Added in the serial communication library and basic driver/device code

CANBridge.code-workspace

@@ -63,7 +63,10 @@
 			"xtree": "cpp",
 			"xutility": "cpp",
 			"array": "cpp",
-			"iterator": "cpp"
+			"iterator": "cpp",
+			"cstdarg": "cpp",
+			"fstream": "cpp",
+			"sstream": "cpp"
 		},
 		"java.configuration.updateBuildConfiguration": "disabled"
 	}

build.gradle

@@ -23,6 +23,12 @@ nativeUtils {
       exportsFile = project.file("src/main/native/c/candlelib/symbols.txt")
     }
   }
+  privateExportsConfigs {
+    SerialLib {
+      exportsFile = project.file("src/main/native/cpp/serial/symbols.txt")
+    }
+  }
+
 }
 
 model {
@@ -50,6 +56,7 @@ model {
       }
       binaries.all {
         lib library: "CandleLib", linkage: 'static'
+        lib library: "SerialLib", linkage: 'static'
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
           it.buildable = false
         }
@@ -75,6 +82,24 @@ model {
         }
       }
     }
+    SerialLib(NativeLibrarySpec) {
+      sources {
+        cpp {
+          source {
+            srcDirs 'src/main/native/cpp/serial/'
+            include '**/*.cc'
+          }
+          exportedHeaders {
+            srcDirs 'src/main/native/include/serial'
+          }
+        }
+      }
+      binaries.all {
+        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+          it.buildable = false
+        }
+      }
+    }
 
   }
 
@@ -93,6 +118,7 @@ model {
 
       binaries.all {
         lib library: "CandleLib", linkage: 'static'
+        lib library: "SerialLib", linkage: 'static'
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
           it.buildable = false
         }

src/main/native/cpp/CANBridgeUtils.cpp

@@ -41,6 +41,11 @@ void convert_wstring_to_string(const std::wstring& in, std::string& out)
     out = converter.to_bytes(in.c_str());
 }
 
+void convert_string_to_wstring(const std::string& in, std::wstring& out) {
+    std::wstring_convert<std::codecvt_utf8_utf16<wchar_t>> converter;
+    out = converter.from_bytes(in.c_str());
+}
+
 bool CANBridge_ProcessMask(const CANBridge_CANFilter& filter, uint32_t id) 
 {
     bool result = (filter.messageMask & id) == (filter.messageMask & filter.messageId); 

src/main/native/cpp/Drivers/Serial/SerialDevice.cpp

@@ -36,9 +36,7 @@
 #include <mockdata/CanData.h>
 #include <hal/CAN.h>
 
-#include "rev/Drivers/Serial/serial.h"
-
-
+#include "serial/serial.h"
 
 namespace rev {
 namespace usb {
@@ -49,17 +47,17 @@ SerialDevice::SerialDevice(std::string port) :
     m_device = new serial::Serial(port, 9600, serial::Timeout::simpleTimeout(1000));
 
     try {
-        if (!m_device.isOpen()) {
-            m_device.open();
+        if (!m_device->isOpen()) {
+            m_device->open();
         }
     } catch(const std::exception& e) {
         std::cout << e.what() << std::endl;
         throw "Failed to open device!";
     }
 
 
-    m_descriptor = std::wstring()
-    m_name = m_device.getPort();
+    m_descriptor = std::wstring();
+    m_name = m_device->getPort();
     m_thread.Start();
 }
 

src/main/native/cpp/Drivers/Serial/SerialDriver.cpp

@@ -30,8 +30,9 @@
 
 #include "rev/Drivers/Serial/SerialDriver.h"
 #include "rev/Drivers/Serial/SerialDevice.h"
+#include "rev/CANBridgeUtils.h"
 
-#include "rev/Drivers/Serial/serial.h"
+#include "serial/serial.h"
 
 #include <map>
 #include <iostream>
@@ -45,11 +46,12 @@ std::vector<CANDeviceDetail> SerialDriver::GetDevices()
     // Search driver layer for devices
     std::vector<CANDeviceDetail> retval;
 
