I am trying to read serial data from an Arduino Uno. I am using the Termios struct and followed this tutorial. I am not receiving the Arduino serial data in return, can anyone help me? First time using c++ to read serial. Following is the c++ code (i'm using ROS), and the arduino code.
c++ code
#include <ros.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <termios.h>
#include <csignal>
#include <sstream>
#include <algorithm>
#include <iterator>
const char *arduino_path = "/dev/ttyACM0";
int serial_port;
struct termios tty;
void init_serial(){
//do cereal things https://blog.mbedded.ninja/programming/operating-systems/linux/linux-serial-ports-using-c-cpp/
serial_port = open(arduino_path, O_RDWR | O_NOCTTY | O_NDELAY);
if (serial_port < 0) {
ROS_ERROR("Error %i from open: %s", errno, strerror(errno));
}
memset(&tty, 0, sizeof tty);
if(tcgetattr(serial_port, &tty) != 0) {
printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
}
//set flags
tty.c_cflag &= ~PARENB;
tty.c_cflag |= CS8; // 8 bits per byte (most common)
tty.c_cflag &= ~CRTSCTS;
tty.c_cflag |= CREAD | CLOCAL;
tty.c_lflag &= ~ICANON;
tty.c_lflag &= ~ECHO; // Disable echo
tty.c_lflag &= ~ECHOE; // Disable erasure
tty.c_lflag &= ~ECHONL; // Disable new-line echo
tty.c_lflag &= ~ISIG;
tty.c_iflag &= ~(IXON | IXOFF | IXANY);
tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
tty.c_cc[VTIME] = 10; // Wait for up to 1s (10 deciseconds), returning as soon as any data is received.
tty.c_cc[VMIN] = 0;
cfsetispeed(&tty, B9600);
cfsetospeed(&tty, B9600);
if (tcsetattr(serial_port, TCSANOW, &tty) != 0) {
printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
}
}
std::string read_port(){
// Allocate memory for read buffer, set size according to your needs
char read_buf [256];
memset(&read_buf, '\0', sizeof(read_buf));
int n = read(serial_port, &read_buf, sizeof(read_buf));
std::string ret(read_buf);
return ret;
}
int main(int argc, char **argv){
ros::init(argc, argv, "sensor_handler");
ros::NodeHandle n;
init_serial();
while(ros::ok()){
cout << read_port() << std::endl;
}
}
Arduino code:
bool startup;
//Soil pins
const int soil_sensor_A0_AI = 0;
const int soil_sensor_A0_P = 0;
const int soil_sensor_A1_AI = 1;
const int soil_sensor_A1_P = 1;
const int soil_sensor_B0_AI = 2;
const int soil_sensor_B0_P = 2;
const int soil_sensor_B1_AI = 3;
const int soil_sensor_B1_P = 3;
int no_soil_sensors = 4;
//timer for the water
double water_timer;
int hours_delay = 4;
//water level vars
int water_level_sensor_pin = 5; //must be a PWM pin
int water_level; //in mm^3
double min_water = 20;
void setup() {
Serial.begin(9600);
//Setup soil moisture power pins as outputs
pinMode(soil_sensor_A0_P, OUTPUT);
pinMode(soil_sensor_A1_P, OUTPUT);
pinMode(soil_sensor_B0_P, OUTPUT);
pinMode(soil_sensor_B1_P, OUTPUT);
pinMode(water_level_sensor_pin, INPUT);
//init timer
water_timer = micros();
startup = true;
}
void loop() {
//check if starting up
if(startup){
check_water();
check_soil();
startup = false;
water_timer = micros();
}
/*
* if last check+delay in micros is less than or equal to current time then it means it is time to run a soil check.
