*** empty log message ***

sw/in_progress/wind_tunnel/Makefile

@@ -0,0 +1,11 @@
+
+CC = gcc
+GLIB_CFLAGS  = -Wall  `pkg-config glib-2.0 --cflags`
+GLIB_LDFLAGS =  `pkg-config glib-2.0 --libs` -lglibivy -lpcre
+
+main: main.c serial_port.c
+	$(CC) $(GLIB_CFLAGS) -o $@ main.c serial_port.c $(GLIB_LDFLAGS)
+
+
+clean:
+	rm -f main

sw/in_progress/wind_tunnel/main.c

@@ -0,0 +1,88 @@
+#include <glib.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#include "serial_port.h"
+
+static struct SerialPort* sp;
+static GIOChannel* ioc;
+
+static void configure_term(struct termios *termios, speed_t *speed) {
+  /* input modes  */
+  termios->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|INPCK|ISTRIP|INLCR|IGNCR
+                 |ICRNL |IUCLC|IXON|IXANY|IXOFF|IMAXBEL);
+  termios->c_iflag |= IGNPAR;
+  /* control modes*/
+  termios->c_cflag &= ~(CSIZE|PARENB|CRTSCTS|PARODD|HUPCL);
+  termios->c_cflag |= CREAD|CS8|CSTOPB|CLOCAL;
+  /* local modes  */
+  termios->c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);
+  termios->c_lflag |= NOFLSH;
+  /* speed        */
+  *speed = B9600;
+}
+
+static void dump_buf ( int len, char* buf) {
+  int i;
+  for (i=0; i<len; i++)
+    printf("%x", buf[i]);
+  printf("\n");
+}
+
+#define BUF_SIZE 512
+static gboolean on_serial_data_received(GIOChannel *source,
+                                        GIOCondition condition,
+                                        gpointer data) {
+
+  //  g_message("hello world");
+
+
+ static gchar buf[BUF_SIZE];
+  gsize len;
+  g_io_channel_read_chars(source, buf, BUF_SIZE, &len, NULL);
+
+  //  g_message("read %d %d %d %d", len, buf[0], buf[1], buf[2]);
+  //dump_buf(len, buf);
+
+  g_message("read %s", buf);
+
+  return TRUE;
+}
+
+gboolean timeout_callback(gpointer data) {
+
+  //  g_message("hello world");
+
+  const char* msg = "GT\n";
+  gsize bw;
+  g_io_channel_write_chars(ioc, msg, 3, &bw, NULL); 
+  g_io_channel_flush(ioc, NULL);//  int foo = 42;
+  //  IvySendMsg("ME HELLO_WORLD 1234 5678 %d", foo);
+  return TRUE;
+}
+
+int main ( int argc, char** argv) {
+
+  sp = serial_port_new();
+  serial_port_open(sp, "/dev/ttyUSB0", configure_term);
+  ioc = g_io_channel_unix_new(sp->fd);
+  g_io_channel_set_encoding(ioc, NULL, NULL);
+  g_io_channel_set_flags (ioc,G_IO_FLAG_NONBLOCK, NULL );
+  g_io_add_watch (ioc, G_IO_IN, on_serial_data_received, NULL);
+
+
+  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
+
+  IvyInit ("Example2", "Example2 READY", NULL, NULL, NULL, NULL);
+  IvyStart("127.255.255.255");
+
+  g_timeout_add(500, timeout_callback, NULL);
+  
+  g_main_loop_run(ml);
+
+  return 0;
+}
+

sw/in_progress/wind_tunnel/serial_port.c

@@ -0,0 +1,89 @@
+/* 
+   pc2rc serial port functions
+   Copyright (C) 2001 Antoine Drouin
+
+   This file is part of paparazzi.
+
+   paparazzi is free software; you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation; either version 2, or (at your option)
+   any later version.
+
+   paparazzi is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with paparazzi; see the file COPYING.  If not, write to
+   the Free Software Foundation, 59 Temple Place - Suite 330,
+   Boston, MA 02111-1307, USA.  
+
+*/
+
+#include <stdlib.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include "serial_port.h"
+
+#define TRACE(type,fmt,args...)
+#define TRACE_ERROR 1
+
+struct SerialPort* serial_port_new() {
+  struct SerialPort* this = malloc(sizeof(struct SerialPort));
+  return this;
+}
+
+/*
+ * opens serial port and setup the terminal
+ */
+guint 
+serial_port_open(struct SerialPort* this, const char* device, 
+		 void(*term_conf_callback)(struct termios*, speed_t*)) {
+  speed_t speed;
+  if ((this->fd = open(device, O_RDWR)) < 0) {
+    TRACE(TRACE_ERROR,"opening %s (%s)\n", device, strerror(errno));
+    return -1;
+  }
+  if (tcgetattr(this->fd, &this->orig_termios) < 0) {
+    TRACE(TRACE_ERROR,"getting term settings (%s)\n", strerror(errno));
+    return -1;
+  }   
+  this->cur_termios = this->orig_termios;
+  term_conf_callback(&this->cur_termios, &speed);
+  if (cfsetispeed(&this->cur_termios, speed)) {
+    TRACE(TRACE_ERROR,"setting term speed (%s)\n", strerror(errno));
+    return -1;
+  }
+  if (tcsetattr(this->fd, TCSADRAIN, &this->cur_termios)) {
+    TRACE(TRACE_ERROR,"setting term attributes (%s)\n", strerror(errno));
+    return -1;
+  }
+  return 0;
+}
+
+/*
+ * closes serial port and restore term settings 
+ */
+guint 
+serial_port_close(struct SerialPort* this) {
+  if (tcflush(this->fd, TCIOFLUSH)) {
+    TRACE(TRACE_ERROR,"flushing (%s)\n", strerror(errno));
+    return -1; 
+  }
+  if (tcsetattr(this->fd, TCSADRAIN, &this->orig_termios)) {        // Restore modes.
+    TRACE(TRACE_ERROR,"restoring term attributes (%s)\n", strerror(errno));
+    return -1; 
+  }
+  if (close(this->fd)) {
+    TRACE(TRACE_ERROR,"closing (%s)\n", strerror(errno));
+    return -1; 
+  }
+  return 0;
+}

sw/in_progress/wind_tunnel/serial_port.h

@@ -0,0 +1,20 @@
+#ifndef SERIAL_PORT_H
+#define SERIAL_PORT_H
+
+#include <termios.h>
+#include <glib.h>
+
+struct SerialPort {
+  int fd;                         /* serial device fd          */
+  struct termios  orig_termios;   /* saved tty state structure */
+  struct termios  cur_termios;    /* tty state structure       */
+};
+
+
+struct SerialPort* serial_port_new();
+guint serial_port_open(struct SerialPort* this, const char* device,
+                       void(*term_conf_callback)(struct termios*, speed_t*));
+guint serial_port_close(struct SerialPort* this);
+
+
+#endif