlock->setChannel(1);
@@ -628,7 +632,7 @@ bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
char* cData = crtpReceived->data();
bool bCreateOK = false;
- if (cData[0] == 0x00 && cData[1] == nID && cData[2] == 0x00) {
+ if (cData[0] == 0x06 && cData[1] == nID && cData[2] == 0x00) {
bCreateOK = true;
std::cout << "Registered logging block `" << strName << "'"
<< std::endl;
@@ -649,7 +653,7 @@ bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
m_lstLoggingBlocks.push_back(lbNew);
- return this->enableLogging(strName);
+ return true;
}
}
@@ -680,6 +684,31 @@ bool CTOC::enableLogging(std::string strBlockName) {
return false;
}
+bool CTOC::disableLogging(std::string strBlockName) {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ bool bFound;
+
+ struct LoggingBlock lbCurrent = this->loggingBlockForName(strBlockName,
+ bFound);
+
+ if (bFound) {
+ char cPayload[2] = { 0x04, (char)lbCurrent.nID }; // JRB: A little concerned about this cast from double to char
+
+ CCRTPPacket* crtpEnable = new CCRTPPacket(cPayload, 2, 1);
+ crtpEnable->setPort(m_nPort);
+ crtpEnable->setChannel(1);
+
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(crtpEnable, m_nRadioChannel, m_crazyflie);
+
+ delete crtpEnable;
+ delete crtpReceived;
+
+ return true;
+ }
+
+ return false;
+}
+
bool CTOC::unregisterLoggingBlock(std::string strName) {
if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
bool bFound;
@@ -706,6 +735,12 @@ bool CTOC::unregisterLoggingBlockID(int nID) {
if (crtpReceived) {
delete crtpReceived;
+ for(std::list<struct LoggingBlock>::iterator itBlock = m_lstLoggingBlocks.begin(); itBlock != m_lstLoggingBlocks.end(); itBlock++) {
+ struct LoggingBlock lbCur = *itBlock;
+ if (lbCur.nID == nID) {
+ m_lstLoggingBlocks.erase(itBlock);
+ }
+ }
return true;
}
@@ -905,10 +940,17 @@ void CTOC::openParamTOCFile(char *baseFileName) {
// Create the log file name (including date)
sprintf(logFileName, "%s_%s.txt", baseFileName, timeString);
+ this->paramfilename = logFileName;
printf("Opening param toc file %s for quadcopter %d...", logFileName, (this->m_crazyflie->getQuadcopterNumber() + 1));
try {
+ char dir[250];
+ getcwd(dir, 250);
+ std::string fullFilePath(dir);
+ fullFilePath += "/";
+ fullFilePath += logFileName;
+ this->paramfilename = fullFilePath;
param_toc_file.open(logFileName, std::ios_base::out);
} catch (...) {
std::cout << "Error opening logfile for quadcopter " << this->m_crazyflie->getQuadcopterNumber();
@@ -943,6 +985,12 @@ void CTOC::openLogTOCFile(char *baseFileName) {
printf("Opening param toc file %s for quadcopter %d...", logFileName, (this->m_crazyflie->getQuadcopterNumber() + 1));
try {
+ char dir[250];
+ getcwd(dir, 250);
+ std::string fullFilePath(dir);
+ fullFilePath += "/";
+ fullFilePath += logFileName;
+ this->logidfilename = fullFilePath;
log_toc_file.open(logFileName, std::ios_base::out);
} catch (...) {
std::cout << "Error opening logfile for quadcopter " << this->m_crazyflie->getQuadcopterNumber();
@@ -956,3 +1004,21 @@ void CTOC::openLogTOCFile(char *baseFileName) {
log_toc_file << log_header << std::endl;
std::cout << " Complete" << std::endl;
}
+
+std::string CTOC::getLogTOCFile() {
+ if(m_nPort == 0x02) {
+ return "";
+ }
+ else {
+ return this->logidfilename;
+ }
+}
+
+std::string CTOC::getParamTOCFile() {
+ if(m_nPort == 0x05) {
+ return "";
+ }
+ else {
+ return this->paramfilename;
+ }
+}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
index b93882a4f..c03a37a5a 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie.cpp
@@ -350,7 +350,30 @@ bool CCrazyflie::cycle() {
} else {
// Send a dummy packet for keepalive otherwise
m_crRadio->sendDummyPacket(m_nRadioChannel, this);
+
}
+
+ //read test_stand data
+ int speed = 0;
+ if(this->testStandError <= 0) {
+ this->testStandError = 0;
+ speed = this->readTestStand();
+ }
+ else {
+ this->testStandError--;
+ }
+
+ if(speed < 0) {
+ this->testStandError = 1;
+ }
+
+ // CCRTPPacket *logD = m_crRadio->readACK();
+ // if(logD != NULL) {
+ // if(logD->dataLength() > 0) {
+ // this->callback_Packet(logD);
+ // }
+ // }
+
}
break;
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
index d00e4d5e7..7916a1100 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
@@ -190,13 +190,17 @@ bool CCrazyflie::parseReceivedUserCommand() {
char id = (char) command.payload[2];
//float fvalue = build_float(&command.payload[4]);
//uint16_t pvalue = (uint16_t) fvalue;
+ bool bFound = false;
+ struct TOCElement element = this->m_tocParameters->elementForID(id, bFound);
cBuffer[0] = id;
//memcpy(&cBuffer[1 * sizeof(uint16_t)], &pvalue, sizeof(uint16_t));
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
-
- send(command.fd, crtpReceived->sendableData(), crtpReceived->sendableDataLength(), 0);
+ char * sending = crtpReceived->sendableData();
+ char type = (char) element.nType;
+ sending[0] = type;
+ send(command.fd, sending, crtpReceived->sendableDataLength(), 0);
break;
}
@@ -204,7 +208,7 @@ bool CCrazyflie::parseReceivedUserCommand() {
case ACMD_SETPARAM:
{
- int nSize = sizeof(float) + 1;
+ int nSize = sizeof(double) + 1;
char cBuffer[nSize];
CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
@@ -213,13 +217,123 @@ bool CCrazyflie::parseReceivedUserCommand() {
//int id = (char) command.payload;
char pid = (char) command.payload[2];
+ bool bFound = false;
+ struct TOCElement element = this->m_tocParameters->elementForID(pid, bFound);
+ uint8_t pType = element.nType;
float fvalue = build_float(&command.payload[4]);
- uint16_t pvalue = (uint16_t) fvalue;
-
- cBuffer[0] = pid;
- memcpy(&cBuffer[1 * sizeof(uint16_t)], &pvalue, sizeof(uint16_t));
- crtpPacket->setData(cBuffer, nSize);
- crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ switch(pType) {
+ case 8:
+ {
+ uint8_t pvalue = (uint8_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(uint8_t));
+ nSize = 1 + sizeof(uint8_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 9:
+ {
+ uint16_t pvalue = (uint16_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(uint16_t));
+ nSize = 1 + sizeof(uint16_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 10:
+ {
+ uint32_t pvalue = (uint32_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(uint32_t));
+ nSize = 1 + sizeof(uint32_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 11:
+ {
+ uint64_t pvalue = (uint64_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(uint64_t));
+ nSize = 1 + sizeof(uint64_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 0:
+ {
+ int8_t pvalue = (int8_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(int8_t));
+ nSize = 1 + sizeof(int8_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 1:
+ {
+ int16_t pvalue = (int16_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(int16_t));
+ nSize = 1 + sizeof(int16_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 2:
+ {
+ int32_t pvalue = (uint32_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(int32_t));
+ nSize = 1 + sizeof(int32_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 3:
+ {
+ int64_t pvalue = (int64_t) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(int64_t));
+ nSize = 1 + sizeof(int64_t);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 6:
+ {
+ float pvalue = fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(float));
+ nSize = 1 + sizeof(float);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ case 7:
+ {
+ double pvalue = (double) fvalue;
+
+ cBuffer[0] = pid;
+ memcpy(&cBuffer[1], &pvalue, sizeof(double));
+ nSize = 1 + sizeof(double);
+ crtpPacket->setData(cBuffer, nSize);
+ crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
+ break;
+ }
+ }
+
break;
}
@@ -268,9 +382,84 @@ bool CCrazyflie::parseReceivedUserCommand() {
}
break;
}
+ case ACMD_GETLOGFILE:
+ {
+ std::string filename;
+ switch(command.payload[0]) {
+ case 0:
+ {
+ filename = this->getlogfile();
+ break;
+ }
+ case 1:
+ {
+ filename = this->m_tocParameters->getParamTOCFile();
+ break;
+ }
+ case 2:
+ {
+ filename = this->m_tocLogs->getLogTOCFile();
+ break;
+ }
+ default:
+ {
+ filename = "error: invalid command id";
+ break;
+ }
+
+ }
+ int nSize = strlen(filename.c_str()) + 1;
+ char cBuffer[nSize];
+ cBuffer[0] = nSize - 1;
+ memcpy(&cBuffer[1], filename.c_str(), strlen(filename.c_str()));
+ send(command.fd, cBuffer, nSize, 0);
+
+ break;
+ }
+ case ACMD_LOGBLOCKCOMMAND:
+ {
+ char cmd = (char) command.payload[0];
+ char id = (char) command.payload[1];
+ bool found = false;
+ switch(cmd) {
+ case 0:
+ {
+ this->resetLoggingBlocks();
+ break;
+ }
+ case 1:
+ {
+ this->resetLoggingBlocks();
+ this->loadLoggingBlocksFromFile("loggingBlocks.txt");
+ break;
+ }
+ case 2:
+ {
+ this->loadLoggingBlocksFromFile("loggingBlocks.txt");
+ break;
+ }
+ case 3:
+ {
+ this->m_tocLogs->unregisterLoggingBlockID(id);
+ break;
+ }
+ case 4:
+ {
+ struct LoggingBlock block = this->m_tocLogs->loggingBlockForID(id, found);
+ this->enableLogging(block.strName);
+ break;
+ }
+ case 5:
+ {
+ struct LoggingBlock block = this->m_tocLogs->loggingBlockForID(id, found);
+ this->disableLogging(block.strName);
+ break;
+ }
+ }
+ break;
+ }
}
-
// A command was parsed
return( true );
}
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
index 85eaaff57..293470194 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
@@ -11,6 +11,9 @@
#include <stdio.h>
#include <errno.h>
#include <string.h>
+#include <limits>
+#include <filesystem>
+#include <stdexcept>
// Various headers for the files
static const char *variables = "%Time\t\tMarker\t\tMotor_1\t\t"
@@ -49,6 +52,12 @@ void CCrazyflie::openLogFile(char *baseFileName) {
printf("Opening log file %s for quadcopter %d...", logFileName, (m_quadNum + 1));
try {
+ char dir[250];
+ getcwd(dir, 250);
+ std::string fullFilePath(dir);
+ fullFilePath += "/";
+ fullFilePath += logFileName;
+ this->logfilename = fullFilePath;
file_log.open(logFileName, std::ios_base::out);
} catch (...) {
std::cout << "Error opening logfile for quadcopter " << m_quadNum;
@@ -99,6 +108,8 @@ void CCrazyflie::writeLogData() {
file_log << "\t\t" << this->sensorDoubleValue("pid_attitude.roll_outP");
file_log << "\t\t" << this->sensorDoubleValue("pid_attitude.roll_outD");
file_log << "\t\t" << this->sensorDoubleValue("ctrlStdnt.rollRate");
+
+ file_log << "\t\t" << this->sensorDoubleValue("testStand");
}
@@ -136,6 +147,14 @@ void CCrazyflie::displayLoggingBlocksInitialized() {
}
double CCrazyflie::sensorDoubleValue(std::string strName) {
+ if(!strName.compare("testStand")) {
+ if(this->test_stand != NULL) {
+ return this->testStandData;
+ }
+ else {
+ return std::numeric_limits<double>::quiet_NaN();
+ }
+ }
return m_tocLogs->doubleValue(strName);
}
@@ -144,6 +163,26 @@ bool CCrazyflie::addLoggingBlock(const char *name, uint16_t frequency) {
return(retval);
}
+bool CCrazyflie::resetLoggingBlocks() {
+ if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
+ char cPayload[1] = { 0x05 };
+
+ CCRTPPacket* resetBlock = new CCRTPPacket(cPayload, 2, 1);
+ resetBlock->setPort(0x05);
+ resetBlock->setChannel(1);
+
+ CCRTPPacket* crtpReceived = m_crRadio->sendAndReceive(resetBlock, m_nRadioChannel, this);
+
+ delete resetBlock;
+
+ if (crtpReceived) {
+ delete crtpReceived;
+ return true;
+ }
+
+ return false;
+}
+
void CCrazyflie::removeLoggingBlock(const char *name) {
if( ALL_THE_DEBUG ) printf( "Enter: %s\n", __FUNCTION__ );
m_tocLogs->unregisterLoggingBlock(name);
@@ -161,4 +200,147 @@ bool CCrazyflie::addLoggingEntry(const char *blockName, const char *entryName) {
if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__ );
return ( retval );
+}
+
+bool CCrazyflie::setTestStand(serial::Serial * ptr) {
+ this->test_stand = ptr;
+ return true;
+}
+
+double CCrazyflie::readTestStand() {
+ if(this->test_stand == NULL) {
+ return std::numeric_limits<double>::quiet_NaN();
+ }
+ uint8_t buffer[8];
+ int nlNum = 0;
+ std::string result = "";
+ this->test_stand->read(buffer, 8);
+ for(int i = 0; i < 8; i++) {
+ if(buffer[i] != '\n' && buffer[i] != ',') {
+ result += buffer[i];
+ }
+ else if(buffer[i] == '\n') {
+ nlNum++;
+ }
+ }
+ if(nlNum == 8) {
+ return -1;
+ }
+ int find = result.find(".");
+ int maxOut = 0;
+ if(find == std::string::npos || find > result.length() - 3) {
+ while(find == std::string::npos || find > result.length() - 3) {
+ this->test_stand->read(buffer, 1);
+ if(buffer[0] != ',' && buffer[0] != '\n') {
+ result += buffer[0];
+ }
+ else {
+ maxOut++;
+ }
+ if(maxOut == 8) {
+ return -2;
+ }
+ }
+ }
+ double value;
+ try {
+ value = std::stod(result);
+ }
+ catch(std::invalid_argument&) {
+ return -3;
+ }
+ catch(std::out_of_range&) {
+ return -3;
+ }
+ this->testStandData = value;
+ return value;
+}
+
+std::string CCrazyflie::getlogfile() {
+ return this->logfilename;
+}
+
+bool CCrazyflie::enableLogging(std::string strBlockName) {
+ return m_tocLogs->enableLogging(strBlockName);
+}
+
+bool CCrazyflie::disableLogging(std::string strBlockName) {
+ return m_tocLogs->disableLogging(strBlockName);
+}
+
+/*
+START BLOCK
+ID
+Name
+Frequency
+Entries
+END BLOCK
+*/
+bool CCrazyflie::loadLoggingBlocksFromFile(std::string blockFileName) {
+ std::ifstream blockFile;
+ blockFile.open(blockFileName);
+ std::string line = "";
+ //0 if not readingBlock 1 is START BLOCK and so on
+ int blockLinesRead = 0;
+ int curId = -1;
+ uint16_t curFreq;
+ std::string curName;
+ std::string curEntryName;
+
+ while(getline(blockFile, line)) {
+ if(!line.compare("START BLOCK")) {
+ blockLinesRead = 1;
+ continue;
+ }
+ else if(!line.compare("END BLOCK")) {
+ enableLogging(curName);
+ blockLinesRead = 0;
+ int curId = -1;
+ curFreq = 0;
+ curName = "";
+ curEntryName = "";
+ continue;
+ }
+ else if(blockLinesRead == 1) {
+ try {
+ curId = std::stoi(line);
+ }
+ catch(std::invalid_argument& e) {
+ std::cout << "Error: invalid ID. Skipping Block" << std::endl;
+ blockLinesRead = 0;
+ continue;
+ }
+ blockLinesRead++;
+ continue;
+ }
+ else if(blockLinesRead == 2) {
+ curName = line;
+ blockLinesRead++;
+ continue;
+ }
+ else if(blockLinesRead == 3) {
+ try {
+ curFreq = std::stoi(line);
+ }
+ catch(std::invalid_argument& e) {
+ std::cout << "Error: invalid frequency. Skipping Block" << std::endl;
+ blockLinesRead = 0;
+ continue;
+ }
+ blockLinesRead++;
+ addLoggingBlock(curName.c_str(), curFreq);
+ continue;
+ }
+ else if(blockLinesRead > 3) {
+ curEntryName = line;
+ addLoggingEntry(curName.c_str(), curEntryName.c_str());
+ blockLinesRead++;
+ continue;
+ }
+ else {
+ continue;
+ }
+ }
+ blockFile.close();
+ return true;
}
\ No newline at end of file
diff --git a/crazyflie_groundstation/src/crazyflieGroundStation.cpp b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
index c8161b549..acf547730 100644
--- a/crazyflie_groundstation/src/crazyflieGroundStation.cpp
+++ b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
@@ -8,6 +8,7 @@
#include "Bridge.h"
#include "computations/NetworkForwarding.h"
#include "computations/LocalizationLogger.h"
+#include "serial/serial.h"
#include "quadcopterData.h"
#include <sys/socket.h>
@@ -16,6 +17,7 @@
#include <pthread.h>
#include <stdio.h>
#include <unistd.h>
+#include <vector>
#include <limits>
@@ -163,6 +165,34 @@ int main(int argc, char **argv) {