*/
if(water_timer + (3600000000*hours_delay) <= micros() ){
check_water();
check_soil();
water_timer = micros();
}
//keep checking water, good way to monitor for leaks
check_water();
}
void check_soil() {
Serial.print("$SOIL:");
if(water_level < min_water){
Serial.println("E, Water level is too low to water the plants");
return;
}
for(int i = 0; i<no_soil_sensors; i++){
switch(i){
case soil_sensor_A0_AI:
digitalWrite(soil_sensor_A0_P, HIGH);
Serial.print("A0,");
Serial.print(analogRead(soil_sensor_A0_AI));
Serial.print(";");
digitalWrite(soil_sensor_A0_P, LOW);
break;
case soil_sensor_A1_AI:
digitalWrite(soil_sensor_A1_P, HIGH);
Serial.print("A1,");
Serial.print(analogRead(soil_sensor_A1_AI));
Serial.print(";");
digitalWrite(soil_sensor_A1_P, LOW);
break;
case soil_sensor_B0_AI:
digitalWrite(soil_sensor_B0_P, HIGH);
Serial.print("B0,");
Serial.print(analogRead(soil_sensor_B0_AI));
Serial.print(";");
digitalWrite(soil_sensor_B0_P, LOW);
break;
case soil_sensor_B1_AI:
digitalWrite(soil_sensor_B1_P, HIGH);
Serial.print("B1,");
Serial.print(analogRead(soil_sensor_B1_AI));
Serial.print(";");
digitalWrite(soil_sensor_B1_P, LOW);
break;
default:
Serial.println("E, SOIL_SENSORS");
break;
}
}
Serial.println("");
}
void check_water(){
//I don't know the math behind this yet but it will be in here
Serial.print("$WATER:");
double water_voltage = digitalRead(water_level_sensor_pin);
//math
double water_level = 0;
Serial.print(water_level);
if(water_level <= min_water){
Serial.print(";E, Water Level Low");
}
Serial.println("");
}
I want to mask my password while writing it with *.
I use Linux GCC for this code.
I know one solution is to use getch() function like this
#include <conio.h>
int main()
{
char c,password[10];
int i;
while( (c=getch())!= '\n');{
password[i] = c;
printf("*");
i++;
}
return 1;
}
but the problem is that GCC does not include conio.h file so, getch() is useless for me.
Does anyone have a solution?
In the Linux world, masking isn't usually done with asterisks, normally echoing is just turned off and the terminal displays blanks E.g. if you use su or log into a virtual terminal etc.
There is a library function to handle getting passwords, it won't mask the password with asterisks but will disable echoing of the password to terminal. I pulled this out of a linux book I have. I believe its part of the posix standard
#include <unistd.h>
char *getpass(const char *prompt);
/*Returns pointer to statically allocated input password string
on success, or NULL on error*/
The getpass() function first disables echoing and all processing of
terminal special characters (such as the interrupt character, normally
Control-C).
It then prints the string pointed to by prompt, and reads a line of
input, returning the null-terminated input string with the trailing
newline stripped, as its function result.
A google search for getpass() has a reference to the GNU implementation (should be in most linux distros) and some sample code for implementing your own if need be
http://www.gnu.org/s/hello/manual/libc/getpass.html
Their example for rolling your own:
#include <termios.h>
#include <stdio.h>
ssize_t
my_getpass (char **lineptr, size_t *n, FILE *stream)
{
struct termios old, new;
int nread;
/* Turn echoing off and fail if we can't. */
if (tcgetattr (fileno (stream), &old) != 0)
return -1;
new = old;
new.c_lflag &= ~ECHO;
if (tcsetattr (fileno (stream), TCSAFLUSH, &new) != 0)
return -1;
/* Read the password. */
nread = getline (lineptr, n, stream);
/* Restore terminal. */
(void) tcsetattr (fileno (stream), TCSAFLUSH, &old);
return nread;
}
If need be you could use this as the basis as modify it to display asterisks.
Without getch to rely on and avoiding the obsolete getpass, the recommended approach is to disable terminal ECHO through termios use. After a few searches to find a canned flexible password routine, I was surprised that very few for stand-alone use with C. Rather than simply recoding getch with termios c_lflag options, slightly more generalized approach takes just a few additions. Beyond replacing getch any routine should enforce a specified maximum length to prevent overflow, truncate if the user attempt to enter beyond the maximum, and warn if truncation occurs in some manner.
Below, the additions will allow reading from any FILE * input stream, limiting the length to a specified length, provide minimal editing (backspace) ability when taking input, allow the character mask to be specified or disabled completely, and finally return the length of the password entered. A warning was added when the password entered was truncated to the maximum or specified length.
Hopefully it will prove useful to others with this question looking for a similar solution:
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#define MAXPW 32
/* read a string from fp into pw masking keypress with mask char.
getpasswd will read upto sz - 1 chars into pw, null-terminating
the resulting string. On success, the number of characters in
pw are returned, -1 otherwise.
