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====== Introduction ======

This article describes asynchrous serial programming using signal handler.

== References ==
  * Serial Programming HOWTO : [[http://tldp.org/HOWTO/Serial-Programming-HOWTO/]]

== Hardware used : ==
  * A desktop PC.
  * An internet connection.

== Softwares : ==
  * Ubuntu 10.10 installed : [[http://www.ubuntu.com/]]
  * Package **build-essential** and **socat** already installed on your Ubuntu operating system.

====== Asynchronous serial I/O library ======

The following code is very simple. There is just one function to initialize the serial communication.
Only serial port device, baudrate and if there is a parity checking can be set. \\
Everything else is hard coded, supposing we use 8 bits of data, 1 stop bit and a prefix on parity error.

But the most important thing is the definition of a signal handler function type. All signal handlers return nothing and take one integer in parameter. This integer is the signal which throws the interruption. Here is a light description of how signals work :
  * Data are available on the serial port
  * A signal SIGIO is send to the application waiting for it
  * This application stops its actual work
  * And it calls the signal handler function
  * At the end of the handler, application go back to its previous work.

This signal handler is given as a parameter of the **serialConfiguration** function. Then you can develop your own handler and just pass it to **serialConfiguration**.

Here is the header file **serialCom.h** :
<code>#ifndef _SERIALCOM_H_
#define _SERIALCOM_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <termios.h>

  /* Controls :  CS8      = 8 bits
   *             CREAD    = Enable reading */
#define SERIAL_CONTROL  (CS8 | CREAD)
#define NO_PARITY_CHECK 0
#define PARITY_CHECK    1

  /* Input    :  PARMRK   = If IGNPAR is not set, prefix a character with a parity error  or
   framing  error  with  \377  \0 */
#define SERIAL_INPUT    PARMRK

  /* Handler type definition */
  typedef void
  (*serial_handler)(int status);

  /* Serial port initialization function */
  int
  serialConfiguration(serial_handler, const char* device, tcflag_t baudrate,
      char parity);

#ifdef __cplusplus
}
#endif

#endif</code>

And the source file **serialCom.c** with more explanations in code comments :
<code>#ifdef __cplusplus
extern "C"
{
#endif

#include <fcntl.h>
#include <sys/signal.h>
#include <sys/types.h>
#include <unistd.h>
#include <stdio.h>
#include <termios.h>
#include <serialCom.h>

  int
  serialConfiguration(serial_handler handler, const char *device,
      tcflag_t baudrate, char parity)
  {
    /* Definition of new serial port configuration */
    struct termios newtio;
    /* Definition of signal action */
    struct sigaction saio;

    /* Open the device
     * O_RDWR     : open in read/write mode
     * O_NONBLOCK : open in not blocked mode. Read will return immediatly */
    int fdesc = open(device, O_RDWR | O_NONBLOCK);
    if (fdesc < 0)
      {
        perror(device);
        return fdesc;
      }

    /* Install the signal handler before making the device asynchronous */
    saio.sa_handler = handler;
    saio.sa_flags = 0;
    saio.sa_restorer = NULL;
    sigaction(SIGIO, &saio, NULL);

    /* Allow the process to receive SIGIO */
    fcntl(fdesc, F_SETOWN, getpid());
    /* Make the file descriptor asynchronous.
     * It is not possible to enable SIGIO receiving by specifying
     * O_ASYNC when calling open (see open man page)  */
    fcntl(fdesc, F_SETFL, O_ASYNC);

    /* Set new port settings */
    newtio.c_cflag = baudrate | SERIAL_CONTROL;
    /* Input settings */
    if (parity == NO_PARITY_CHECK)
      {
        newtio.c_iflag = IGNPAR | SERIAL_INPUT;
      }
    else
      {
        newtio.c_iflag = SERIAL_INPUT;
      }

    tcflush(fdesc, TCIFLUSH);
    tcflush(fdesc, TCOFLUSH);
    tcsetattr(fdesc, TCSANOW, &newtio);

    return fdesc;
  }

#ifdef __cplusplus
}
#endif</code>

To generate the library :
<code>$ gcc -o libSerialCom.so --shared serialCom.c -I.</code>

====== Test program ======

Here is a little test program **testSerialCom.cpp** which just print the byte it received, reading bytes one by one.
We use C++ there just to show the lib is usable with C/C++ project.
Explanations are in code comments :

<code>using namespace std;

#include <iostream>
#include <serialCom.h>

/* Flag indicating datas are ready to be read */
static bool flag = false;

/* SIGIO handler */
void
my_handler(int status)
{
  /* Data ready to be read */
  flag = true;
}

/* MAIN */
int
main(int argc, char **argv)
{
  /* Initialize the serial communication */
  int fdesc = serialConfiguration(my_handler, "/dev/ttyS0", B115200,
      NO_PARITY_CHECK);

  /* Data buffer */
  char buf;
  /* Reading result */
  int res = 0;

  /* Initialize data flag */
  flag = false;

  while (buf != '\t')
    {
      /* If there is a data to be read */
      if (flag == true)
        {
          /* Read one byte */
          do
            {
              res = read(fdesc, &buf, 1);
              cout << buf << endl;
            }
          while (res > 0);

          flag = false;
        }
    }

  return 0;
}</code>

To generate the binary :
<code>$ g++ -o testSerialCom testserialcom.cpp -I../../SerialCom/ -L../../SerialCom/ -lSerialCom</code>

====== Performing the test ======

If you have no serial port to test your code, just create two virtual ports with **socat** in a terminal. :

<code>$ socat -d -d PTY: PTY:
2011/02/17 23:58:36 socat[12866] N PTY is /dev/pts/3
2011/02/17 23:58:36 socat[12866] N PTY is /dev/pts/4
2011/02/17 23:58:36 socat[12866] N starting data transfer loop with FDs [3,3] and [5,5]</code>

Before launching test program, do not forget to change the port asked in the main function of the **testSerialCom.c**. And rebuild your program.
Then in an other terminal just launch the test program :

<code>$ sudo LD_LIBRARY_PATH=../SerialCom/ ./testSerialCom</code>

And finally run **cutecom** with following parameters :

{{:robotics:computing:linux_asynchronous_serial_programming:cutecom.png|}}

To test just type some characters on **cutecom** input, you must see them appear on the test program terminal. :)
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