Added support for SERIAL transport on Windows

Author: sebastieninria

CMakeLists.txt

@@ -178,6 +178,8 @@ elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
         src/cpp/transport/udp/UDPv6AgentWindows.cpp
         src/cpp/transport/tcp/TCPv4AgentWindows.cpp
         src/cpp/transport/tcp/TCPv6AgentWindows.cpp
+        src/cpp/transport/serial/SerialAgentWindows.cpp
+        src/cpp/transport/serial/TermiosAgentWindows.cpp
         $<$<BOOL:${UAGENT_DISCOVERY_PROFILE}>:src/cpp/transport/discovery/DiscoveryServerWindows.cpp>
         )
 endif()

include/uxr/agent/transport/serial/SerialAgentWindows.hpp

@@ -0,0 +1,79 @@
+// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UXR_AGENT_TRANSPORT_SERIAL_SERIALAGENTWINDOWS_HPP_
+#define UXR_AGENT_TRANSPORT_SERIAL_SERIALAGENTWINDOWS_HPP_
+
+#include <uxr/agent/transport/Server.hpp>
+#include <uxr/agent/transport/endpoint/SerialEndPoint.hpp>
+#include <uxr/agent/transport/stream_framing/StreamFramingProtocol.hpp>
+
+#include <cstdint>
+#include <cstddef>
+#include <WinSock2.h>
+
+namespace eprosima {
+namespace uxr {
+
+class SerialAgent : public Server<SerialEndPoint>
+{
+public:
+    SerialAgent(
+            uint8_t addr,
+            Middleware::Kind middleware_kind);
+
+#ifdef UAGENT_DISCOVERY_PROFILE
+    bool has_discovery() final { return false; }
+#endif
+
+#ifdef UAGENT_P2P_PROFILE
+    bool has_p2p() final { return false; }
+#endif
+
+private:
+    virtual bool init() = 0;
+
+    virtual bool fini() = 0;
+
+    bool recv_message(
+            InputPacket<SerialEndPoint>& input_packet,
+            int timeout,
+            TransportRc& transport_rc) final;
+
+    bool send_message(
+            OutputPacket<SerialEndPoint> output_packet,
+            TransportRc& transport_rc) final;
+
+    ssize_t write_data(
+            uint8_t* buf,
+            size_t len,
+            TransportRc& transport_rc);
+
+    ssize_t read_data(
+            uint8_t* buf,
+            size_t len,
+            int timeout,
+            TransportRc& transport_rc);
+
+protected:
+    const uint8_t addr_;
+    HANDLE serial_handle;
+    uint8_t buffer_[SERVER_BUFFER_SIZE];
+    FramingIO framing_io_;
+};
+
+} // namespace uxr
+} // namespace eprosima
+
+#endif // UXR_AGENT_TRANSPORT_SERIAL_SERIALAGENTWINDOWS_HPP_

include/uxr/agent/transport/serial/TermiosAgentWindows.hpp

@@ -0,0 +1,49 @@
+// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UXR_AGENT_TRANSPORT_SERIAL_TERMIOSAGENTWINDOWS_HPP_
+#define UXR_AGENT_TRANSPORT_SERIAL_TERMIOSAGENTWINDOWS_HPP_
+
+#include <uxr/agent/transport/serial/SerialAgentWindows.hpp>
+namespace eprosima {
+namespace uxr {
+
+class TermiosAgent : public SerialAgent
+{
+public:
+    TermiosAgent(
+            char const * dev,
+            DCB const & termios_attrs,
+            uint8_t addr,
+            Middleware::Kind middleware_kind);
+
+    ~TermiosAgent();
+
+    HANDLE getfd() { return serial_handle; };
+
+private:
+    bool init() final;
+    bool fini() final;
+    bool handle_error(
+            TransportRc transport_rc) final;
+
+private:
+    const std::string dev_;
+    const DCB termios_attrs_;
+};
+
+} // namespace uxr
+} // namespace eprosima
+
+#endif // UXR_AGENT_TRANSPORT_SERIAL_TERMIOSAGENTWINDOWS_HPP_