*/
ssize_t getpasswd (char **pw, size_t sz, int mask, FILE *fp)
{
if (!pw || !sz || !fp) return -1; /* validate input */
#ifdef MAXPW
if (sz > MAXPW) sz = MAXPW;
#endif
if (*pw == NULL) { /* reallocate if no address */
void *tmp = realloc (*pw, sz * sizeof **pw);
if (!tmp)
return -1;
memset (tmp, 0, sz); /* initialize memory to 0 */
*pw = (char*) tmp;
}
size_t idx = 0; /* index, number of chars in read */
int c = 0;
struct termios old_kbd_mode; /* orig keyboard settings */
struct termios new_kbd_mode;
if (tcgetattr (0, &old_kbd_mode)) { /* save orig settings */
fprintf (stderr, "%s() error: tcgetattr failed.\n", __func__);
return -1;
} /* copy old to new */
memcpy (&new_kbd_mode, &old_kbd_mode, sizeof(struct termios));
new_kbd_mode.c_lflag &= ~(ICANON | ECHO); /* new kbd flags */
new_kbd_mode.c_cc[VTIME] = 0;
new_kbd_mode.c_cc[VMIN] = 1;
if (tcsetattr (0, TCSANOW, &new_kbd_mode)) {
fprintf (stderr, "%s() error: tcsetattr failed.\n", __func__);
return -1;
}
/* read chars from fp, mask if valid char specified */
while (((c = fgetc (fp)) != '\n' && c != EOF && idx < sz - 1) ||
(idx == sz - 1 && c == 127))
{
if (c != 127) {
if (31 < mask && mask < 127) /* valid ascii char */
fputc (mask, stdout);
(*pw)[idx++] = c;
}
else if (idx > 0) { /* handle backspace (del) */
if (31 < mask && mask < 127) {
fputc (0x8, stdout);
fputc (' ', stdout);
fputc (0x8, stdout);
}
(*pw)[--idx] = 0;
}
}
(*pw)[idx] = 0; /* null-terminate */
/* reset original keyboard */
if (tcsetattr (0, TCSANOW, &old_kbd_mode)) {
fprintf (stderr, "%s() error: tcsetattr failed.\n", __func__);
return -1;
}
if (idx == sz - 1 && c != '\n') /* warn if pw truncated */
fprintf (stderr, " (%s() warning: truncated at %zu chars.)\n",
__func__, sz - 1);
return idx; /* number of chars in passwd */
}
A simple program showing the use would be as follows. If using a static array of character for holding the password, just insure a pointer is passed to the function.
int main (void ) {
char pw[MAXPW] = {0};
char *p = pw;
FILE *fp = stdin;
ssize_t nchr = 0;
printf ( "\n Enter password: ");
nchr = getpasswd (&p, MAXPW, '*', fp);
printf ("\n you entered : %s (%zu chars)\n", p, nchr);
printf ( "\n Enter password: ");
nchr = getpasswd (&p, MAXPW, 0, fp);
printf ("\n you entered : %s (%zu chars)\n\n", p, nchr);
return 0;
}
Example Output
$ ./bin/getpasswd2
Enter password: ******
you entered : 123456 (6 chars)
Enter password:
you entered : abcdef (6 chars)
The functionality of getch (which is a non-standard, Windows function) can be emulated with this code:
#include <termios.h>
#include <unistd.h>
int getch() {
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
return ch;
}
Note that your approach is not perfect - it's better to use something like ncurses or another terminal library to handle these things.
You can create your own getch() function on Linux in this manner.
int getch() {
struct termios oldtc, newtc;
int ch;
tcgetattr(STDIN_FILENO, &oldtc);
newtc = oldtc;
newtc.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newtc);
ch=getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldtc);
return ch;
}
Demo code:
int main(int argc, char **argv) {
int ch;
printf("Press x to exit.\n\n");
for (;;) {
ch = getch();
printf("ch = %c (%d)\n", ch, ch);
if(ch == 'x')
break;
}
return 0;
}
Your method is correct, however you'll need to turn off terminal echo while the password is being entered:
#include <sgtty.h>
void echo_off()
{
struct sgttyb state;
(void)ioctl(0, (int)TIOCGETP, (char *)&state);
state.sg_flags &= ~ECHO;
(void)ioctl(0, (int)TIOCSETP, (char *)&state);
}
void echo_on()
{
struct sgttyb state;
(void)ioctl(0, (int)TIOCGETP, (char *)&state);
state.sg_flags |= ECHO;
(void)ioctl(0, (int)TIOCSETP, (char *)&state);
}
Instead of getch(), why not just use getc() instead?
Thanks all of you whose help & support to solve my problem.
I find a best way to hide my password in linux that fits me best.
