Name
- Termios For Windows Wallpaper
- Termios For Windows App
- Termios For Windows Python
- Termios For Windows 10 Pro
termios, tcgetattr, tcsetattr, tcsendbreak, tcdrain, tcflush, tcflow, cfmakeraw, cfgetospeed, cfgetispeed, cfsetispeed, cfsetospeed, cfsetspeed - get andset terminal attributes, line control, get and set baud rate
Synopsis
Feature Test Macro Requirements for glibc (see feature_test_macrosOn the Wiki 1, 2 there is talk of the termios.h file. I looked hard, greped the tar files, googled all, compared with Linux and Cygwin - I can't find that file, neither in MinGW installation nor in my donwloaded MinGW package.
(7)):In the descriptions below, 'not in POSIX' means that the value is not specified in POSIX.1-2001, and 'XSI' means that the value is specified in POSIX.1-2001as part of the XSI extension.
c_iflag flag constants:
IGNBRKIgnore BREAK condition on input.
BRKINT
If IGNBRK is set, a BREAK is ignored. If it is not set but BRKINT is set, then a BREAK causes the input and output queues to be flushed, andif the terminal is the controlling terminal of a foreground process group, it will cause a SIGINT to be sent to this foreground process group. Whenneither IGNBRK nor BRKINT are set, a BREAK reads as a null byte ('0'), except when PARMRK is set, in which case it reads as the sequence377 0 0.
IGNPAR
Ignore framing errors and parity errors.
PARMRK
If IGNPAR is not set, prefix a character with a parity error or framing error with 377 0. If neither IGNPAR nor PARMRK is set, read acharacter with a parity error or framing error as 0.
INPCK
Enable input parity checking.
ISTRIP
Strip off eighth bit.
INLCR
Translate NL to CR on input.
IGNCR
Ignore carriage return on input.
ICRNL
Translate carriage return to newline on input (unless IGNCR is set).
IUCLC
(not in POSIX) Map uppercase characters to lowercase on input.
IXON
Enable XON/XOFF flow control on output.
IXANY
(XSI) Typing any character will restart stopped output. (The default is to allow just the START character to restart output.)
IXOFF
Enable XON/XOFF flow control on input.
Enable implementation-defined output processing.
(not in POSIX) Map lowercase characters to uppercase on output.
ONLCR
(XSI) Map NL to CR-NL on output.
OCRNL
Map CR to NL on output.
ONOCR
Don't output CR at column 0.
ONLRET
Don't output CR.
OFILL
Send fill characters for a delay, rather than using a timed delay.
OFDEL
(not in POSIX) Fill character is ASCII DEL (0177). If unset, fill character is ASCII NUL ('0'). (Not implemented on Linux.)
NLDLY
Newline delay mask. Values are NL0 and NL1. [requires _BSD_SOURCE or _SVID_SOURCE or _XOPEN_SOURCE]
CRDLY
Carriage return delay mask. Values are CR0, CR1, CR2, or CR3. [requires _BSD_SOURCE or _SVID_SOURCE or_XOPEN_SOURCE]
TABDLY
Horizontal tab delay mask. Values are TAB0, TAB1, TAB2, TAB3 (or XTABS). A value of TAB3, that is, XTABS, expands tabs tospaces (with tab stops every eight columns). [requires _BSD_SOURCE or _SVID_SOURCE or _XOPEN_SOURCE]
BSDLY
Backspace delay mask. Values are BS0 or BS1. (Has never been implemented.) [requires _BSD_SOURCE or _SVID_SOURCE or_XOPEN_SOURCE]
VTDLY
Vertical tab delay mask. Values are VT0 or VT1.
FFDLY
Form feed delay mask. Values are FF0 or FF1. [requires _BSD_SOURCE or _SVID_SOURCE or _XOPEN_SOURCE]
(not in POSIX) Baud speed mask (4+1 bits). [requires _BSD_SOURCE or _SVID_SOURCE]
Termios For Windows Wallpaper
CBAUD. [requires _BSD_SOURCE or _SVID_SOURCE](POSIX says that the baud speed is stored in the termios structure without specifying where precisely, and provides cfgetispeed() andcfsetispeed() for getting at it. Some systems use bits selected by CBAUD in c_cflag, other systems use separate fields, for example,sg_ispeed and sg_ospeed.)
CSIZECharacter size mask. Values are CS5, CS6, CS7, or CS8.
CSTOPB
Set two stop bits, rather than one.
CREAD
Enable receiver.
PARENB
Enable parity generation on output and parity checking for input.
PARODD
If set, then parity for input and output is odd; otherwise even parity is used.
HUPCL
Lower modem control lines after last process closes the device (hang up).
CLOCAL
Ignore modem control lines.
LOBLK
(not in POSIX) Block output from a noncurrent shell layer. For use by shl (shell layers). (Not implemented on Linux.)
CIBAUD
(not in POSIX) Mask for input speeds. The values for the CIBAUD bits are the same as the values for the CBAUD bits, shifted leftIBSHIFT bits. [requires _BSD_SOURCE or _SVID_SOURCE] (Not implemented on Linux.)
