/* POSIX (according to Zlotnick's book) tcsetattr returns zero if	 it performs *any* of the requested operations.  This means it	 can report `success' when it has actually failed to perform	 some proper subset of the requested operations.  To detect	 this partial failure, get the current terminal attributes and	 compare them to the requested ones.  */      /* Initialize to all zeroes so there is no risk memcmp will report a	 spurious difference in an uninitialized portion of the structure.  */      memset (&new_mode, 0, sizeof (new_mode));      if (tcgetattr (portId, &new_mode))         perror(serialPort);      /* Normally, one shouldn't use memcmp to compare structures that	 may have `holes' containing uninitialized data, but we have been	 careful to initialize the storage of these two variables to all	 zeroes.  One might think it more efficient simply to compare the	 modified fields, but that would require enumerating those fields --	 and not all systems have the same fields in this structure.  */      if (memcmp (&termIoPort, &new_mode, sizeof (termIoPort)) != 0)	{#ifdef CIBAUD	  /* SunOS 4.1.3 (at least) has the problem that after this sequence,	     tcgetattr (&m1); tcsetattr (&m1); tcgetattr (&m2);	     sometimes (m1 != m2).  The only difference is in the four bits	     of the c_cflag field corresponding to the baud rate.  To save	     Sun users a little confusion, don't report an error if this	     happens.  But suppress the error only if we haven't tried to	     set the baud rate explicitly -- otherwise we'd never give an	     error for a true failure to set the baud rate.  */	  new_mode.c_cflag &= (~CIBAUD);	  if (memcmp (&termIoPort, &new_mode, sizeof (termIoPort)) != 0)#endif	      fprintf(stderr,		     " unable to perform all requested operations %s",		     serialPort);#else    /* set Ascension FOB port parameters */    termIoPort.c_ospeed = magicBaudRate;	/* out */    termIoPort.c_ispeed = magicBaudRate;	/* in : not supported                                                    (in = out) */    if ((ioctl(portId, TCSETA, &termIoPort)) == -1) {	fprintf(stderr, "Error setting attributes for serial port %s:\n",                 serialPort);#ifdef HAVE_OSERROR	fprintf(stderr,"oserror %d\n",oserror());#endif        perror(serialPort);#endif    }   char command[1024];#ifdef USE_STTY_LINUX// when termios do not work 8-(   snprintf(command,1023,"stty 38400 cs8 cread clocal min 0 time 1 -F /dev/ttyS%c",            serialPort[strlen(serialPort)-1]);   system(command);#endif#ifdef HAVE_AFLOCK_DEBUG   // only used for debugging    // run "stty -a #  ifdef __sgi   snprintf(command,1023,"stty -a F /dev/ttyd%c",            serialPort[strlen(serialPort)-1]);#  else   snprintf(command,1023,"stty -a F /dev/ttyS%c",            serialPort[strlen(serialPort)-1]);#  endif   system(command);#endif    // return the portID    return portId;}void Aflock::set_blocking( const int& port, const int& blocking ){    //////////////////////////////////////////////////////////////////    // Setup a non/blocked port & Flush port    //////////////////////////////////////////////////////////////////    static int blockf,nonblock;    int flags;    flags = fcntl( port,F_GETFL,0 );    // Turn blocking on    blockf   = flags & ~FNDELAY;    // Turn blocking off    nonblock = flags | FNDELAY;    // 0 Non Blocked    // 1 Blocked    fcntl( port, F_SETFL, blocking ? blockf : nonblock );    usleep( 1000 * Aflock::mSleepFactor );//    tcflush(port, TCIOFLUSH);}void Aflock::set_sync( const int& port, const int& sync ){    /////////////////////////////////////////////////////////////////    // Set CRT sync: (manual page 82)    //   set crt sync    //   nosync    -   0    //   > 72Hz    -   1 (type 1)    //                 2 (type 2)    /////////////////////////////////////////////////////////////////    