To use getpass() function. It just need to include "unistd.h" file.
syntex of getpass function:
char * getpass (const char *prompt)
Parameters:
prompt: string pointer to print while asking for Password
Return Value:
string pointer of password
Example:
#include <stdio.h>
#include <unistd.h>
int main()
{
char *password; // password string pointer
password = getpass("Enter Password: "); // get a password
printf("%s\n",password); // this is just for conformation
// that password stored successfully
return 1;
}
output:
Enter Password:
heet
You might use ncurses.h if it is not necessary to be portable onto Windows for that, but here is some kind of a more "portable" version:
If it is not necessery to be portable ill point you to a ncurses solution
portablegetch.h
/*portablegetch.h*/
#ifndef PGETCH
#define PGETCH
#ifdef __unix__
#include <termios.h>
#include <unistd.h>
static struct termios n_term;
static struct termios o_term;
static int
cbreak(int fd)
{
if((tcgetattr(fd, &o_term)) == -1)
return -1;
n_term = o_term;
n_term.c_lflag = n_term.c_lflag & ~(ECHO|ICANON);
n_term.c_cc[VMIN] = 1;
n_term.c_cc[VTIME]= 0;
if((tcsetattr(fd, TCSAFLUSH, &n_term)) == -1)
return -1;
return 1;
}
int
getch()
{
int cinput;
if(cbreak(STDIN_FILENO) == -1) {
fprintf(stderr, "cbreak failure, exiting \n");
exit(EXIT_FAILURE);
}
cinput = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &o_term);
return cinput;
}
#elif _MSC_VER || __WIN32__ || __MS_DOS__
#include <conio.h>
#endif
#endif
And the c-file
whatever.c
#include <stdio.h>
#include <stdlib.h>
#include "portablegetch.h"
int
main(int argc, char **argv)
{
int input;
printf("Please Enter your Password:\t");
while(( input=getch() ) != '\n')
printf("*");
printf("\n");
return EXIT_SUCCESS;
}
That should fit to your problem.
Hope that helps.
#include <termios.h>
#include <stdio.h>
static struct termios old, new;
void initTermios(int echo) {
tcgetattr(0, &old);
new = old;
new.c_lflag &= ~ICANON;
new.c_lflag &= echo ? ECHO : ~ECHO;
tcsetattr(0, TCSANOW, &new);
}
void resetTermios(void) {
tcsetattr(0, TCSANOW, &old);
}
char getch_(int echo) {
char ch;
initTermios(echo);
ch = getchar();
resetTermios();
return ch;
}
char getch(void) {
return getch_(0);
}
int main(void) {
char c;
printf("(getch example) please type a letter...");
c = getch();
printf("\nYou typed: %c\n", c);
return 0;
}
Just copy these snippet and use it. Hope it helped
Just pass for it the char* that you want to set password in and its size and the function will do its job
void set_Password(char *get_in, int sz){
for (int i = 0; i < sz;) {
char ch = getch();
if (ch == 13) {
get_in[i] = '\0';
break;
}
else if(ch != 8){
get_in[i++] = ch;
putch('*');
}
else if(i > 0)
cout << "\b \b",get_in[i--] = '\0';
}
cout << "\n";
}
This is an example, run it on your compiler
Unfortunately in the C standard library there is no such function out of the box. Maybe in third party library.
One option is use ANSI escape sequences to set the background color to foreground color in the console to conceal the password. Try this link.
With scanning the characters you can take it into a buffer. Also you need to write code if backspace is pressed, and appropriately correct the inserted password.
Here is a code which once i wrote with the curses. Compile with gcc file.c -o pass_prog -lcurses
#include <stdio.h>
#include <stdlib.h>
#include <curses.h>
#define ENOUGH_SIZE 256
#define ECHO_ON 1
#define ECHO_OFF 0
#define BACK_SPACE 127
char *my_getpass (int echo_state);
int main (void)
{
char *pass;
initscr ();
printw ("Enter Password: ");
pass = my_getpass (ECHO_ON);
printw ("\nEntered Password: %s", pass);
refresh ();
getch ();
endwin ();
return 0;
}
char *my_getpass (int echo_state)
{
char *pass, c;
int i=0;
pass = malloc (sizeof (char) * ENOUGH_SIZE);
if (pass == NULL)
{
perror ("Exit");
exit (1);
}
cbreak ();
noecho ();
while ((c=getch()) != '\n')
{
if (c == BACK_SPACE)
{
/* Do not let the buffer underflow */
if (i > 0)
{
i--;
if (echo_state == ECHO_ON)
printw ("\b \b");
}
}
else if (c == '\t')
; /* Ignore tabs */
else
{
pass[i] = c;
i = (i >= ENOUGH_SIZE) ? ENOUGH_SIZE - 1 : i+1;
if (echo_state == ECHO_ON)
printw ("*");
}
}
echo ();
nocbreak ();
/* Terminate the password string with NUL */
pass[i] = '\0';
endwin ();
return pass;
}
In C you can use getpasswd() function which pretty much doing similar thing as stty in shell, example:
#include <stdio.h>
#include <string.h>
#include <pwd.h>
#include <unistd.h>
int main()
{
char acct[80], password[80];
printf(“Account: “);
fgets(acct, 80, stdin);
acct[strlen(acct)-1] = 0; /* remove carriage return */
strncpy(password, getpass(“Password: “), 80);
printf(“You entered acct %s and pass %s\n”, acct, password);
return 0;
}
Here is equivalent shell script which use stty (which changes the settings of your tty):
save_state=$(stty -g)
/bin/echo -n “Account: “
read acct
/bin/echo -n “Password: “
stty -echo
read password # this won’t echo
stty “$save_state”
echo “”
echo account = $acct and password = $password
Source: How can I read a password without echoing it in C?