// Disable the computation (just in case)
//crazyflie_info[i].cflieCopter->disableComputation();
+ std::vector<serial::PortInfo> devices_found = serial::list_ports();
+
+ std::vector<serial::PortInfo>::iterator iter = devices_found.begin();
+
+ std::string selectedPort = "n/a";
+
+ while( iter != devices_found.end() )
+ {
+ serial::PortInfo device = *iter++;
+
+ if(device.hardware_id.compare("n/a")) {
+ cout << "Port found, do you want to use " << device.port << ": " << device.description << " as your serial input to the ground station? y or n" << endl;
+ char response = getchar();
+ if(response == 'y') {
+ selectedPort = device.port;
+ break;
+ }
+ }
+ }
+
+ if(selectedPort.compare("n/a")) {
+ serial::Serial * test_stand_ptr = new serial::Serial(selectedPort, 9600);
+ crazyflie_info[i].cflieCopter->setTestStand(test_stand_ptr);
+ }
+ else {
+ crazyflie_info[i].cflieCopter->setTestStand(NULL);
+ }
+
// Check the controller type
cout << crazyflie_info[i].cflieCopter->getControllerTypeString() << endl;
@@ -231,15 +261,16 @@ int main(int argc, char **argv) {
crazyflie_info[i].cflieCopter->cycle();
}
- usleep(100);
+ //usleep(100);
+ crazyflie_info[i].cflieCopter->resetLoggingBlocks();
// Log the battery information
- if ( crazyflie_info[i].cflieCopter->addLoggingBlock("battery", 1) ) {
- crazyflie_info[i].cflieCopter->addLoggingEntry("battery", "pm.vbat");
- }
+ // if ( crazyflie_info[i].cflieCopter->addLoggingBlock("battery", 20) ) {
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("battery", "pm.vbat");
+ // }
- usleep(100);
+ //usleep(100);
// The current information about the quad
@@ -251,14 +282,15 @@ int main(int argc, char **argv) {
}*/
- usleep(1000);
- if ( crazyflie_info[i].cflieCopter->addLoggingBlock("pwm", 100) ) {
- crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m1_pwm");
- crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m2_pwm");
- crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m3_pwm");
- crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m4_pwm");
- }
+ // usleep(1000);
+ // if ( crazyflie_info[i].cflieCopter->addLoggingBlock("pwm", 100) ) {
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m1_pwm");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m2_pwm");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m3_pwm");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("pwm", "pwm.m4_pwm");
+ // }
+ /*
usleep(1000);
if ( crazyflie_info[i].cflieCopter->addLoggingBlock("pitch", 100) ) {
crazyflie_info[i].cflieCopter->addLoggingEntry("pitch", "pid_attitude.pitch_outP");
@@ -272,6 +304,7 @@ int main(int argc, char **argv) {
crazyflie_info[i].cflieCopter->addLoggingEntry("roll", "pid_attitude.roll_outD");
crazyflie_info[i].cflieCopter->addLoggingEntry("roll", "pid_attitude.roll_outI");
}
+ */
/* usleep(1000);
if ( crazyflie_info[i].cflieCopter->addLoggingBlock("mixer", 100) ) {
@@ -281,21 +314,23 @@ int main(int argc, char **argv) {
crazyflie_info[i].cflieCopter->addLoggingEntry("mixer", "mixer.ctr_yaw");
}
*/
- usleep(1000);
- if ( crazyflie_info[i].cflieCopter->addLoggingBlock("stabilizer", 100) ) {
- crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.roll");
- crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.pitch");
- crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.yaw");
- crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.thrust");
- }
+ // if ( crazyflie_info[i].cflieCopter->addLoggingBlock("stabilizer", 50) ) {
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.roll");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.pitch");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.yaw");
+ // //crazyflie_info[i].cflieCopter->addLoggingEntry("stabilizer", "stabilizer.thrust");
+ // crazyflie_info[i].cflieCopter->enableLogging("stabilizer");
+ // }
+
- usleep(1000);
- if ( crazyflie_info[i].cflieCopter->addLoggingBlock("gyro", 100) ) {
- crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.x");
- crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.y");
- crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.z");
- }
+ // if ( crazyflie_info[i].cflieCopter->addLoggingBlock("gyro", 50) ) {
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.x");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.y");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("gyro", "gyro.z");
+ // crazyflie_info[i].cflieCopter->enableLogging("gyro");
+ // }
+
/* usleep(1000);
if ( crazyflie_info[i].cflieCopter->addLoggingBlock("positionPID", 100) ) {
@@ -319,12 +354,12 @@ int main(int argc, char **argv) {
// crazyflie_info[i].cflieCopter->addLoggingEntry("ratePID", "yawRatePID.output");
// }
- usleep(1000);
- if ( crazyflie_info[i].cflieCopter->addLoggingBlock("acc", 100) ) {
- crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.x");
- crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.y");
- crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.z");
- }
+ // usleep(1000);
+ // if ( crazyflie_info[i].cflieCopter->addLoggingBlock("acc", 100) ) {
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.x");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.y");
+ // crazyflie_info[i].cflieCopter->addLoggingEntry("acc", "acc.z");
+ // }
/*usleep(1000);
if ( crazyflie_info[i].cflieCopter->addLoggingBlock("ctrlStdnt", 100) ) {
@@ -332,7 +367,7 @@ int main(int argc, char **argv) {
}
*/
-
+ crazyflie_info[i].cflieCopter->loadLoggingBlocksFromFile("loggingBlocks.txt");
crazyflie_info[i].cflieCopter->displayLoggingBlocksInitialized();
@@ -342,9 +377,13 @@ int main(int argc, char **argv) {
crazyflie_info[i].cflieCopter->addLoggingEntry("position", "posCtlAlt.outy");
crazyflie_info[i].cflieCopter->addLoggingEntry("position", "posCtlAlt.outz");
}*/
+
+
}
+
+
bridge = new Bridge();
// Initialize the VRPN connections
@@ -391,9 +430,7 @@ int main(int argc, char **argv) {
network->clearAllNetworkQueues();
- cout << "The Init has completed, press enter key to continue" << endl;
- getchar();
-
+ cout << "The Init has completed" << endl;
void* status;
@@ -421,10 +458,12 @@ int main(int argc, char **argv) {
*/
void ctrlc_handler(int sig) {
// Send up a flag for the threads to end
- //for (int i = 0; i < NUM_RADIOS; i++) {
- //radios[i].radio->stopThread();
- //}
- exitProgram = 0;
+ for (int i = 0; i < NUM_RADIOS; i++) {
+ radios[i].radio->stopThread();
+ }
+ unlink("./crazyflie_groundstation.socket");
+ closeoutProgram();
+ exit(0);
}
@@ -440,6 +479,7 @@ void closeoutProgram() {
cout << "\tBattery" << ": " << crazyflie_info[i].cflieCopter->batteryLevel() << endl;
crazyflie_info[i].cflieCopter->cycle();
+ crazyflie_info[i].cflieCopter->resetLoggingBlocks();
delete crazyflie_info[i].cflieCopter;
}
diff --git a/crazyflie_groundstation/src/quadcopterData.cpp b/crazyflie_groundstation/src/quadcopterData.cpp
index c5b135175..658adbd30 100644
--- a/crazyflie_groundstation/src/quadcopterData.cpp
+++ b/crazyflie_groundstation/src/quadcopterData.cpp
@@ -231,7 +231,7 @@ QUADCOPTERS_t crazyflie_info[] = {
{"Crazyflie22", // Trackable name
NULL, // VRPN tracker object (initialized in VRPNinit)
NULL, // CrazyFlie copter object (initialized in main)
- 75, // The channel number of the crazyflie
+ 65, // The channel number of the crazyflie
0, // The radio to use
XFER_2M, // The datarate of the Crazyflie
0, // The init time
diff --git a/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_linux.cc b/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_linux.cc
new file mode 100644
index 000000000..db2afb2c9
--- /dev/null
