This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/SerialPort.cpp b/azaleasource/WPILibCProgramming/trunk/WPILib/SerialPort.cpp
new file mode 100644
index 0000000..40389ba
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/SerialPort.cpp
@@ -0,0 +1,331 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "SerialPort.h"
+
+#include "NetworkCommunication/UsageReporting.h"
+#include "visa/visa.h"
+
+//static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType eventType, ViEvent event, ViAddr userHandle);
+
+/**
+ * Create an instance of a Serial Port class.
+ *
+ * @param baudRate The baud rate to configure the serial port. The cRIO-9074 supports up to 230400 Baud.
+ * @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
+ * @param parity Select the type of parity checking to use.
+ * @param stopBits The number of stop bits to use as defined by the enum StopBits.
+ */
+SerialPort::SerialPort(UINT32 baudRate, UINT8 dataBits, SerialPort::Parity parity, SerialPort::StopBits stopBits)
+ : m_resourceManagerHandle (0)
+ , m_portHandle (0)
+ , m_consoleModeEnabled (false)
+{
+ ViStatus localStatus = VI_SUCCESS;
+ localStatus = viOpenDefaultRM((ViSession*)&m_resourceManagerHandle);
+ wpi_setError(localStatus);
+
+ localStatus = viOpen(m_resourceManagerHandle, "ASRL1::INSTR", VI_NULL, VI_NULL, (ViSession*)&m_portHandle);
+ wpi_setError(localStatus);
+ if (localStatus != 0)
+ {
+ m_consoleModeEnabled = true;
+ return;
+ }
+
+ localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_BAUD, baudRate);
+ wpi_setError(localStatus);
+ localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_DATA_BITS, dataBits);
+ wpi_setError(localStatus);
+ localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_PARITY, parity);
+ wpi_setError(localStatus);
+ localStatus = viSetAttribute(m_portHandle, VI_ATTR_ASRL_STOP_BITS, stopBits);
+ wpi_setError(localStatus);
+
+ // Set the default timeout to 5 seconds.
+ SetTimeout(5.0f);
+
+ // Don't wait until the buffer is full to transmit.
+ SetWriteBufferMode(kFlushOnAccess);
+
+ EnableTermination();
+
+ //viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler, this);
+ //viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
+
+ nUsageReporting::report(nUsageReporting::kResourceType_SerialPort, 0);
+}
+
+/**
+ * Destructor.
+ */
+SerialPort::~SerialPort()
+{
+ if (!m_consoleModeEnabled)
+ {
+ //viUninstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler, this);
+ viClose(m_portHandle);
+ }
+ viClose(m_resourceManagerHandle);
+}
+
+/**
+ * Set the type of flow control to enable on this port.
+ *
+ * By default, flow control is disabled.
+ */
+void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl)
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viSetAttribute (m_portHandle, VI_ATTR_ASRL_FLOW_CNTRL, flowControl);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Enable termination and specify the termination character.
+ *
+ * Termination is currently only implemented for receive.
+ * When the the terminator is recieved, the Read() or Scanf() will return
+ * fewer bytes than requested, stopping after the terminator.
+ *
+ * @param terminator The character to use for termination.
+ */
+void SerialPort::EnableTermination(char terminator)
+{
+ if (!m_consoleModeEnabled)
+ {
+ viSetAttribute(m_portHandle, VI_ATTR_TERMCHAR_EN, VI_TRUE);
+ viSetAttribute(m_portHandle, VI_ATTR_TERMCHAR, terminator);
+ viSetAttribute(m_portHandle, VI_ATTR_ASRL_END_IN, VI_ASRL_END_TERMCHAR);
+ }
+}
+
+/**
+ * Disable termination behavior.
+ */
+void SerialPort::DisableTermination()
+{
+ if (!m_consoleModeEnabled)
+ {
+ viSetAttribute(m_portHandle, VI_ATTR_TERMCHAR_EN, VI_FALSE);
+ viSetAttribute(m_portHandle, VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
+ }
+}
+
+/**
+ * Get the number of bytes currently available to read from the serial port.
+ *
+ * @return The number of bytes available to read.
+ */
+INT32 SerialPort::GetBytesReceived()
+{
+ INT32 bytes = 0;
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viGetAttribute(m_portHandle, VI_ATTR_ASRL_AVAIL_NUM, &bytes);
+ wpi_setError(localStatus);
+ }
+ return bytes;
+}
+
+/**
+ * Output formatted text to the serial port.
+ *
+ * @bug All pointer-based parameters seem to return an error.
+ *
+ * @param writeFmt A string that defines the format of the output.
+ */
+void SerialPort::Printf(const char *writeFmt, ...)