man getpass
This function is obsolete. Do not use it. If you want to read input
without terminal echoing enabled, see the description of the ECHO flag
in termios(3)
# include <termios.h>
# include <unistd.h> /* needed for STDIN_FILENO which is an int file descriptor */
struct termios tp, save;
tcgetattr( STDIN_FILENO, &tp); /* get existing terminal properties */
save = tp; /* save existing terminal properties */
tp.c_lflag &= ~ECHO; /* only cause terminal echo off */
tcsetattr( STDIN_FILENO, TCSAFLUSH, &tp ); /* set terminal settings */
/*
now input by user in terminal will not be displayed
and cursor will not move
*/
tcsetattr( STDIN_FILENO, TCSANOW, &save); /* restore original terminal settings */
If you notice, most current linux distro's do not mask a password with asterisks. Doing so divulges the length of the password which is no way beneficial. It is easier and better to simply make the cursor not move when a password is typed in. If for whatever reason you require a * to be printed for every character that's typed then you would have to grab every keypress before Enter is hit and that's always been problematic.
printf("\nENTER PASSWORD: ");
while (1)
{
ch=getch();
if(ch==13) //ON ENTER PRESS
break;
else if(ch==8) //ON BACKSPACE PRESS REMOVES CHARACTER
{
if(i>0)
{
i--;
password[i]='\0';
printf("\b \b");
}
}
else if (ch==32 || ch==9) //ON PRESSING TAB OR SPACE KEY
continue;
else
{
password[i]=ch;
i++;
printf("*");
}
}
password[i]='\0';
Here is my idea, adapted from that of the C++ official site.
#include <termios.h>
#include <unistd.h>
#include <stdio.h>
#include <iostream>
#include <string>
using namespace std;
string getpass(const char *prompt, bool showchar = false, char echochar = '*')
{
struct termios oi, ni;
tcgetattr(STDIN_FILENO, &oi);
ni = oi;
ni.c_lflag &= ~(ICANON | ECHO);
const char DELETE = 127;
const char RETURN = 10;
string password;
unsigned char ch = 0;
cout << prompt;
tcsetattr(STDIN_FILENO, TCSANOW, &ni);
while (getchar() != RETURN) {
if (ch == DELETE) {
if(password.length != 0){
if (showchar) cout << "\b \b";
password.resize(password.length() - 1);
}
}else {
password += getchar();
if (showchar) cout << echochar;
}
}
tcsetattr(STDIN_FILENO,TCSANOW,&oi)
cout << endl;
return password;
}
It will read one character at once and add it to the string and supports showing another character.
note that the ICANON termios lflag turns off the processing carriagereturn/linefeed, and the negative ECHO termios setting turns off echo for STDIN.
when using this (with or without the echo being on) to read a password and print '*' for entered characters, it's not just a matter of reading characters until a newline/carriage return is encountered, you also have to process backspace in your 'string building routine' (else the backspaces end up in the actual string, and do not cause characters to be removed from it such as would be the case with the various string based input functions).
the same would happen in C in DOS with getch tho. that would also happily return 0x08 for backspace (or 127 or whatever your specific os uses as backspace)
keeping track of 'not deleting -before- the start of the string', replacing the 'new end of the string' with 0 and moving the current position counter back by one (unless you are at position 0) is up to the programmer with any of these functions (even the getch on dos C).
getpass() doesn't do what the user originally asked for btw, he wants *'s (which still disclose the length of the password to people standing behind him and looking at his screen, as well as in the scrollbuffer of the terminal if he doesn't close it after use). but without *'s is probably a better idea in 'non closed environments'.
On Windows, I have the following code to look for input without interrupting the loop:
#include <conio.h>
#include <Windows.h>
#include <iostream>
int main()
{
while (true)
{
if (_kbhit())
{
if (_getch() == 'g')
{
std::cout << "You pressed G" << std::endl;
}
}
Sleep(500);
std::cout << "Running" << std::endl;
}
}
However, seeing that there is no conio.h, whats the simplest way of achieving this very same thing on Linux?