include/uxr/agent/transport/serial/baud_rate_table_windows.h

@@ -0,0 +1,86 @@
+// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UXR_AGENT_TRANSPORT_SERIAL_BAUD_RATE_TABLE_H
+#define UXR_AGENT_TRANSPORT_SERIAL_BAUD_RATE_TABLE_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+inline
+DWORD getBaudRate(const char* baudrate_str)
+{
+    DWORD rv;
+    if (0 == strcmp(baudrate_str, "0"))
+    {
+        rv = 0;
+    }
+    else if (0 == strcmp(baudrate_str, "110"))
+    {
+        rv = CBR_110;
+    }
+    else if (0 == strcmp(baudrate_str, "300")) {
+        rv = CBR_300;
+    }
+    else if (0 == strcmp(baudrate_str, "600")) {
+        rv = CBR_600;
+    }
+    else if (0 == strcmp(baudrate_str, "1200")) {
+        rv = CBR_1200;
+    }
+    else if (0 == strcmp(baudrate_str, "2400")) {
+        rv = CBR_2400;
+    }
+    else if (0 == strcmp(baudrate_str, "4800")) {
+        rv = CBR_4800;
+    }
+    else if (0 == strcmp(baudrate_str, "9600")) {
+        rv = CBR_9600;
+    }
+    else if (0 == strcmp(baudrate_str, "14400")) {
+        rv = CBR_14400;
+    }
+    else if (0 == strcmp(baudrate_str, "19200")) {
+        rv = CBR_19200;
+    }
+    else if (0 == strcmp(baudrate_str, "38400")) {
+        rv = CBR_38400;
+    }
+    else if (0 == strcmp(baudrate_str, "56000")) {
+        rv = CBR_56000;
+    }
+    else if (0 == strcmp(baudrate_str, "57600")) {
+        rv = CBR_57600;
+    }
+    else if (0 == strcmp(baudrate_str, "115200")) {
+        rv = CBR_115200;
+    }
+    else if (0 == strcmp(baudrate_str, "128000")) {
+        rv = CBR_128000;
+    }
+    else if (0 == strcmp(baudrate_str, "256000")) {
+        rv = CBR_256000;
+    }
+    else
+    {
+        DWORD custom_baud_rate = (DWORD)atoi(baudrate_str);
+        printf("Warning: Custom baud rate set to: %d\n", custom_baud_rate);
+        rv = custom_baud_rate;
+    }
+    return rv;
+}
+
+#endif // UXR_AGENT_TRANSPORT_SERIAL_BAUD_RATE_TABLE_H
+

include/uxr/agent/utils/ArgumentParser.hpp

@@ -29,6 +29,8 @@
 #include <uxr/agent/transport/udp/UDPv6AgentWindows.hpp>
 #include <uxr/agent/transport/tcp/TCPv4AgentWindows.hpp>
 #include <uxr/agent/transport/tcp/TCPv6AgentWindows.hpp>
+#include <uxr/agent/transport/serial/TermiosAgentWindows.hpp>
+#include <uxr/agent/transport/serial/baud_rate_table_windows.h>
 #else
 #include <uxr/agent/transport/udp/UDPv4AgentLinux.hpp>
 #include <uxr/agent/transport/udp/UDPv6AgentLinux.hpp>
@@ -64,11 +66,11 @@ enum class TransportKind
     UDP6,
     TCP4,
     TCP6,
+    SERIAL,
 #ifndef _WIN32
 #ifdef UAGENT_SOCKETCAN_PROFILE
     CAN,
 #endif // UAGENT_SOCKETCAN_PROFILE
-    SERIAL,
     MULTISERIAL,
     PSEUDOTERMINAL,
 #endif // _WIN32
@@ -659,7 +661,6 @@ class IPvXArgs
     Argument<uint16_t> port_;
 };
 
-#ifndef _WIN32
 /*************************************************************************************************
  * Specific arguments for pseudoterminal transports
  *************************************************************************************************/
@@ -782,6 +783,8 @@ class SerialArgs : public PseudoTerminalArgs<AgentType>
     Argument<std::string> file_;
 };
 