+++ b/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_linux.cc
@@ -0,0 +1,336 @@
+#if defined(__linux__)
+
+/*
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * 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 <vector>
+#include <string>
+#include <sstream>
+#include <stdexcept>
+#include <iostream>
+#include <fstream>
+#include <cstdio>
+#include <cstdarg>
+#include <cstdlib>
+
+#include <glob.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "serial/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<string> glob(const vector<string>& 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<string> 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<string>
+glob(const vector<string>& patterns)
+{
+ vector<string> paths_found;
+
+ if(patterns.size() == 0)
+ return paths_found;
+
+ glob_t glob_results;
+
+ int glob_retval = glob(patterns[0].c_str(), 0, NULL, &glob_results);
+
+ vector<string>::const_iterator iter = patterns.begin();
+
+ while(++iter != patterns.end())
+ {
+ glob_retval = glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results);
+ }
+
+ for(int 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<string>
+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<string> 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 >= 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<PortInfo>
+serial::list_ports()
+{
+ vector<PortInfo> results;
+
+ vector<string> 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.*");
+ search_globs.push_back("/dev/rfcomm*");
+
+ vector<string> devices_found = glob( search_globs );
+
+ vector<string>::iterator iter = devices_found.begin();
+
+ while( iter != devices_found.end() )
+ {
+ string device = *iter++;
+
+ vector<string> 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/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_osx.cc b/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_osx.cc
new file mode 100644
index 000000000..333c55c27
--- /dev/null
+++ b/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_osx.cc
@@ -0,0 +1,286 @@
+#if defined(__APPLE__)
+
+#include <sys/param.h>
+#include <stdint.h>
+
+#include <CoreFoundation/CoreFoundation.h>
+#include <IOKit/IOKitLib.h>
+#include <IOKit/serial/IOSerialKeys.h>
+#include <IOKit/IOBSD.h>
+
+#include <iostream>
+#include <string>
+#include <vector>
+
+#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<CFStringRef>(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<CFStringRef>(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<CFNumberRef>(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<PortInfo>
+serial::list_ports(void)
+{
+ vector<PortInfo> 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/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_win.cc b/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_win.cc
new file mode 100644
index 000000000..7da40c440
--- /dev/null
+++ b/crazyflie_groundstation/src/serial/impl/list_ports/list_ports_win.cc
@@ -0,0 +1,152 @@
+#if defined(_WIN32)
+
+/*
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * 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/serial.h"
+#include <tchar.h>
+#include <windows.h>
+#include <setupapi.h>
+#include <initguid.h>
+#include <devguid.h>
+#include <cstring>
+
+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<PortInfo>
+serial::list_ports()
+{
+ vector<PortInfo> 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/crazyflie_groundstation/src/serial/impl/unix.cc b/crazyflie_groundstation/src/serial/impl/unix.cc
new file mode 100644
index 000000000..a40b0fa07
--- /dev/null
+++ b/crazyflie_groundstation/src/serial/impl/unix.cc
@@ -0,0 +1,1084 @@
+/* Copyright 2012 William Woodall and John Harrison
+ *
+ * Additional Contributors: Christopher Baker @bakercp
+ */
+
+#if !defined(_WIN32)
+
+#include <stdio.h>
+#include <string.h>
+#include <sstream>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/signal.h>
+#include <errno.h>
+#include <paths.h>
+#include <sysexits.h>
+#include <termios.h>
+#include <sys/param.h>
+#include <pthread.h>
+
+#if defined(__linux__)
+# include <linux/serial.h>
+#endif
+
+#include <sys/select.h>
+#include <sys/time.h>
+#include <time.h>
+#ifdef __MACH__
+#include <AvailabilityMacros.h>
+#include <mach/clock.h>
+#include <mach/mach.h>
+#endif
+
+#include "serial/impl/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 <IOKit/serial/ioss.h>
+#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<int> (1e9);
+ expiry.tv_nsec = tv_nsec % static_cast<int>(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;
+ }
+ 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);
+
+ // apply custom baud rate, if any
+ if (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<speed_t> (baudrate_);
+ // PySerial uses IOSSIOSPEED=0x80045402
+ 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<int> (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
+ }
+
+ // 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<size_t> (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<long>(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<long> (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<uint32_t> (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<size_t> (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<long> (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);
+
+ // even though pselect returned readiness the call might still be
+ // interrupted. In that case simply retry.
+ if (bytes_written_now == -1 && errno == EINTR) {
+ continue;
+ }
+
+ // 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.
+ std::stringstream strs;
+ strs << "device reports readiness to write but "
+ "returned no data (device disconnected?)";
+ strs << " errno=" << errno;
+ strs << " bytes_written_now= " << bytes_written_now;
+ strs << " bytes_written=" << bytes_written;
+ strs << " length=" << length;
+ throw SerialException(strs.str().c_str());
+ }
+ // Update bytes_written
+ bytes_written += static_cast<size_t> (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<int> (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/crazyflie_groundstation/src/serial/impl/win.cc b/crazyflie_groundstation/src/serial/impl/win.cc
new file mode 100644
index 000000000..889e06f1c
--- /dev/null
+++ b/crazyflie_groundstation/src/serial/impl/win.cc
@@ -0,0 +1,646 @@
+#if defined(_WIN32)
+
+/* Copyright 2012 William Woodall and John Harrison */
+
+#include <sstream>
+
+#include "serial/impl/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(0, windows_com_port_prefix.size(), 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;
+ 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());
+ 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<size_t>(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<DWORD>(size), &bytes_read, NULL)) {
+ stringstream ss;
+ ss << "Error while reading from the serial port: " << GetLastError();
+ 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<DWORD>(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/crazyflie_groundstation/src/serial/serial.cc b/crazyflie_groundstation/src/serial/serial.cc
new file mode 100644
index 000000000..a9e6f84b2
--- /dev/null
+++ b/crazyflie_groundstation/src/serial/serial.cc
@@ -0,0 +1,432 @@
+/* Copyright 2012 William Woodall and John Harrison */
+#include <algorithm>
+
+#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
+# include <alloca.h>
+#endif
+
+#if defined (__MINGW32__)
+# define alloca __builtin_alloca
+#endif
+
+#include "serial/serial.h"
+
+#ifdef _WIN32
+#include "serial/impl/win.h"
+#else
