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ArFileDeviceConnection.cpp
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ArFileDeviceConnection.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program 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 of the License, or
(at your option) any later version.
This program 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 this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ariaTypedefs.h"
#include "ArFileDeviceConnection.h"
#include "ArLog.h"
#include "ariaUtil.h"
#include <stdio.h>
#ifdef WIN32
#include <io.h>
#else
#include <unistd.h>
#endif
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
AREXPORT ArFileDeviceConnection::ArFileDeviceConnection() :
myInFD(-1), myOutFD(-1), myStatus(STATUS_NEVER_OPENED),
myForceReadBufferSize(0), myReadByteDelay(0.0)
{
}
AREXPORT ArFileDeviceConnection::~ArFileDeviceConnection()
{
close();
}
/**
* @param infilename Input file name, or NULL to use stdin
* @param outfilename Output file name, or NULL to use stdout
* @param outflags Additional flags to pass to system open() function when opening
* the output file in addition to O_WRONLY. For example, pass O_APPEND to append rather than rewrite the
* file.
*/
AREXPORT int ArFileDeviceConnection::open(const char *infilename, const char *outfilename, int outflags)
{
myStatus = STATUS_OPEN_FAILED;
if(infilename)
{
myInFileName = infilename;
myInFD = ArUtil::open(infilename, O_RDONLY);
if(myInFD == -1)
{
ArLog::log(ArLog::Terse, "ArFileDeviceConnection: error opening input file \"%s\": %s", infilename, strerror(errno));
return errno;
}
}
else
{
#ifdef WIN32
myInFD = _fileno(stdin);
#else
myInFD = STDIN_FILENO;
#endif
}
if(outfilename)
{
myOutFileName = outfilename;
myOutFD = ArUtil::open(outfilename, O_WRONLY|outflags);
if(myInFD == -1)
{
ArLog::log(ArLog::Terse, "ArFileDeviceConnection: error opening output file \"%s\": %s", outfilename, strerror(errno));
return errno;
}
}
else
{
#ifdef WIN32
myOutFD = _fileno(stdout);
#else
myOutFD = STDOUT_FILENO;
#endif
}
myStatus = STATUS_OPEN;
return 0;
}
AREXPORT bool ArFileDeviceConnection::close(void)
{
ArUtil::close(myInFD);
ArUtil::close(myOutFD);
myStatus = STATUS_CLOSED_NORMALLY;
return true;
}
AREXPORT int ArFileDeviceConnection::read(const char *data, unsigned int size, unsigned int msWait)
{
unsigned int s = myForceReadBufferSize > 0 ? ArUtil::findMinU(size, myForceReadBufferSize) : size;
#ifdef WIN32
int r = _read(myInFD, (void*)data, s);
#else
int r = ::read(myInFD, (void*)data, s);
#endif
if(myReadByteDelay > 0)
ArUtil::sleep(r * myReadByteDelay);
// TODO add option for intermittent data by returning 0 until a timeout has passed.
// TODO add option to delay full lines (up to \n\r or \n) in above behavior
return r;
}
AREXPORT int ArFileDeviceConnection::write(const char *data, unsigned int size)
{
#ifdef WIN32
return (int) _write(myOutFD, (void*)data, (size_t)size);
#else
return (int) ::write(myOutFD, (void*)data, (size_t)size);
#endif
}
AREXPORT bool ArFileDeviceConnection::isTimeStamping(void)
{
return false;
}
AREXPORT ArTime ArFileDeviceConnection::getTimeRead(int index)
{
ArTime now;
now.setToNow();
return now;
}
AREXPORT const char * ArFileDeviceConnection::getOpenMessage(int err)
{
return strerror(err);
}