If your linux has no conio.h that supports kbhit() you can look here for Morgan Mattews's code to provide kbhit() functionality in a way compatible with any POSIX compliant system.
As the trick desactivate buffering at termios level, it should also solve the getchar() issue as demonstrated here.
The ncurses howto cited above can be helpful. Here is an example illustrating how ncurses could be used like the conio example:
#include <ncurses.h>
int
main()
{
initscr();
cbreak();
noecho();
scrollok(stdscr, TRUE);
nodelay(stdscr, TRUE);
while (true) {
if (getch() == 'g') {
printw("You pressed G\n");
}
napms(500);
printw("Running\n");
}
}
Note that with ncurses, the iostream header is not used. That is because mixing stdio with ncurses can have unexpected results.
ncurses, by the way, defines TRUE and FALSE. A correctly configured ncurses will use the same data-type for ncurses' bool as the C++ compiler used for configuring ncurses.
A compact solution based on Christophe's answer is
#include <sys/ioctl.h>
#include <termios.h>
bool kbhit()
{
termios term;
tcgetattr(0, &term);
termios term2 = term;
term2.c_lflag &= ~ICANON;
tcsetattr(0, TCSANOW, &term2);
int byteswaiting;
ioctl(0, FIONREAD, &byteswaiting);
tcsetattr(0, TCSANOW, &term);
return byteswaiting > 0;
}
Unlike that answer, this won't leave the terminal in a weird state after the program has exited. However, it still leaves the characters sitting in the input buffer, so the key that was pressed will unwelcomely appear on the next prompt line.
A different solution which fixes this problem is
void enable_raw_mode()
{
termios term;
tcgetattr(0, &term);
term.c_lflag &= ~(ICANON | ECHO); // Disable echo as well
tcsetattr(0, TCSANOW, &term);
}
void disable_raw_mode()
{
termios term;
tcgetattr(0, &term);
term.c_lflag |= ICANON | ECHO;
tcsetattr(0, TCSANOW, &term);
}
bool kbhit()
{
int byteswaiting;
ioctl(0, FIONREAD, &byteswaiting);
return byteswaiting > 0;
}
Usage is as follows
enable_raw_mode();
// ...
if (kbhit()) ...
// ...
disable_raw_mode();
tcflush(0, TCIFLUSH); // Clear stdin to prevent characters appearing on prompt
Now any characters typed between execution of the first and last lines won't show up in the terminal. However, if you exit with Ctrl+C the terminal is left in a weird state. (Sigh)
While using ncurses is functionally equivalent to the Turbo C "conio.h" API, a more complete solution is to use a conio implementation, as can be found here.
You download and use it in your program for a very complete implementation of the conio interface, on Linux. (Or OSX.) Written by Ron Burkey.
If you are using Linux, I found this solution where you can create your own local library:
http://linux-sxs.org/programming/kbhit.html
kbhit.cpp
#include "kbhit.h"
#include <unistd.h> // read()
keyboard::keyboard(){
tcgetattr(0,&initial_settings);
new_settings = initial_settings;
new_settings.c_lflag &= ~ICANON;
new_settings.c_lflag &= ~ECHO;
new_settings.c_lflag &= ~ISIG;
new_settings.c_cc[VMIN] = 1;
new_settings.c_cc[VTIME] = 0;
tcsetattr(0, TCSANOW, &new_settings);
peek_character=-1;
}
keyboard::~keyboard(){
tcsetattr(0, TCSANOW, &initial_settings);
}
int keyboard::kbhit(){
unsigned char ch;
int nread;
if (peek_character != -1) return 1;
new_settings.c_cc[VMIN]=0;
tcsetattr(0, TCSANOW, &new_settings);
nread = read(0,&ch,1);
new_settings.c_cc[VMIN]=1;
tcsetattr(0, TCSANOW, &new_settings);
if (nread == 1){
peek_character = ch;
return 1;
}
return 0;
}
int keyboard::getch(){
char ch;
if (peek_character != -1){
ch = peek_character;
peek_character = -1;
}
else read(0,&ch,1);
return ch;
}
kbhit.h
#ifndef KBHIT_H
#define KBHIT_H
#include <termios.h>
class keyboard{
public:
keyboard();
~keyboard();
int kbhit();
int getch();
private:
struct termios initial_settings, new_settings;
int peek_character;
};
#endif
inside main.cpp I created an instance:
#include "kbhit.h"
int main(){
int key_nr;
char key;
keyboard keyb;
while(true){
if( keyb.kbhit() ){
key_nr = keyb.getch(); //return int
key = key_nr; // get ascii char
// do some stuff
}
}
return 0;
}
On Windows, I have the following code to look for input without interrupting the loop:
#include <conio.h>
#include <Windows.h>
#include <iostream>
int main()
{
while (true)
{
if (_kbhit())
{
if (_getch() == 'g')
{
std::cout << "You pressed G" << std::endl;
}
}
Sleep(500);
std::cout << "Running" << std::endl;
}
}
However, seeing that there is no conio.h, whats the simplest way of achieving this very same thing on Linux?