-    std::vector<serial::PortInfo> found  = serial::list_ports();
+    std::vector<serial::PortInfo> found = serial::list_ports();
     for (auto& dev : found) {
-            std::wstring desc(dev.hardware_id.c_str());
-            std::string name(dev.port.c_str());
-            retval.push_back({desc, name, this->GetName()});
+            std::wstring desc;
+            convert_string_to_wstring(dev.hardware_id.c_str(), desc);
+            std::string name(dev.port.c_str()); // SPARK MAX
+            retval.push_back({desc, name, this->GetName()}); // SPARK MAX Legacy
     }
 
     return retval;
@@ -59,11 +61,12 @@ std::unique_ptr<CANDevice> SerialDriver::CreateDeviceFromDescriptor(const wchar_
 {
     // Search driver layer for devices
 
-    std::vector<serial::PortInfo> found  = serial::list_ports();
+    std::vector<serial::PortInfo> found = serial::list_ports();
     for (auto& dev : found) {
-            std::wstring path(dev.hardware_id.c_str());
+            std::wstring path;
+            convert_string_to_wstring(dev.hardware_id.c_str(), path);
             if (path == std::wstring(descriptor)) {
-                return std::make_unique<SerialDevice>(dev);
+                return std::make_unique<SerialDevice>(dev.port);
             }
     }
 

src/main/native/cpp/Drivers/Serial/list_ports_linux.cc → src/main/native/cpp/serial/list_ports_linux.cc

@@ -22,7 +22,7 @@
 #include <sys/stat.h>
 #include <unistd.h>
 
-#include "serial/serial.h"
+#include "serial.h"
 
 using serial::PortInfo;
 using std::istringstream;
@@ -54,16 +54,16 @@ glob(const vector<string>& patterns)
 
     glob_t glob_results;
 
-    int glob_retval = glob(patterns[0].c_str(), 0, NULL, &glob_results);
+    glob(patterns[0].c_str(), 0, NULL, &glob_results);
 
     vector<string>::const_iterator iter = patterns.begin();
 
     while(++iter != patterns.end())
     {
-        glob_retval = glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results);
+        glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results);
     }
 
-    for(int path_index = 0; path_index < glob_results.gl_pathc; path_index++)
+    for(uint path_index = 0; path_index < glob_results.gl_pathc; path_index++)
     {
         paths_found.push_back(glob_results.gl_pathv[path_index]);
     }
@@ -243,7 +243,7 @@ format(const char* format, ...)
         {
             done = true;
         }
-        else if( return_value >= buffer_size_bytes )
+        else if( return_value >= static_cast<int>(buffer_size_bytes) )
         {
             // Realloc and try again.
 

src/main/native/cpp/Drivers/Serial/list_ports_win.cc → src/main/native/cpp/serial/list_ports_win.cc

@@ -7,14 +7,21 @@
  * http://opensource.org/licenses/MIT
  */
 
-#include "serial/serial.h"
+#include "serial.h"
 #include <tchar.h>
 #include <windows.h>
 #include <setupapi.h>
 #include <initguid.h>
 #include <devguid.h>
 #include <cstring>
 
+#ifdef _MSC_VER
+#pragma comment(lib, "winusb.lib")
+#pragma comment(lib, "setupapi.lib")
+#pragma comment(lib, "ole32.lib")
+#pragma comment(lib, "advapi32.lib")
+#endif
+
 using serial::PortInfo;
 using std::vector;
 using std::string;

src/main/native/cpp/Drivers/Serial/serial.cc → src/main/native/cpp/serial/serial.cc

@@ -9,12 +9,12 @@
 # define alloca __builtin_alloca
 #endif
 
-#include "serial/serial.h"
+#include "serial.h"
 
 #ifdef _WIN32
-#include "rev/Drivers/Serial/win.h"
+#include "win.h"
 #else
-#include "rev/Drivers/Serial/unix.h"
+#include "unix.h"
 #endif
 
 using std::invalid_argument;
@@ -139,7 +139,7 @@ Serial::read (std::vector<uint8_t> &buffer, size_t size)
   }
   catch (const std::exception &e) {
     delete[] buffer_;
-    throw;
+    throw e;
   }
 
   buffer.insert (buffer.end (), buffer_, buffer_+bytes_read);
@@ -158,7 +158,7 @@ Serial::read (std::string &buffer, size_t size)
   }
   catch (const std::exception &e) {
     delete[] buffer_;
-    throw;
+    throw e;
   }
   buffer.append (reinterpret_cast<const char*>(buffer_), bytes_read);
   delete[] buffer_;

src/main/native/cpp/serial/symbols.txt

@@ -0,0 +1 @@
+list_ports

src/main/native/cpp/Drivers/Serial/unix.cc → src/main/native/cpp/serial/unix.cc

@@ -32,7 +32,7 @@
 #include <mach/mach.h>
 #endif
 
-#include "serial/impl/unix.h"
+#include "unix.h"
 