+
+#ifndef _WIN32
 /*************************************************************************************************
  * Specific arguments for multi serial termios transports
  *************************************************************************************************/
@@ -943,11 +946,11 @@ class ArgumentParser
         , argv_(argv)
         , common_args_()
         , ip_args_()
+        , serial_args_()
 #ifndef _WIN32
 #ifdef UAGENT_SOCKETCAN_PROFILE
         , can_args_()
 #endif // UAGENT_SOCKETCAN_PROFILE
-        , serial_args_()
         , multiserial_args_()
         , pseudoterminal_args_()
 #endif // _WIN32
@@ -979,6 +982,11 @@ class ArgumentParser
                 result &= ip_args_.parse(argc_, argv_);
                 break;
             }
+            case TransportKind::SERIAL:
+            {
+                result &= serial_args_.parse(argc_, argv_);
+                break;
+            }
 #ifndef _WIN32
 #ifdef UAGENT_SOCKETCAN_PROFILE
             case TransportKind::CAN:
@@ -987,11 +995,6 @@ class ArgumentParser
                 break;
             }
 #endif // UAGENT_SOCKETCAN_PROFILE
-            case TransportKind::SERIAL:
-            {
-                result &= serial_args_.parse(argc_, argv_);
-                break;
-            }
             case TransportKind::MULTISERIAL:
             {
                 result &= multiserial_args_.parse(argc_, argv_);
@@ -1075,6 +1078,29 @@ class ArgumentParser
         attr.c_ospeed = baudrate;
 #endif
 
+        return attr;
+    }
+#else
+    DCB init_termios(const char* baudrate_str) {
+        DCB attr = {};
+
+        /* Setting baudrate. */
+        attr.Parity = NOPARITY;
+        attr.StopBits = ONESTOPBIT;
+        attr.ByteSize = 8;
+        attr.BaudRate = getBaudRate(baudrate_str);
+
+        attr.fBinary = FALSE;
+        attr.fParity = FALSE;
+        attr.fOutxCtsFlow = FALSE;
+        attr.fOutxDsrFlow = FALSE;
+        attr.fDtrControl = DTR_CONTROL_ENABLE;
+        attr.fRtsControl = RTS_CONTROL_ENABLE;
+        attr.fInX = FALSE;
+        attr.fOutX = FALSE;
+        attr.fDsrSensitivity = FALSE;
+        attr.fErrorChar = FALSE;
+
         return attr;
     }
 #endif // _WIN32
@@ -1107,25 +1133,32 @@ class ArgumentParser
     char** argv_;
     CommonArgs<AgentType> common_args_;
     IPvXArgs<AgentType> ip_args_;
+    SerialArgs<AgentType> serial_args_;
 #ifndef _WIN32
 #ifdef UAGENT_SOCKETCAN_PROFILE
     CanArgs<AgentType> can_args_;
 #endif // UAGENT_SOCKETCAN_PROFILE
-    SerialArgs<AgentType> serial_args_;
     MultiSerialArgs<AgentType> multiserial_args_;
     PseudoTerminalArgs<AgentType> pseudoterminal_args_;
 #endif // _WIN32
     TransportKind transport_kind_;
     std::unique_ptr<AgentType> agent_server_;
 };
 
+template<> inline bool ArgumentParser<TermiosAgent>::launch_agent() {
 #ifndef _WIN32
-template<> inline bool ArgumentParser<TermiosAgent>::launch_agent()
-{
-    struct termios attr = init_termios(serial_args_.baud_rate().c_str());
-    
+    termios
+#else
+    DCB
+#endif
+    attr = init_termios(serial_args_.baud_rate().c_str());
+
     agent_server_.reset(new TermiosAgent(
-        serial_args_.dev().c_str(),  O_RDWR | O_NOCTTY, attr, 0, utils::get_mw_kind(common_args_.middleware())));
+#ifndef _WIN32
+        serial_args_.dev().c_str(), O_RDWR | O_NOCTTY, attr, 0, utils::get_mw_kind(common_args_.middleware())));
+#else
+        serial_args_.dev().c_str(), attr, 0, utils::get_mw_kind(common_args_.middleware())));
+#endif
 
     if (agent_server_->start())
     {
@@ -1140,6 +1173,8 @@ template<> inline bool ArgumentParser<TermiosAgent>::launch_agent()
     return false;
 }
 
+
+#ifndef _WIN32
 template<> inline bool ArgumentParser<MultiTermiosAgent>::launch_agent()
 {
     struct termios attr = init_termios(multiserial_args_.baud_rate().c_str());