+{
+ if (!m_consoleModeEnabled)
+ {
+ va_list args;
+ va_start (args, writeFmt);
+ ViStatus localStatus = viVPrintf(m_portHandle, (ViString)writeFmt, args);
+ va_end (args);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Input formatted text from the serial port.
+ *
+ * @bug All pointer-based parameters seem to return an error.
+ *
+ * @param readFmt A string that defines the format of the input.
+ */
+void SerialPort::Scanf(const char *readFmt, ...)
+{
+ if (!m_consoleModeEnabled)
+ {
+ va_list args;
+ va_start (args, readFmt);
+ ViStatus localStatus = viVScanf(m_portHandle, (ViString)readFmt, args);
+ va_end (args);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Read raw bytes out of the buffer.
+ *
+ * @param buffer Pointer to the buffer to store the bytes in.
+ * @param count The maximum number of bytes to read.
+ * @return The number of bytes actually read into the buffer.
+ */
+UINT32 SerialPort::Read(char *buffer, INT32 count)
+{
+ UINT32 retCount = 0;
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viBufRead(m_portHandle, (ViPBuf)buffer, count, (ViPUInt32)&retCount);
+ switch (localStatus)
+ {
+ case VI_SUCCESS_TERM_CHAR:
+ case VI_SUCCESS_MAX_CNT:
+ case VI_ERROR_TMO: // Timeout
+ break;
+ default:
+ wpi_setError(localStatus);
+ }
+ }
+ return retCount;
+}
+
+/**
+ * Write raw bytes to the buffer.
+ *
+ * @param buffer Pointer to the buffer to read the bytes from.
+ * @param count The maximum number of bytes to write.
+ * @return The number of bytes actually written into the port.
+ */
+UINT32 SerialPort::Write(const char *buffer, INT32 count)
+{
+ UINT32 retCount = 0;
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viBufWrite(m_portHandle, (ViPBuf)buffer, count, (ViPUInt32)&retCount);
+ wpi_setError(localStatus);
+ }
+ return retCount;
+}
+
+/**
+ * Configure the timeout of the serial port.
+ *
+ * This defines the timeout for transactions with the hardware.
+ * It will affect reads and very large writes.
+ *
+ * @param timeout The number of seconds to to wait for I/O.
+ */
+void SerialPort::SetTimeout(float timeout)
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viSetAttribute(m_portHandle, VI_ATTR_TMO_VALUE, (UINT32)(timeout * 1e3));
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Specify the size of the input buffer.
+ *
+ * Specify the amount of data that can be stored before data
+ * from the device is returned to Read or Scanf. If you want
+ * data that is recieved to be returned immediately, set this to 1.
+ *
+ * It the buffer is not filled before the read timeout expires, all
+ * data that has been received so far will be returned.
+ *
+ * @param size The read buffer size.
+ */
+void SerialPort::SetReadBufferSize(UINT32 size)
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viSetBuf(m_portHandle, VI_READ_BUF, size);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Specify the size of the output buffer.
+ *
+ * Specify the amount of data that can be stored before being
+ * transmitted to the device.
+ *
+ * @param size The write buffer size.
+ */
+void SerialPort::SetWriteBufferSize(UINT32 size)
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viSetBuf(m_portHandle, VI_WRITE_BUF, size);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Specify the flushing behavior of the output buffer.
+ *
+ * When set to kFlushOnAccess, data is synchronously written to the serial port
+ * after each call to either Printf() or Write().
+ *
+ * When set to kFlushWhenFull, data will only be written to the serial port when
+ * the buffer is full or when Flush() is called.
+ *
+ * @param mode The write buffer mode.
+ */
+void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode)
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viSetAttribute(m_portHandle, VI_ATTR_WR_BUF_OPER_MODE, mode);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Force the output buffer to be written to the port.
+ *
+ * This is used when SetWriteBufferMode() is set to kFlushWhenFull to force a
+ * flush before the buffer is full.
+ */
+void SerialPort::Flush()
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viFlush(m_portHandle, VI_WRITE_BUF);
+ wpi_setError(localStatus);
+ }
+}
+
+/**
+ * Reset the serial port driver to a known state.
+ *
+ * Empty the transmit and receive buffers in the device and formatted I/O.
+ */
+void SerialPort::Reset()
+{
+ if (!m_consoleModeEnabled)
+ {
+ ViStatus localStatus = viClear(m_portHandle);
+ wpi_setError(localStatus);
+ }
+}
+
+//void SerialPort::_internalHandler(UINT32 port, UINT32 eventType, UINT32 event)
+//{
+//}
+
+//ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType eventType, ViEvent event, ViAddr userHandle)
+//{
+// ((SerialPort*) userHandle)->_internalHandler(vi, eventType, event);
+// return VI_SUCCESS;
+//}
+