 #ifndef TIOCINQ
 #ifdef FIONREAD

src/main/native/cpp/Drivers/Serial/win.cc → src/main/native/cpp/serial/win.cc

@@ -4,7 +4,7 @@
 
 #include <sstream>
 
-#include "serial/impl/win.h"
+#include "win.h"
 
 using std::string;
 using std::wstring;

src/main/native/include/rev/CANBridgeUtils.h

@@ -49,6 +49,7 @@ namespace usb {
     };
 
     void convert_wstring_to_string(const std::wstring& in, std::string& out); 
+    void convert_string_to_wstring(const std::string& in, std::wstring& out);
 
     bool CANBridge_ProcessMask(const CANBridge_CANFilter& filter, uint32_t id); 
 

src/main/native/include/rev/Drivers/CandleWinUSB/CandleWinUSBDriver.h

@@ -39,7 +39,7 @@ namespace usb {
 class CandleWinUSBDriver : public CANDriver {
 public:
     CandleWinUSBDriver() {}
-    ~CandleWinUSBDriver() {}
+    ~CandleWinUSBDriver() override {}
 
     virtual std::string GetName() const {return "Candle WINUSB";}
 

src/main/native/include/rev/Drivers/Serial/SerialDevice.h

@@ -60,7 +60,7 @@ class SerialDevice : public CANDevice {
 
     virtual bool IsConnected();
 private:
-    serial::Serial m_device;
+    serial::Serial* m_device;
     SerialDeviceThread m_thread;
     std::wstring m_descriptor;
     std::string m_name;

src/main/native/include/rev/Drivers/Serial/SerialDeviceThread.h

@@ -45,7 +45,7 @@
 #include "rev/CANBridgeUtils.h"
 #include "utils/CircularBuffer.h"
 
-#include "serial.h"
+#include "serial/serial.h"
 
 #include <mockdata/CanData.h>
 #include <hal/CAN.h>

src/main/native/include/rev/Drivers/Serial/SerialDriver.h

@@ -39,12 +39,12 @@ namespace usb {
 class SerialDriver : public CANDriver {
 public:
     SerialDriver() {}
-    ~SerialDriver() {}
+    virtual ~SerialDriver() override {}
 
     virtual std::string GetName() const {return "Serial Port";}
 
-    virtual std::vector<CANDeviceDetail> GetDevices();
-    virtual std::unique_ptr<CANDevice> CreateDeviceFromDescriptor(const wchar_t* descriptor);
+    virtual std::vector<CANDeviceDetail> GetDevices() override;
+    virtual std::unique_ptr<CANDevice> CreateDeviceFromDescriptor(const wchar_t* descriptor) override;
 };
 
 } // namespace usb

src/main/native/include/rev/Drivers/Serial/unix.h → src/main/native/include/serial/unix.h

@@ -37,10 +37,10 @@
 
 #if !defined(_WIN32)
 
-#ifndef SERIAL_IMPL_UNIX_H
-#define SERIAL_IMPL_UNIX_H
+#ifndef SERIAL_UNIX_H
+#define SERIAL_UNIX_H
 
-#include "serial/serial.h"
+#include "serial.h"
 
 #include <pthread.h>
 

src/main/native/include/rev/Drivers/Serial/win.h → src/main/native/include/serial/win.h

@@ -36,10 +36,10 @@
 
 #if defined(_WIN32)
 
-#ifndef SERIAL_IMPL_WINDOWS_H
-#define SERIAL_IMPL_WINDOWS_H
+#ifndef SERIAL_WINDOWS_H
+#define SERIAL_WINDOWS_H
 
-#include "serial/serial.h"
+#include "serial.h"
 
 #include "windows.h"