+#include "serial/impl/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<uint8_t> &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;
+ }
+
+ 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;
+ }
+ buffer.append (reinterpret_cast<const char*>(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<uint8_t*>
+ (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(read_so_far < eol_len) continue;
+ if (string (reinterpret_cast<const char*>
+ (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<const char*> (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<string>
+Serial::readlines (size_t size, string eol)
+{
+ ScopedReadLock lock(this->pimpl_);
+ std::vector<std::string> lines;
+ size_t eol_len = eol.length ();
+ uint8_t *buffer_ = static_cast<uint8_t*>
+ (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<const char*> (buffer_ + start_of_line),
+ read_so_far - start_of_line));
+ }
+ break; // Timeout occured on reading 1 byte
+ }
+ if(read_so_far < eol_len) continue;
+ if (string (reinterpret_cast<const char*>
+ (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+ // EOL found
+ lines.push_back(
+ string(reinterpret_cast<const char*> (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<const char*> (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<const uint8_t*>(data.c_str()),
+ data.length());
+}
+
+size_t
+Serial::write (const std::vector<uint8_t> &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/crazyflie_groundstation/src/userInput.cpp b/crazyflie_groundstation/src/userInput.cpp
index 5c6b3c236..bddd7fe76 100644
--- a/crazyflie_groundstation/src/userInput.cpp
+++ b/crazyflie_groundstation/src/userInput.cpp
@@ -97,8 +97,6 @@ void* UIThread(void *threadID) {
printf("adapterSocket = %d\n", adapterSocket);
- sleep(3);
-
/* Create sockaddr and bind */
struct sockaddr_un sa;
sa.sun_family = AF_UNIX;
@@ -457,15 +455,13 @@ static int client_recv(int fd) {
}
//buffer[len_pre + r] = '\0';
- struct command * newCmd = (struct command*) malloc(sizeof(struct command));
- struct metadata * m = (struct metadata*) malloc(sizeof(struct metadata));
- uint8_t * d = (uint8_t*) malloc(sizeof(uint8_t));
- newCmd->meta = m;
- newCmd->data = d;
- DecodePacket(newCmd->meta, newCmd->data, 100, temp, r);
- int cmType = (int) newCmd->meta->msg_type;
- newCmd->type = (commandType) cmType;
- buffer[len_pre] = newCmd;
+ struct command newCmd;
+ struct metadata m;
+ newCmd.meta = m;
+ DecodePacket(&newCmd.meta, newCmd.data, 100, temp, r);
+ int cmType = (int) newCmd.meta.msg_type;
+ newCmd.type = (commandType) cmType;
+ buffer[len_pre] = &newCmd;
int flags = fcntl(fd, F_GETFL, 0);
fcntl(fd, F_SETFL, flags | O_NONBLOCK);
@@ -512,15 +508,10 @@ static int client_recv(int fd) {
//buffer[len_pre + r] = '\0';
if(r>0) {
- newCmd = (struct command*) malloc(sizeof(struct command));
- m = (metadata*) malloc(sizeof(struct metadata));
- d = (uint8_t*) malloc(sizeof(uint8_t));
- newCmd->meta = m;
- newCmd->data = d;
- DecodePacket(newCmd->meta, newCmd->data, 100, temp, r);
- cmType = (int) newCmd->meta->msg_type;
- newCmd->type = (commandType) cmType;
- buffer[len_pre] = newCmd;
+ DecodePacket(&newCmd.meta, newCmd.data, 100, temp, r);
+ cmType = (int) newCmd.meta.msg_type;
+ newCmd.type = (commandType) cmType;
+ buffer[len_pre] = &newCmd;
}
continue;
}
@@ -575,15 +566,10 @@ static int client_recv(int fd) {
//buffer[len_pre + r] = '\0';
if(r>0) {
- newCmd = (struct command*) malloc(sizeof(struct command));
- m = (metadata*) malloc(sizeof(struct metadata));
- d = (uint8_t*) malloc(sizeof(uint8_t));
- newCmd->meta = m;
- newCmd->data = d;
- DecodePacket(newCmd->meta, newCmd->data, 100, temp, r);
- cmType = (int) newCmd->meta->msg_type;
- newCmd->type = (commandType) cmType;
- buffer[len_pre] = newCmd;
+ DecodePacket(&newCmd.meta, newCmd.data, 100, temp, r);
+ cmType = (int) newCmd.meta.msg_type;
+ newCmd.type = (commandType) cmType;
+ buffer[len_pre] = &newCmd;
}
}
diff --git a/crazyflie_groundstation/src/userOutput.cpp b/crazyflie_groundstation/src/userOutput.cpp
index 9ade83e63..706621fe7 100644
--- a/crazyflie_groundstation/src/userOutput.cpp
+++ b/crazyflie_groundstation/src/userOutput.cpp
@@ -298,6 +298,14 @@ void* displayData(void* id) {
}
cout << endl << endl;
+ // Print the battery level
+ cout << "Test Stand\t";
+ for (int i = 0; i < NUM_QUADS; i++) {
+ printf("%1.2f", crazyflie_info[i].cflieCopter->sensorDoubleValue("testStand"));
+ cout << "\t\t";
+ }
+ cout << endl << endl;
+
// Print the battery level
cout << "Battery\t";
for (int i = 0; i < NUM_QUADS; i++) {
diff --git a/groundStation/adapters/crazyflie/Makefile b/groundStation/adapters/crazyflie/Makefile
index b9f34f9ad..88c379a79 100644
--- a/groundStation/adapters/crazyflie/Makefile
+++ b/groundStation/adapters/crazyflie/Makefile
@@ -49,6 +49,10 @@ inc:
ln -s $(BACKEND)/packet.h $(INC)
ln -s $(BACKEND)/param.c $(INC)
ln -s $(BACKEND)/param.h $(INC)
+ ln -s $(BACKEND)/logfile.c $(INC)
+ ln -s $(BACKEND)/logfile.h $(INC)
+ ln -s $(BACKEND)/backend_adapter.h $(INC)
+ ln -s $(BACKEND)/config.h $(INC)
ln -s $(QUADINC)/PID.h $(INC)
ln -s $(QUADINC)/timer.h $(INC)
ln -s $(QUADINC)/type_def.h $(INC)
diff --git a/groundStation/adapters/crazyflie/src/cf_adapter.c b/groundStation/adapters/crazyflie/src/cf_adapter.c
index aaf6d972e..eaf8f4287 100644
--- a/groundStation/adapters/crazyflie/src/cf_adapter.c
+++ b/groundStation/adapters/crazyflie/src/cf_adapter.c
@@ -73,15 +73,17 @@ ssize_t adapterWrite(struct backend_conn *conn, const char * line, size_t psize)
conn->len = 0;
conn->buf = NULL;
- conn->socket = fdopen(s, "r+");
+ //conn->socket = fdopen(s, "r+");
+ conn->socket = NULL;
conn->socketfd = s;
printf("pointer after: %p\n", conn->socket);
check = fcntl(s, F_GETFD);
printf("check after: %i\n", check);
- if (conn->socket == NULL) {
+ /*if (conn->socket == NULL) {
perror("fdopen");
return NULL;
}
+ */
//TODO: seg faults, no such file or directory
/*May be redundant code,
if (setvbuf(conn->socket, NULL, _IONBF, 0)) {
@@ -186,6 +188,15 @@ int main(int argc, char *args[]) {
ssize_t packetsize = -1;
int cbreturn = 0;
+ struct MessageType AdapterTypes[MAX_ADAPTER_ID];
+ for(int i = 0; i < MAX_TYPE_ID; i++) {
+ AdapterTypes[i] = MessageTypes[i];
+ }
+
+ AdapterTypes[GETLOGFILE_ID] = MessageTypes[MAX_TYPE_ID];
+ AdapterTypes[RESPGETLOGFILE_ID] = MessageTypes[MAX_TYPE_ID+1];
+ AdapterTypes[LOGBLOCKCOMMAND_ID] = MessageTypes[MAX_TYPE_ID+2];
+
// cfsocketconn = connectToCrazyflieGroundStation();
// if (cfsocketconn == NULL) {
// perror("Failed to connect to cf_groundstation");
@@ -214,8 +225,8 @@ int main(int argc, char *args[]) {
//call the appropriate callback
//example line 87 in MicroCART/quad/src/quad_app/communication.c
- command_cb* func_ptr = MessageTypes[metad.msg_type].functionPtr;
- if (metad.msg_type < MAX_TYPE_ID && func_ptr) {
+ command_cb* func_ptr = AdapterTypes[metad.msg_type].functionPtr;
+ if (metad.msg_type < MAX_ADAPTER_ID && func_ptr) {
cbreturn = (* func_ptr)(NULL,&metad,data, metad.data_len);
if(cbreturn <0){
perror("callback return in error");
diff --git a/groundStation/adapters/crazyflie/src/cf_adapter.h b/groundStation/adapters/crazyflie/src/cf_adapter.h
index 13f57b10b..30348d78d 100644
--- a/groundStation/adapters/crazyflie/src/cf_adapter.h
+++ b/groundStation/adapters/crazyflie/src/cf_adapter.h
@@ -31,8 +31,10 @@
#include "communication.h"
#include "packet.h"
#include "param.h"
+#include "logfile.h"
#include "type_def.h"
#include "cf_callbacks.h"
+#include "backend_adapter.h"
struct backend_conn {
FILE * socket;
