minor changes. started writting own 3d math library and started implementation for linux/mac

serialcomm.cpp

@@ -1,4 +1,13 @@
-#include <windows.h>
+#ifdef _WIN32
+   #include <windows.h>
+#elif defined(__APPLE__)
+#elif defined(__linux__)
+   #include <fcntl.h>
+   #include <errno.h>
+   #include <termios.h>
+   #include <unistd.h>
+#endif
+
 #include <iostream>
 #include <string>
 #include <regex>
@@ -6,7 +15,8 @@
 #include <thread>
 #include "serialcomm.hpp"
 
-HANDLE initSerialPort (const char* portName, DWORD baudRate) {
+#ifdef _WIN32
+   HANDLE initSerialPort (const char* portName, DWORD baudRate) {
 
     // open serial port
     HANDLE hSerial = CreateFile(portName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
@@ -62,6 +72,54 @@ bool readSerialData (HANDLE hSerial, char* buffer, DWORD bufferSize, DWORD& byte
     return true;
 }
 
+#elif defined(__APPLE__)
+#elif defined(__linux__)
+   int initSerialPort(){
+      struct termios tty;
+
+      int linux_serialPort = open("/dev/ttyUSB0", 0_RDWR);
+
+      // read in existing struct settings and handle errors
+      if (tcgetattr(linux_serialPort, &tty) !0 0) {
+         std::cout << "Error %i opening serial port: %s\n", errno, strerror(errno) << std::endl;
+         return 1;
+      }
+
+      // set the serial settings
+      tty.c_flag &= ~PARENB;
+      tty.c_flag &= ~CSTOPB;
+      tty.c_flag &= ~CSIZE;
+      tty.c_flag |= CS8;
+      tty.c_flag &= ~CRTSCTS;
+      tty.c_flag |= CREAD | CLOCAL;
+
+      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;
+
+      // Set in/out baud rate to be 9600
+      cfsetispeed(&tty, B115200);
+      cfsetospeed(&tty, B115200);
+
+      // save the settings and check for errors
+      if (tcsetattr(linux_serialPort, TCSANOW, &tty) != 0 ) {
+         std::cout << "Error %i saving serial port settings: %s\n", errno, strerror(errno) << std::endl;
+         return 1;
+      }
+
+      return linux_serialPort;
+   }
+
+   bool linux_readSerialData (int serialPort, char* buffer) {
+      if (read(serialPort, &buffer, sizeof(buffer)) < 0 ) {
+      std::cout << "Error reading serial port data: %s", strerror(errno)) << std::endl;
+      return 1;
+      }
+   }
+
+
+#endif
+
+
 bool parseQuaternion(const std::string& data, Quaternion& quat) {
    // regex pattern to match the floats in the uart data stream from stm32
    std::regex pattern("qw: ([+-]?\\d*\\.?\\d+) qx: ([+-]?\\d*\\.?\\d+) qy: ([+-]?\\d*\\.?\\d+) qz: ([+-]?\\d*\\.?\\d+)");