CMSPAR
(not in POSIX) Use 'stick' (mark/space) parity (supported on certain serial devices): if PARODD is set, the parity bit is always 1; if PARODDis not set, then the parity bit is always 0). [requires _BSD_SOURCE or _SVID_SOURCE]
When any of the characters INTR, QUIT, SUSP, or DSUSP are received, generate the corresponding signal.
ICANON
Enable canonical mode (described below).
XCASE
(not in POSIX; not supported under Linux) If ICANON is also set, terminal is uppercase only. Input is converted to lowercase, except for characterspreceded by . On output, uppercase characters are preceded by and lowercase characters are converted to uppercase. [requires _BSD_SOURCE or _SVID_SOURCE or_XOPEN_SOURCE]
ECHO
Echo input characters.
ECHOE
If ICANON is also set, the ERASE character erases the preceding input character, and WERASE erases the preceding word.
ECHOK
If ICANON is also set, the KILL character erases the current line.
ECHONL
If ICANON is also set, echo the NL character even if ECHO is not set.
(not in POSIX) If ICANON is also set, KILL is echoed by erasing each character on the line, as specified by ECHOE and ECHOPRT.[requires _BSD_SOURCE or _SVID_SOURCE]
(not in POSIX; not supported under Linux) Output is being flushed. This flag is toggled by typing the DISCARD character. [requires _BSD_SOURCE or_SVID_SOURCE]
NOFLSH
Disable flushing the input and output queues when generating signals for the INT, QUIT, and SUSP characters.
TOSTOP
Send the SIGTTOU signal to the process group of a background process which tries to write to its controlling terminal.
PENDIN
(not in POSIX; not supported under Linux) All characters in the input queue are reprinted when the next character is read. (bash(1) handles typeaheadthis way.) [requires _BSD_SOURCE or _SVID_SOURCE]
IEXTEN
Enable implementation-defined input processing. This flag, as well as ICANON must be enabled for the special characters EOL2, LNEXT, REPRINT, WERASEto be interpreted, and for the IUCLC flag to be effective.
(not in POSIX; not supported under Linux; 031, EM, Ctrl-Y) Delayed suspend character (DSUSP): send SIGTSTP signal when the character is read by theuser program. Recognized when IEXTEN and ISIG are set, and the system supports job control, and then not passed as input.
VEOF
(004, EOT, Ctrl-D) End-of-file character (EOF). More precisely: this character causes the pending tty buffer to be sent to the waiting user program withoutwaiting for end-of-line. If it is the first character of the line, the read(2) in the user program returns 0, which signifies end-of-file. Recognizedwhen ICANON is set, and then not passed as input.
VEOL
(0, NUL) Additional end-of-line character (EOL). Recognized when ICANON is set.
VEOL2
(not in POSIX; 0, NUL) Yet another end-of-line character (EOL2). Recognized when ICANON is set.
VERASE
(0177, DEL, rubout, or 010, BS, Ctrl-H, or also #) Erase character (ERASE). This erases the previous not-yet-erased character, but does not erase past EOFor beginning-of-line. Recognized when ICANON is set, and then not passed as input.
VINTR
(003, ETX, Ctrl-C, or also 0177, DEL, rubout) Interrupt character (INTR). Send a SIGINT signal. Recognized when ISIG is set, and then notpassed as input.
VKILL
(025, NAK, Ctrl-U, or Ctrl-X, or also @) Kill character (KILL). This erases the input since the last EOF or beginning-of-line. Recognized when ICANONis set, and then not passed as input.
VLNEXT
(not in POSIX; 026, SYN, Ctrl-V) Literal next (LNEXT). Quotes the next input character, depriving it of a possible special meaning. Recognized whenIEXTEN is set, and then not passed as input.
VMIN
Minimum number of characters for noncanonical read (MIN).
VQUIT
(034, FS, Ctrl-) Quit character (QUIT). Send SIGQUIT signal. Recognized when ISIG is set, and then not passed as input.
(021, DC1, Ctrl-Q) Start character (START). Restarts output stopped by the Stop character. Recognized when IXON is set, and then not passed asinput.
(023, DC3, Ctrl-S) Stop character (STOP). Stop output until Start character typed. Recognized when IXON is set, and then not passed as input.
VSUSP
(032, SUB, Ctrl-Z) Suspend character (SUSP). Send SIGTSTP signal. Recognized when ISIG is set, and then not passed as input.
VSWTCH
(not in POSIX; not supported under Linux; 0, NUL) Switch character (SWTCH). Used in System V to switch shells in shell layers, a predecessor to shelljob control.
VTIME
Timeout in deciseconds for noncanonical read (TIME).
The above symbolic subscript values are all different, except that VTIME, VMIN may have the same value as VEOL, VEOF,respectively. In noncanonical mode the special character meaning is replaced by the timeout meaning. For an explanation of VMIN and VTIME, seethe description of noncanonical mode below.