diff --git a/groundStation/adapters/crazyflie/src/cf_callbacks.c b/groundStation/adapters/crazyflie/src/cf_callbacks.c
index 8248141b0..f83a46963 100644
--- a/groundStation/adapters/crazyflie/src/cf_callbacks.c
+++ b/groundStation/adapters/crazyflie/src/cf_callbacks.c
@@ -223,51 +223,6 @@ int cb_getparam(struct modular_structs *structs, struct metadata *meta, uint8_t
return -2;
}
-
- /*if node is the x, y, or z
- if(*(data) == 9){
- dimension = 'x';
- }
- else if(*(data)== 10){
- dimension = 'y';
- }
- else if(*(data)== 11){
- dimension = 'z';
- }
- else{
- //not supported node to set
- return -1;
- }
- */
-
- printf("\t\tabout to write to cf groundstation\n");
- //build float value of the the param value
- //send to cf groundstation over socket
- //create command string
- /*
- switch(dimension) {
- case'x':
- //sprintf(cmd, "1x%1.2f",build_float(data+4));
- sprintf(cmd, "1t\n",build_float(data+4));
- error = adapterWrite(cfsocketconn,cmd);
- sprintf(cmd, "1k\n",build_float(data+4));
- error = adapterWrite(cfsocketconn,cmd);
- break;
- case 'y':
- sprintf(cmd, "1y%1.2f",build_float(data+4));
- error = adapterWrite(cfsocketconn,cmd);
- break;
- case 'z':
- sprintf(cmd, "1z%1.2f",build_float(data+4));
- error = adapterWrite(cfsocketconn,cmd);
- break;
- default:
- perror("cb_setparam reached default in switch statement");
- return(-2);
- }
- */
-
- //sprintf(cmd, "1z%1.2f",build_float(data+4));
memcpy(cmd, data, meta->data_len);
uint8_t packet[64];
size_t psize = EncodePacket(packet, 64, meta, cmd);
@@ -284,9 +239,9 @@ int cb_getparam(struct modular_structs *structs, struct metadata *meta, uint8_t
//printf("ID: %d", buffer[1]);
- uint8_t packetr[64];
+ uint8_t packetr[256];
struct metadata mr;
- uint8_t *datar = malloc(sizeof(*data) * 128);
+ uint8_t datar[128];
//ssize_t resultr;
ssize_t psizer;
@@ -296,6 +251,8 @@ int cb_getparam(struct modular_structs *structs, struct metadata *meta, uint8_t
error = adapterWrite(mcsocketconn, packetr, psizer);
+ //free(datar);
+
return error;
}
@@ -396,3 +353,70 @@ int cb_getnodes(struct modular_structs *structs, struct metadata *meta, unsigned
int cb_addnode(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
return -1;
}
+
+int cb_getlogfile(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
+ char cmd[100];
+ memset(cmd, 0, sizeof(cmd));
+ char dimension;
+ ssize_t error;
+
+ //check if the connection is initiallized
+ if(cfsocketconn == NULL){
+ perror("\t\tcf groundstation connection not initialized\n");
+ return -2;
+ }
+
+ memcpy(cmd, data, meta->data_len);
+ uint8_t packet[64];
+ size_t psize = EncodePacket(packet, 64, meta, cmd);
+ error = adapterWrite(cfsocketconn,packet, psize);
+
+ char buffer[256];
+ memset(buffer, '\000', 256);
+ ssize_t r = 0;
+
+ //char * bufferptr = buffer;
+
+ while(r<=0) {
+ r = read(cfsocketconn->socketfd, buffer, 256);
+ }
+
+ //printf("ID: %d", buffer[1]);
+
+ uint8_t packetr[264];
+ memset(packetr, '\000', 264);
+ struct metadata mr;
+ uint8_t datar[r];
+ memset(datar, '\000', r);
+ //ssize_t resultr;
+ ssize_t psizer;
+
+ EncodeResponseLogfile(&mr, datar, 256, buffer);
+
+ psizer = EncodePacket(packetr, 256, &mr, datar);
+
+ error = adapterWrite(mcsocketconn, packetr, psizer);
+
+ return error;
+}
+
+int cb_logblockcommand(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
+ uint8_t cmd[100];
+ memset(cmd, 0, sizeof(cmd));
+ char dimension;
+ ssize_t error;
+
+ //check if the connection is initiallized
+ if(cfsocketconn == NULL){
+ perror("\t\tcf groundstation connection not initialized\n");
+ return -2;
+ }
+
+ printf("\t\tabout to write to cf groundstation\n");
+ memcpy(cmd, data, meta->data_len);
+ uint8_t packet[64];
+ size_t psize = EncodePacket(packet, 64, meta, cmd);
+ error = adapterWrite(cfsocketconn,packet, psize);
+
+ return error;
+}
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index d06f41d8c..86130046e 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -40,6 +40,7 @@
#include "type_def.h"
#include "packet.h"
#include "param.h"
+#include "logfile.h"
#include "update.h"
#include "config.h"
#include "source.h"
@@ -600,7 +601,7 @@ static ssize_t writeQuadIndex(const uint8_t * buf, size_t count, int index) {
if (trackables[index].isAdapter == 0) {
retval = write(trackables[index].socket, buf, count);
} else {
- retval = adapterWrite(trackables[index].conn, (const char *) buf, count);
+ retval = writeToAdapter(trackables[index].conn, (const char *) buf, count);
}
}
@@ -843,6 +844,114 @@ static void client_recv(int fd) {
}
}
}
+ else if(strncmp(buffer, "logblockcommand", strlen("logblockcommand")) == 0) {
+ int adapterCheck = 0;
+ printf(" found a msg_type of %d\n", MAX_TYPE_ID+2);
+ for (int i = 0; i < NUM_TRACKABLES; i++) {
+ if (strcmp(trackables[i].name, trackable) == 0) {
+ if(trackables[i].isAdapter) {
+ adapterCheck = 1;
+ break;
+ }
+ }
+ }
+ if(adapterCheck) {
+ uint8_t packet[150];
+ struct metadata m;
+ uint8_t *data = malloc(sizeof(*data) * 128);
+ ssize_t result;
+ ssize_t psize;
+
+ result = EncodeLogBlockCommand(&m, data, 128, buffer);
+ /*
+ result = 1;
+ int8_t command, id;
+
+ sscanf(buffer, "logblockcommand %hhd %hhd", &command, &id);
+ data[0] = command;
+ data[1] = id;
+ */
+
+ if (result < 0) {
+ warnx("Big problems. client_recv. EncodeMetaData");
+ free(data);
+ return;
+ }
+
+ m.msg_id = currMessageID++;
+
+ if ((psize = EncodePacket(packet, 150, &m, data)) < 0) {
+ warnx("Big problems. client_recv. EncodePacket");
+ free(data);
+ return;
+ }
+
+ int retval = writeQuad(packet, psize);
+
+ free(data);
+ }
+ else {
+ printf("Command 'logblockcommand' is currently only set up for the adapter");
+ }
+ }
+ else if(strncmp(buffer, "getlogfile", strlen("getlogfile")) == 0) {
+ int adapterCheck = 0;
+ printf(" found a msg_type of %d\n", MAX_TYPE_ID+1);
+ for (int i = 0; i < NUM_TRACKABLES; i++) {
+ if (strcmp(trackables[i].name, trackable) == 0) {
+ if(trackables[i].isAdapter) {
+ adapterCheck = 1;
+ break;
+ }
+ }
+ }
+ if(adapterCheck) {
+ uint8_t packet[150];
+ struct metadata m;
+ uint8_t *data = malloc(sizeof(*data) * 128);
+ ssize_t result;
+ ssize_t psize;
+
+ result = EncodeGetLogfile(&m, data, 128, buffer);
+ /*
+ result = 1;
+ int8_t command, id;
+
+ sscanf(buffer, "logblockcommand %d %d", &command, &id);
+ data[0] = command;
+ data[1] = id;
+ */
+
+ if (result < 0) {
+ warnx("Big problems. client_recv. EncodeMetaData");
+ free(data);
+ return;
+ }
+
+ m.msg_id = currMessageID++;
+ /*
+ m.msg_type = MAX_TYPE_ID+2;
+ m.data_len = 2;
+ */
+
+ if ((psize = EncodePacket(packet, 150, &m, data)) < 0) {
+ warnx("Big problems. client_recv. EncodePacket");
+ free(data);
+ return;
+ }
+
+ if (clientAddPendResponses(fd, BytesTo16(packet[ID_L], packet[ID_H])) == -1) {
+ warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
+ }
+
+ int retval = writeQuad(packet, psize);
+
+ free(data);
+ }
+ else {
+ printf("Command 'getlogfile' is currently only set up for the adapter");
+ }
+ }
} else {
uint8_t packet[64];
@@ -876,9 +985,8 @@ static void client_recv(int fd) {
result = EncodeAddNode(&m, data, 128, buffer);
break;
case OUTPUT_OVERRIDE_ID:
- result = EncodeSetOutputOverride(&m, data, 128, buffer);
- break;
-
+ result = EncodeSetOutputOverride(&m, data, 128, buffer);
+ break;
default:
result = -1;
break;
@@ -927,6 +1035,7 @@ static void quad_recv(int index) {
struct metadata m;
uint8_t data[CMD_MAX_LENGTH];
+ memset(data, '\000', CMD_MAX_LENGTH);
size_t respLen;
ssize_t datalen;
size_t packetlen;
@@ -1017,6 +1126,7 @@ static void quad_recv(int index) {
//free(formatted_data);
break;
case RESPPARAM_ID:
+ case RESPGETLOGFILE_ID:
case RESPSOURCE_ID:
case RESPOUTPUT_ID:
case RESPNODES_ID:
@@ -1063,6 +1173,9 @@ static void handleResponse(struct metadata *m, uint8_t * data)
case RESPADDNODE_ID:
result = DecodeResponseAddNode(buffer, 128, m, data);
break;
+ case RESPGETLOGFILE_ID:
+ result = DecodeResponseLogfile(buffer, 256, m, data);
+ break;
default:
result = -2;
break;
diff --git a/groundStation/src/backend/backend_adapter.c b/groundStation/src/backend/backend_adapter.c
index ce06f8682..1462c6905 100644
--- a/groundStation/src/backend/backend_adapter.c
+++ b/groundStation/src/backend/backend_adapter.c
@@ -19,7 +19,7 @@
* line - data to write
* count - number of bytes
*/
-int adapterWrite(struct adapter_conn *conn, const char * line, size_t count) {
+int writeToAdapter(struct adapter_conn *conn, const char * line, size_t count) {
#if ADAPTER_DEBUG_PRINT == 1
//Print out packet being sent to the adapter.
printf("packetToAdapter = '");
diff --git a/groundStation/src/backend/backend_adapter.h b/groundStation/src/backend/backend_adapter.h
index 9f9588e1d..5ed82dfbe 100644
--- a/groundStation/src/backend/backend_adapter.h
+++ b/groundStation/src/backend/backend_adapter.h
@@ -7,6 +7,14 @@
#include <stdlib.h>
#include "config.h"
+#include "commands.h"
+
+enum AdapterOnlyMessageTypeID {
+ GETLOGFILE_ID = MAX_TYPE_ID,
+ RESPGETLOGFILE_ID = MAX_TYPE_ID + 1,
+ LOGBLOCKCOMMAND_ID = MAX_TYPE_ID + 2,
+ MAX_ADAPTER_ID = MAX_TYPE_ID + 3,
+};
/**
* Opens a connection to an adapter based upon the data in the trackables
@@ -23,7 +31,7 @@ int adapterConnect(trackable_t * trackable);
* line - data to write
* count - number of bytes
*/
-int adapterWrite(struct adapter_conn * conn, const char * line, size_t count);
+int writeToAdapter(struct adapter_conn * conn, const char * line, size_t count);
/**
* Disconnect from an adapter.
@@ -32,4 +40,6 @@ int adapterWrite(struct adapter_conn * conn, const char * line, size_t count);
*/
int adapterDisconnect(trackable_t * trackable);
+
+
#endif /* __BACKEND_ADAPTER_H */
diff --git a/groundStation/src/backend/logfile.c b/groundStation/src/backend/logfile.c
new file mode 100644
index 000000000..9e2353bd0
--- /dev/null
+++ b/groundStation/src/backend/logfile.c
@@ -0,0 +1,95 @@
+#include <sys/types.h>
+#include <inttypes.h>
+
+#include "logfile.h"
+#include "commands.h"
+#include "bitwise.h"
+
+enum getlogfileData {
+ GL_COMMAND_ID = 0,
+ GL_DATA_SIZE = 1
+};
+
+/* Creates data and metadata for a respcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeGetLogfile(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = GETLOGFILE_ID;
+ m->data_len = GL_DATA_SIZE;
+
+ int8_t command;
+
+ sscanf(msg, "getlogfile %hhd", &command);
+
+ data[GL_COMMAND_ID] = command;
+
+ return GL_DATA_SIZE;
+}
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeResponseLogfile(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = RESPGETLOGFILE_ID;
+ m->data_len = msg[0];
+
+ memcpy(data, &msg[1], m->data_len);
+
+ return m->data_len;
+}
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseLogfile(
+ char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->msg_type != RESPGETLOGFILE_ID) {
+ return -1;
+ }
+
+ return snprintf(msg, max_len, "getlogfile %s\n",
+ &data[1]);
+}
+
+enum LogBlockCommandData {
+ LB_BLOCK_COMMAND = 0,
+ LB_BLOCK_ID = 1,
+ LB_DATA_SIZE = 2
+};
+
+ssize_t EncodeLogBlockCommand(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = LOGBLOCKCOMMAND_ID;
+ m->data_len = LB_DATA_SIZE;
+
+ if (data_size < LB_DATA_SIZE) {
+ return -1;
+ }
+
+ int8_t command, id;
+
+ sscanf(msg, "logblockcommand %hhd %hhd", &command, &id);
+
+ data[LB_BLOCK_COMMAND] = command;
+ data[LB_BLOCK_ID] = id;
+
+ return LB_DATA_SIZE;
+}
diff --git a/groundStation/src/backend/logfile.h b/groundStation/src/backend/logfile.h
new file mode 100644
index 000000000..7b320bebe
--- /dev/null
+++ b/groundStation/src/backend/logfile.h
@@ -0,0 +1,42 @@
+#ifndef _logfile_h
+#define _logfile_h
+
+#include "packet.h"
+#include "backend_adapter.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getcontrol packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetLogfile(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeResponseLogfile(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg); /* Message to encode */
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseLogfile(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+ssize_t EncodeLogBlockCommand(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+#endif
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
index 9f1881fe2..bb0dc1a9d 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -124,6 +124,7 @@ ssize_t EncodeResponseParam(
//float val;
//sscanf(msg, "setparam %" SCNd16 " %" SCNd16 " %f", &block, ¶m, &val);
+ char type = msg[0];
data[RESP_BLOCK_ID_L] = 0;
data[RESP_BLOCK_ID_H] = 0;
@@ -131,9 +132,81 @@ ssize_t EncodeResponseParam(
data[RESP_PARAM_ID_L] = msg[1];
data[RESP_PARAM_ID_H] = 0;
- uint16_t val16 = BytesTo16(msg[2], msg[3]);
- float fl = (float) val16;
-
+ float fl = -1;
+
+ switch(type) {
+ case 8:
+ {
+ uint8_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(uint8_t));
+ fl = pvalue;
+ break;
+ }
+ case 9:
+ {
+ uint16_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(uint16_t));
+ fl = pvalue;
+ break;
+ }
+ case 10:
+ {
+ uint32_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(uint32_t));
+ fl = pvalue;
+ break;
+ }
+ case 11:
+ {
+ uint64_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(uint64_t));
+ fl = pvalue;
+ break;
+ }
+ case 0:
+ {
+ int8_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(int8_t));
+ fl = pvalue;
+ break;
+ }
+ case 1:
+ {
+ int16_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(int16_t));
+ fl = pvalue;
+ break;
+ }
+ case 2:
+ {
+ int32_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(int32_t));
+ fl = pvalue;
+ break;
+ }
+ case 3:
+ {
+ int64_t pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(int64_t));
+ fl = pvalue;
+ break;
+ }
+ case 6:
+ {
+ float pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(float));
+ fl = pvalue;
+ break;
+ }
+ case 7:
+ {
+ double pvalue;
+ memcpy(&pvalue, &msg[2], sizeof(double));
+ fl = pvalue;
+ break;
+ }
+ }
+
data[RESP_VAL_1] = FloatByte1(fl);
data[RESP_VAL_2] = FloatByte2(fl);
data[RESP_VAL_3] = FloatByte3(fl);
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index 7dca99d74..26267ab40 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -8,6 +8,7 @@
#include "cli_nodes.h"
#include "cli_trackable.h"
#include "cli_override.h"
+#include "cli_logfile.h"
struct backend_conn;
@@ -22,6 +23,8 @@ enum CommandNameIds{
CMD_GETTRACKABLE,
CMD_SETTRACKABLE,
CMD_OUTPUTOVERRIDE,
+ CMD_GETLOGFILE,
+ CMD_LOGBLOCKCOMMAND,
MAX_COMMANDS
};
@@ -36,7 +39,9 @@ static cli_function_ptr cli_functions[] = {
&cli_addnode,
&cli_gettrackable,
&cli_settrackable,
- &cli_outputoverride
+ &cli_outputoverride,
+ &cli_getlogfile,
+ &cli_logblockcommand
};
static char* commandNames[MAX_COMMANDS] = {
@@ -49,7 +54,9 @@ static char* commandNames[MAX_COMMANDS] = {
"addnode",
"gettrackable",
"settrackable",
- "outputoverride"
+ "outputoverride",
+ "getlogfile",
+ "logblockcommand",
};
/**
diff --git a/groundStation/src/cli/cli_logfile.c b/groundStation/src/cli/cli_logfile.c
new file mode 100644
index 000000000..3f47988c3
--- /dev/null
+++ b/groundStation/src/cli/cli_logfile.c
@@ -0,0 +1,101 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <inttypes.h>
+#include <string.h>
+
+#include "cli.h"
+#include "cli_logfile.h"
+#include "frontend_logfile.h"
+
+/**
+ * Prints the current trackable set in the backend.