unsigned char buff[4] = {'A', 1};    buff[1] = sync;    write( port,buff,2 );    tcdrain(port);}void Aflock::set_hemisphere( const int& port,			const BIRD_HEMI& hem,			const int& transmitter ){    /////////////////////////////////////////////////////////////////    // Set Hemisphere for birds taking input    //    //  buff   [1]   [2]    // Front: 0x00, 0x00    // Aft  : 0x00, 0x01    // Upper: 0x0C, 0x01    // Lower: 0x0C, 0x00    // Left : 0x06, 0x01    // Right: 0x06, 0x00    /////////////////////////////////////////////////////////////////    char buff[3];    buff[0] = 'L';    for (int i = 1; i <= getNumberDevices(); i++)    {	if (!deliverData(i))  	    continue;	pickBird( i,port );	switch (hem)	{	case FRONT_HEM:	    buff[1] = 0x00;	    buff[2] = 0x00;	    break;	case AFT_HEM:	    buff[1] = 0x00;	    buff[2] = 0x01;	    break;	case UPPER_HEM:	    buff[1] = 0x0C;	    buff[2] = 0x01;	    break;	case LOWER_HEM:	    buff[1] = 0x0C;	    buff[2] = 0x00;	    break;			case LEFT_HEM:	    buff[1] = 0x06;	    buff[2] = 0x01;	    break;	case RIGHT_HEM:	    buff[1] = 0x06;	    buff[2] = 0x00;	    break;	}	write( port, buff, 3 );	usleep( 500 * Aflock::mSleepFactor );        tcdrain(port);    }}// Streaming mode currently not usedvoid Aflock::set_rep_and_stream(const int& port, const char& reportRate){    char buff[1];    /////////////////////////////////////////////////////////////////    // Set report rate    //             Q  Every cycle    //  buff[0] - 'R' Every other bird cycle    //             S  every 8 cycles    //             T  every 32 cycles    /////////////////////////////////////////////////////////////////    buff[0] = reportRate;    write( port, buff, 1 );    usleep( 2000 * Aflock::mSleepFactor );    tcdrain(port);    ////////////////////////////////////////////////////////////////    // set stream mode    ////////////////////////////////////////////////////////////////    buff[0] = '@';    write( port, buff, 1 );    usleep( 500 * Aflock::mSleepFactor );    tcdrain(port);}void Aflock::set_pos_quat(const int& port, const int& transmitter){    //////////////////////////////////////////////////////////////////    // Set Position Quaternion    /////////////////////////////////////////////////////////////////    char buff[1];    for (int i = 1; i <= getNumberDevices(); i++)    {	if (!deliverData(i))		continue;	Aflock::pickBird( i,port );	buff[0] = ']';	write( port, buff, 1 );	usleep( 500 * Aflock::mSleepFactor );        tcdrain(port);      AFLOCK_ERROR_CHECK(port,"Position/Quaternion command",transmitter);    }}void Aflock::set_pos_angles(const int& port, const int& transmitter){    //////////////////////////////////////////////////////////////////    // Set Position Angles    /////////////////////////////////////////////////////////////////    char buff[1];    for (int i = 1; i <= getNumberDevices(); i++)    {	if (!deliverData(i))		continue;	Aflock::pickBird( i,port );	buff[0] = 'Y';	write( port, buff, 1 );	usleep( 500 * Aflock::mSleepFactor );        tcdrain(port);      AFLOCK_ERROR_CHECK(port,"Position/Angles command",transmitter);    }}void Aflock::set_filter(const int& port, const BIRD_FILT& filter){    // a filter value of AC_NARROW | AC_WIDE | DC_FILTER     // turns all filters on    ///////////////////////////////////////////////////////////////    // Turn filters on (manual page 48)    // 0s turn AC NARROW notch filter ON    //         AC WIDE notch filter ON    //         DC filter ON    ///////////////////////////////////////////////////////////////    for (int i = 1; i <= getNumberDevices(); i++)    {       if (!deliverData(i))          continue;       pickBird( i,port );       char buff[4];       buff[0] = 'P';       buff[1] = (~filter) & 7;       buff[2] = 0x00;       buff[3] = 0;       write(port, buff, 