If your linux has no conio.h that supports kbhit() you can look here for Morgan Mattews's code to provide kbhit() functionality in a way compatible with any POSIX compliant system.
As the trick desactivate buffering at termios level, it should also solve the getchar() issue as demonstrated here.
The ncurses howto cited above can be helpful. Here is an example illustrating how ncurses could be used like the conio example:
#include <ncurses.h>
int
main()
{
initscr();
cbreak();
noecho();
scrollok(stdscr, TRUE);
nodelay(stdscr, TRUE);
while (true) {
if (getch() == 'g') {
printw("You pressed G\n");
}
napms(500);
printw("Running\n");
}
}
Note that with ncurses, the iostream header is not used. That is because mixing stdio with ncurses can have unexpected results.
ncurses, by the way, defines TRUE and FALSE. A correctly configured ncurses will use the same data-type for ncurses' bool as the C++ compiler used for configuring ncurses.
A compact solution based on Christophe's answer is
#include <sys/ioctl.h>
#include <termios.h>
bool kbhit()
{
termios term;
tcgetattr(0, &term);
termios term2 = term;
term2.c_lflag &= ~ICANON;
tcsetattr(0, TCSANOW, &term2);
int byteswaiting;
ioctl(0, FIONREAD, &byteswaiting);
tcsetattr(0, TCSANOW, &term);
return byteswaiting > 0;
}
Unlike that answer, this won't leave the terminal in a weird state after the program has exited. However, it still leaves the characters sitting in the input buffer, so the key that was pressed will unwelcomely appear on the next prompt line.
A different solution which fixes this problem is
void enable_raw_mode()
{
termios term;
tcgetattr(0, &term);
term.c_lflag &= ~(ICANON | ECHO); // Disable echo as well
tcsetattr(0, TCSANOW, &term);
}
void disable_raw_mode()
{
termios term;
tcgetattr(0, &term);
term.c_lflag |= ICANON | ECHO;
tcsetattr(0, TCSANOW, &term);
}
bool kbhit()
{
int byteswaiting;
ioctl(0, FIONREAD, &byteswaiting);
return byteswaiting > 0;
}
Usage is as follows
enable_raw_mode();
// ...
if (kbhit()) ...
// ...
disable_raw_mode();
tcflush(0, TCIFLUSH); // Clear stdin to prevent characters appearing on prompt
Now any characters typed between execution of the first and last lines won't show up in the terminal. However, if you exit with Ctrl+C the terminal is left in a weird state. (Sigh)
While using ncurses is functionally equivalent to the Turbo C "conio.h" API, a more complete solution is to use a conio implementation, as can be found here.
You download and use it in your program for a very complete implementation of the conio interface, on Linux. (Or OSX.) Written by Ron Burkey.
If you are using Linux, I found this solution where you can create your own local library:
http://linux-sxs.org/programming/kbhit.html
kbhit.cpp
#include "kbhit.h"
#include <unistd.h> // read()
keyboard::keyboard(){
tcgetattr(0,&initial_settings);
new_settings = initial_settings;
new_settings.c_lflag &= ~ICANON;
new_settings.c_lflag &= ~ECHO;
new_settings.c_lflag &= ~ISIG;
new_settings.c_cc[VMIN] = 1;
new_settings.c_cc[VTIME] = 0;
tcsetattr(0, TCSANOW, &new_settings);
peek_character=-1;
}
keyboard::~keyboard(){
tcsetattr(0, TCSANOW, &initial_settings);
}
int keyboard::kbhit(){
unsigned char ch;
int nread;
if (peek_character != -1) return 1;
new_settings.c_cc[VMIN]=0;
tcsetattr(0, TCSANOW, &new_settings);
nread = read(0,&ch,1);
new_settings.c_cc[VMIN]=1;
tcsetattr(0, TCSANOW, &new_settings);
if (nread == 1){
peek_character = ch;
return 1;
}
return 0;
}
int keyboard::getch(){
char ch;
if (peek_character != -1){
ch = peek_character;
peek_character = -1;
}
else read(0,&ch,1);
return ch;
}
kbhit.h
#ifndef KBHIT_H
#define KBHIT_H
#include <termios.h>
class keyboard{
public:
keyboard();
~keyboard();
int kbhit();
int getch();
private:
struct termios initial_settings, new_settings;
int peek_character;
};
#endif
inside main.cpp I created an instance:
#include "kbhit.h"
int main(){
int key_nr;
char key;
keyboard keyb;
while(true){
if( keyb.kbhit() ){
key_nr = keyb.getch(); //return int
key = key_nr; // get ascii char
// do some stuff
}
}
return 0;
}
I want to control the RTS line on the serial port to wake up a device. Here is some rough test code to open the serial port. I need to set the RTS line low for 500ms. I'm having trouble googleing/understanding how to control the lines. Any Hints?