+ */
+int cli_getlogfile(struct backend_conn * conn, int argc, char ** argv) {
+ char fname[256];
+ struct frontend_getlogfile_data values;
+ values.name = fname;
+ int needHelp = 0;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("getlogfile gets the name of the log file being used for the current task\n"
+ "0: data log file\n"
+ "1: param id log file\n"
+ "2: logging variable id log file\n");
+ printf("Usage Syntax : \n\t./Cli getlogfile <id>\n");
+ return 0;
+ }
+
+ if (argc < 1) {
+ printf("Incorrect Usage, run './cli getlogfile --help' for correct usage.\n");
+ return 1;
+ }
+
+ int command;
+ sscanf(argv[1], "%d", &command); values.command = command;
+
+ if (frontend_getlogfile(conn, &values)) {
+ return 1;
+ }
+
+ if(command == 0) {
+ printf("Data Logfile: %s\n", values.name);
+ }
+ else if(command == 1) {
+ printf("Param Logfile: %s\n", values.name);
+ }
+ else if(command == 2) {
+ printf("Log Variables Logfile: %s\n", values.name);
+ }
+ else {
+ printf("Error: incorrect command value");
+ }
+
+ return 0;
+}
+
+/**
+ * Prints the current trackable set in the backend.
+ */
+int cli_logblockcommand(struct backend_conn * conn, int argc, char ** argv) {
+ int needHelp = 0;
+ struct frontend_logblockcommand_data values;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("there are a few commands that can be used to affect Crazyflie logging\n"
+ "0 reset all log blocks, this will disable and empty all log block data\n "
+ "1 refresh log blocks, this will reset and then start all log blocks identified in the log block file\n"
+ "2 load log blocks, this will add any new log blocks identified in the log block file\n"
+ "3 delete log block, will delete the log block with the given id\n"
+ "4 enable log block, this will enable or resume the log block with the given id\n"
+ "5 disable log block, this will disable or pause the log block with the given id\n");
+ printf("Usage Syntax : \n\t./Cli <command> [id] \n");
+ return 0;
+ }
+
+ if (argc > 3) {
+ printf("Incorrect Usage, run './cli getlogfile --help' for correct usage.\n");
+ return 1;
+ }
+
+ int command;
+ int id;
+ sscanf(argv[1], "%d", &command); values.command = command;
+ if(command >= 3) {
+ if(argc < 3) {
+ printf("Incorrect Usage, run './cli getlogfile --help' for correct usage.\n");
+ }
+ else {
+ sscanf(argv[2], "%d", &id); values.id = id;
+ }
+ }
+ else {
+ values.id = -1;
+ }
+
+
+ if (frontend_logblockcommand(conn, &values)) {
+ return 1;
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_logfile.h b/groundStation/src/cli/cli_logfile.h
new file mode 100644
index 000000000..ae2a6021b
--- /dev/null
+++ b/groundStation/src/cli/cli_logfile.h
@@ -0,0 +1,20 @@
+/**
+ * CLI functions for the getlogfile.
+ */
+
+#ifndef _CLI_LOGFILE_H
+#define _CLI_LOGFILE_H
+
+#include "frontend_logfile.h"
+
+/**
+ * Prints the current log file set in the backend.
+ */
+int cli_getlogfile(struct backend_conn * conn, int argc, char ** argv);
+
+/**
+ * Command that sends what type of log block command that should be carried out
+ */
+int cli_logblockcommand(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_LOGFILE_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_param.c b/groundStation/src/cli/cli_param.c
index 4b3b802c4..59e19858b 100644
--- a/groundStation/src/cli/cli_param.c
+++ b/groundStation/src/cli/cli_param.c
@@ -6,6 +6,7 @@
#include "cli.h"
#include "cli_param.h"
+
int cli_getparam(struct backend_conn * conn, int argc, char ** argv) {
int needHelp = 0;
struct frontend_param_data param_data;
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 1d77a0b25..02fc61611 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -65,6 +65,16 @@ struct frontend_override_data {
float yaw;
};
+struct frontend_getlogfile_data {
+ int8_t command;
+ char *name;
+};
+
+struct frontend_logblockcommand_data {
+ int8_t command;
+ int8_t id;
+};
+
#ifdef __cplusplus
}
#endif
diff --git a/groundStation/src/frontend/frontend_logfile.c b/groundStation/src/frontend/frontend_logfile.c
new file mode 100644
index 000000000..b34f358a5
--- /dev/null
+++ b/groundStation/src/frontend/frontend_logfile.c
@@ -0,0 +1,77 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_logfile.h"
+
+
+/* Get the trackable name that is being communicated with.
+ *
+ * conn: backend connection.
+ * trackable: on success this will contain the name of the trackable.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getlogfile(
+ struct backend_conn * conn,
+ struct frontend_getlogfile_data * logfile) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "getlogfile %hhd \n", logfile->command);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "getlogfile", 10) == 0) {
+ sscanf(response, "getlogfile %s",
+ logfile->name);
+ pendingResponses--;
+ }
+ }
+
+ return 0;
+}
+
+int frontend_logblockcommand(struct backend_conn * conn,
+ struct frontend_logblockcommand_data * values) {
+ char msg[70] = "";
+ int written;
+
+ snprintf(msg, 64, "logblockcommand %" PRId8 " %" PRId8 "\n",
+ values->command,
+ values->id);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 0;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_logfile.h b/groundStation/src/frontend/frontend_logfile.h
new file mode 100644
index 000000000..8383b2e97
--- /dev/null
+++ b/groundStation/src/frontend/frontend_logfile.h
@@ -0,0 +1,27 @@
+#ifndef _FRONTEND_LOGFILE_H
+#define _FRONTEND_LOGFILE_H
+
+#include "frontend_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Get the logfile path that is being used.
+ *
+ * conn: backend connection.
+ * logfile: on success this will contain the name of the log file.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getlogfile(
+ struct backend_conn * conn,
+ struct frontend_getlogfile_data * logfile);
+
+int frontend_logblockcommand(
+ struct backend_conn * conn, struct frontend_logblockcommand_data * values);
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* _FRONTEND_LOGFILE_H */
\ No newline at end of file
--
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