4);       //TODO: Do I need to sleep here?       usleep(12000 * Aflock::mSleepFactor);       tcdrain(port);    }}void Aflock::set_transmitter(const int& port, const int& transmitter){    ///////////////////////////////////////////////////////////////    // Sets up the device for Transmitting (manual page 67)    // Command (0x30) for Next Transmitter    ///////////////////////////////////////////////////////////////    char buff[2];    buff[0] = (unsigned char) (0x30);    buff[1] = (unsigned char) transmitter  << 4;    write(port, buff, 2);    usleep(12000 * Aflock::mSleepFactor);    tcdrain(port);}void Aflock::set_autoconfig(const int& port){    ///////////////////////////////////////////////////////////////    // FBB AUTO-CONFIGURATION (manual page 60)    //    // Must wait 300 milliseconds before and after this command    ///////////////////////////////////////////////////////////////    pickBird(1,port);    sleep(1);    char buff[3];    buff[0] = 'P';    buff[1] = 0x32;    buff[2] = getNumberDevices();    write(port, buff,3);    sleep(1);    tcdrain(port);    int i=0;#ifdef HAVE_AFLOCK_DEBUG    pickBird(1,port);    buff[0] = 'O';    buff[1] = 0x32;    write(port, buff,2);    tcdrain(port);    // TODO: we should know here, what's the current adressing mode         sleep(1);    // we are in normal adressing mode, autoconfig command will return 5 byte    const int infolength=5;    char info[infolength];    int numbytes;    do {       numbytes=read(port, info, infolength-i);       if (numbytes<=0)          {          fprintf(stderr,"Aflock: cant get 5 bytes from autoconfig command:");          fprintf(stderr,"Aflock running in normal mode ?\n");          fprintf(stderr,"aflock: got %d bytes instead of 5\n",i);          break;          }       } while ((i+=numbytes)<infolength);    if (i==5)        {       if (info[0]==0)          fprintf(stderr,"Aflock: in standalone mode\n");       else if (info[0]==1)          fprintf(stderr,"Aflock: in transmitter/multiple sensors mode\n");       else          fprintf(stderr,"Aflock: unexpected returnvalue from auto-config\n");       for (i=1;i<8;i++)          if ( (info[1]&&(1<<i)) == 0)             fprintf(stderr,"Aflock: device %d not running\n",i);          else             fprintf(stderr,"Aflock: device %d is running\n",i);       for (i=0;i<7;i++)          if ( (info[2]&&(1<<i)) == 0)             fprintf(stderr,"Aflock: device %d not running\n",i+8);          else             fprintf(stderr,"Aflock: device %d is running\n",i+8);       }sleep(1);#endif}/// not used void Aflock::set_group(const int& port){    ////////////////////////////////////////////////////////////////    // Setup group mode: (manual page 59)    // 'P' Change Parameter    // Number 35 (hex 23),    // Set flag to 1 enabling group mode.    ////////////////////////////////////////////////////////////////    char buff[3];    buff[0] = 'P';    buff[1] = 0x23;    buff[2] = 0x01;    write(port, buff, 3);    tcdrain(port);    sleep(2);}void Aflock::set_sudden_output_change_lock(const int& port,bool lock){    ////////////////////////////////////////////////////////////////    // Set sudden output mode: (manual page ?)    // 'P' Change Parameter    // Number 14 (hex 0e),    // Set flag to 1/0 to lock/unlock sudden output change    ////////////////////////////////////////////////////////////////    for (int i = 1; i <= getNumberDevices(); i++)    {       if (!deliverData(i))          continue;       pickBird( i,port );       char buff[3];       buff[0] = 'P';       buff[1] = 0x0e;       if (lock)          buff[2] = 0x01;       else          buff[2] = 0x00;       write(port, buff, 3);       sleep(1);       tcdrain(port);    }}#else// dummy function, cause some compilers do not like empty inputfiles....static void Aflock_dummy(void) {}#endif