added flush function for serial port

rosmod · Aug 18, 2017 · 208e74a · 208e74a
1 parent 90c3176
commit 208e74a
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Showing 2 changed files with 16 additions and 0 deletions.
diff --git a/src/serial/include/serial/SerialPort.h b/src/serial/include/serial/SerialPort.h
@@ -25,6 +25,15 @@ class SerialPort {
   int sendArray(unsigned char *buffer, int len);
   int sendString(std::string msg);
   int getArray (unsigned char *buffer, int len);
+
+  void flushPort(boost::asio::serial_port& serial_port, flush_type what);
+
+  enum flush_type
+  {
+    flush_receive = TCIFLUSH,
+    flush_send = TCIOFLUSH,
+    flush_both = TCIOFLUSH
+  };
 };
 
 

diff --git a/src/serial/src/serial/SerialPort.cpp b/src/serial/src/serial/SerialPort.cpp
@@ -4,6 +4,7 @@
 #include "serial/SerialPort.h"
 
 
+
 SerialPort::SerialPort() {
   port = new boost::asio::serial_port(io);
 }
@@ -38,4 +39,10 @@ int SerialPort::getArray (unsigned char *buffer, int len){
   return i;
 }
 
+void SerialPort::flushPort(boost::asio::serial_port& serial_port, flush_type what)
+{
+  ::tcflush(serial_port.lowest_layer().native_handle(), what);
+}
+
+