EDIT: OR controlling the CTS/DTR, any other line besides the Tx/Rx lines to connect to a pin of the robot.
#include <iostream>
#include <string.h>
#include <cstdio>
#include <fstream>
#include <sys/types.h>
#include <pthread.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <stdint.h> /* Standard types */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <sys/ioctl.h>
#include <getopt.h>
using namespace std;
int fd_global;
FILE* fp_global;
int serialport_init(const char* serialport, int baud);
int serialport_read_until(int fd);
int fpeek(FILE* stream);
bool fexists(const char *filename);
void* screen_thread(void* arg) {
while(1) {
}
}
int main(void) {
pthread_t screen_thread_id;
int flags;
int baudrate = B9600; // default
fd_global = serialport_init((char*)"/dev/ttyUSB0", baudrate);
if(fd_global==-1) {
cout << "Open port: error\n";
return -1;
}
fp_global = fdopen(fd_global, "r");
if (-1 == (flags = fcntl(fd_global, F_GETFL, 0))) flags = 0;
fcntl(fd_global, F_SETFL, flags | O_NONBLOCK);
//pthread_create(&screen_thread_id, NULL, screen_thread, (void*)NULL);
serialport_read_until(fd_global);
return 0;
}
int serialport_read_until(int fd)
{
char b[1];
while(1) {
int n = read(fd, b, 1); //Read byte at a time
if(n==-1) {
printf("N");fflush(stdout);
perror("READ: ");
}
else if( n==0 ) {
printf("Z");fflush(stdout);
} else if(n>0) {
printf(":%d:",n);fflush(stdout);
}
usleep(100*1000);
if (fexists("/dev/ttyUSB0"))
printf("CONNECTED\n");
else
printf("NOT CONNECTED\n");
}
return 0;
}
bool fexists(const char *filename)
{
ifstream ifile(filename);
return ifile;
}
int serialport_init(const char* serialport, int baud)
{
struct termios toptions;
int fd;
// Open port
fd = open(serialport, O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) {
perror("init_serialport: Unable to open port ");
return -1;
}
// Read current termios settings
if (tcgetattr(fd, &toptions) < 0) {
perror("init_serialport: Couldn't get term attributes");
return -1;
}
// Set baud rate variable
speed_t brate = baud;
switch(baud) {
case 2400: brate=B2400; break;
case 4800: brate=B4800; break;
case 9600: brate=B9600; break;
#ifdef B14400
case 14400: brate=B14400; break;
#endif
case 19200: brate=B19200; break;
#ifdef B28800
case 28800: brate=B28800; break;
#endif
case 38400: brate=B38400; break;
case 57600: brate=B57600; break;
case 115200: brate=B115200; break;
}
cfsetispeed(&toptions, brate);
cfsetospeed(&toptions, brate);
// Setup termios for 8N1
toptions.c_cflag &= ~PARENB;
toptions.c_cflag &= ~CSTOPB;
toptions.c_cflag &= ~CSIZE;
toptions.c_cflag |= CS8;
// Reccomended settings
toptions.c_cflag &= ~CRTSCTS; // no flow control
toptions.c_cflag |= CREAD | CLOCAL; // turn on read & ignore ctrl lines
toptions.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off s/w flow ctrl
toptions.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // make raw
toptions.c_oflag &= ~OPOST; // make raw
// Setting when read() releases
// see: http://unixwiz.net/techtips/termios-vmin-vtime.html (Still a little confusing)
toptions.c_cc[VMIN] = 0;
toptions.c_cc[VTIME] = 20;
// Apply settings
if( tcsetattr(fd, TCSANOW, &toptions) < 0) {
perror("init_serialport: Couldn't set term attributes");
return -1;
}
return fd;
}
Would this work? I'll test it tomorrow.
int status;
status |= TIOCM_RTS;
ioctl(fd, TIOCMSET, &status);
usleep(500*1000);
status &= ~TIOCM_RTS;
ioctl(fd, TIOCMSET, &status);