[cob_sick_s300] Propose to use portable serial library for cross-platform

cob_sick_s300/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(cob_sick_s300)
 
-find_package(catkin REQUIRED COMPONENTS diagnostic_msgs roscpp sensor_msgs std_msgs)
+find_package(catkin REQUIRED COMPONENTS diagnostic_msgs roscpp sensor_msgs std_msgs serial)
 
 find_package(Boost REQUIRED COMPONENTS date_time thread)
 
@@ -16,7 +16,6 @@ include_directories(
 
 add_executable(${PROJECT_NAME}
   common/src/ScannerSickS300.cpp
-  common/src/SerialIO.cpp
   ros/src/${PROJECT_NAME}.cpp
 )
 
@@ -26,6 +25,9 @@ add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 add_dependencies(cob_scan_filter ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+if(WIN32)
+  target_link_libraries(${PROJECT_NAME} ws2_32)
+endif()
 target_link_libraries(cob_scan_filter ${catkin_LIBRARIES})
 
 ### INSTALL ###

cob_sick_s300/common/include/cob_sick_s300/ScannerSickS300.h

@@ -27,7 +27,7 @@
 #include <math.h>
 #include <stdio.h>
 
-#include <cob_sick_s300/SerialIO.h>
+#include <serial/serial.h>
 #include <cob_sick_s300/TelegramS300.h>
 
 /**
@@ -119,7 +119,7 @@ class ScannerSickS300
 	bool m_bInStandby;
 
 	// Components
-	SerialIO m_SerialIO;
+	serial::Serial m_SerialIO;
 	TelegramParser tp_;
 
 	// Functions

cob_sick_s300/common/include/cob_sick_s300/TelegramS300.h

@@ -17,7 +17,11 @@
 
 #pragma once
 
+#ifdef _WIN32
+#include <winsock.h>
+#else
 #include <arpa/inet.h>
+#endif
 
 /*
 * S300 header format in continuous mode:

cob_sick_s300/common/src/ScannerSickS300.cpp

@@ -95,7 +95,7 @@ ScannerSickS300::ScannerSickS300()
 //-------------------------------------------
 ScannerSickS300::~ScannerSickS300()
 {
-	m_SerialIO.closeIO();
+	m_SerialIO.close();
 }
 
 
@@ -108,34 +108,33 @@ bool ScannerSickS300::open(const char* pcPort, int iBaudRate, int iScanId=7)
 	m_iScanId = iScanId;
 
 	// initialize Serial Interface
-	m_SerialIO.setBaudRate(iBaudRate);
-	m_SerialIO.setDeviceName(pcPort);
-	m_SerialIO.setBufferSize(READ_BUF_SIZE - 10 , WRITE_BUF_SIZE -10 );
-	m_SerialIO.setHandshake(SerialIO::HS_NONE);
-	m_SerialIO.setMultiplier(m_dBaudMult);
-	bRetSerial = m_SerialIO.openIO();
-	m_SerialIO.setTimeout(0.0);
-	m_SerialIO.SetFormat(8, SerialIO::PA_NONE, SerialIO::SB_ONE);
-
-    if(bRetSerial == 0)
-    {
-	    // Clears the read and transmit buffer.
-	    m_iPosReadBuf2 = 0;
-	    m_SerialIO.purge();
-	    return true;
-    }
-    else
-    {
-        return false;
-    }
+	try
+	{
+		m_SerialIO.setBaudrate(iBaudRate * m_dBaudMult);
+		m_SerialIO.setPort(pcPort);
+		m_SerialIO.setFlowcontrol(serial::flowcontrol_none);
+		m_SerialIO.setParity(serial::parity_none);
+		m_SerialIO.setStopbits(serial::stopbits_one);
+		m_SerialIO.setBytesize(serial::eightbits);
+		serial::Timeout timeout	= serial::Timeout::simpleTimeout(0);
+		m_SerialIO.setTimeout(timeout);
+		m_SerialIO.open();
+	}
+	catch(...)
+	{
+		return false;
+	}
+
+	// Clears the read and transmit buffer.
+	m_iPosReadBuf2 = 0;
+	return true;
 }
 
 
 //-------------------------------------------
 void ScannerSickS300::purgeScanBuf()
 {
 	m_iPosReadBuf2 = 0;
-	m_SerialIO.purge();
 }
 
 
@@ -169,7 +168,7 @@ bool ScannerSickS300::getScan(std::vector<double> &vdDistanceM, std::vector<doub
 	if(SCANNER_S300_READ_BUF_SIZE-2-m_actualBufferSize<=0)
 		m_actualBufferSize=0;
 
-	iNumRead2 = m_SerialIO.readBlocking((char*)m_ReadBuf+m_actualBufferSize, SCANNER_S300_READ_BUF_SIZE-2-m_actualBufferSize);
+	iNumRead2 = m_SerialIO.read((uint8_t*)m_ReadBuf+m_actualBufferSize, SCANNER_S300_READ_BUF_SIZE-2-m_actualBufferSize);
 	if(iNumRead2<=0) return false;
 
 	m_actualBufferSize = m_actualBufferSize + iNumRead2;