Retrieving and changing terminal settings
tcgetattr() gets the parameters associated with the object referred by fd and stores them in the termios structure referenced bytermios_p. This function may be invoked from a background process; however, the terminal attributes may be subsequently changed by a foreground process.tcsetattr() sets the parameters associated with the terminal (unless support is required from the underlying hardware that is not available) from thetermios structure referred to by termios_p. optional_actions specifies when the changes take effect:
Canonical and noncanonical mode
The setting of the ICANON canon flag in c_lflag determines whether the terminal is operating in canonical mode (ICANON set) ornoncanonical mode (ICANON unset). By default, ICANON set.In canonical mode:
*Input is made available line by line. An input line is available when one of the line delimiters is typed (NL, EOL, EOL2; or EOF at the start of line).Except in the case of EOF, the line delimiter is included in the buffer returned by read(2).
*
Line editing is enabled (ERASE, KILL; and if the IEXTEN flag is set: WERASE, REPRINT, LNEXT). A read(2) returns at most one line of input; ifthe read(2) requested fewer bytes than are available in the current line of input, then only as many bytes as requested are read, and the remainingcharacters will be available for a future read(2).
MIN 0; TIME 0: If data is available, read(2) returns immediately, with the lesser of the number of bytes available, or the number of bytesrequested. If no data is available, read(2) returns 0.
*
MIN > 0; TIME 0: read(2) blocks until the lesser of MIN bytes or the number of bytes requested are available, and returns the lesser of thesetwo values.
*
MIN 0; TIME > 0: TIME specifies the limit for a timer in tenths of a second. The timer is started when read(2) is called. read(2)returns either when at least one byte of data is available, or when the timer expires. If the timer expires without any input becoming available,read(2) returns 0.
*
MIN > 0; TIME > 0: TIME specifies the limit for a timer in tenths of a second. Once an initial byte of input becomes available, the timer is restartedafter each further byte is received. read(2) returns either when the lesser of the number of bytes requested or MIN byte have been read, or when theinter-byte timeout expires. Because the timer is only started after the initial byte becomes available, at least one byte will be read.
Raw mode
Line control
tcsendbreak() transmits a continuous stream of zero-valued bits for a specific duration, if the terminal is using asynchronous serial datatransmission. If duration is zero, it transmits zero-valued bits for at least 0.25 seconds, and not more that 0.5 seconds. If duration is notzero, it sends zero-valued bits for some implementation-defined length of time.If the terminal is not using asynchronous serial data transmission, tcsendbreak() returns without taking any action.
tcdrain() waits until all output written to the object referred to by fd has been transmitted.
tcflush() discards data written to the object referred to by fd but not transmitted, or data received but not read, depending on the value ofqueue_selector:
suspends output.
TCOON
restarts suspended output.
TCIOFF
transmits a STOP character, which stops the terminal device from transmitting data to the system.
TCION
transmits a START character, which starts the terminal device transmitting data to the system.
Line speed
The baud rate functions are provided for getting and setting the values of the input and output baud rates in the termios structure. The new valuesdo not take effect until tcsetattr() is successfully called.Setting the speed to B0 instructs the modem to 'hang up'. The actual bit rate corresponding to B38400 may be altered with setserial(8).
The input and output baud rates are stored in the termios structure.
cfgetospeed() returns the output baud rate stored in the termios structure pointed to by termios_p.
cfsetospeed() sets the output baud rate stored in the termios structure pointed to by termios_p to speed, which must be one ofthese constants:
B0B50
B75
B110
B134
B150
B200
B300
B600
B1200
B1800
B2400
B4800
B9600
B19200
B38400
B57600
B115200
B230400
The zero baud rate, B0, is used to terminate the connection. If B0 is specified, the modem control lines shall no longer be asserted. Normally, thiswill disconnect the line. CBAUDEX is a mask for the speeds beyond those defined in POSIX.1 (57600 and above). Thus, B57600 & CBAUDEXis nonzero.cfgetispeed() returns the input baud rate stored in the termios structure.
cfsetispeed() sets the input baud rate stored in the termios structure to speed, which must be specified as one of the Bnnnconstants listed above for cfsetospeed(). If the input baud rate is set to zero, the input baud rate will be equal to the output baud rate. Photo scissors serial key recover.
cfsetspeed() is a 4.4BSD extension. It takes the same arguments as cfsetispeed(), and sets both input and output speed.
Return Value
cfgetispeed() returns the input baud rate stored in the termios structure.
cfgetospeed() returns the output baud rate stored in the termios structure.
All other functions return:
0on success.
-1
on failure and set errno to indicate the error.
Conforming To
tcgetattr(), tcsetattr(), tcsendbreak(), tcdrain(), tcflush(), tcflow(), cfgetispeed(),cfgetospeed(), cfsetispeed(), and cfsetospeed() are specified in POSIX.1-2001.
cfmakeraw() and cfsetspeed() are nonstandard, but available on the BSDs.
Notes
UNIX V7 and several later systems have a list of baud rates where after the fourteen values B0, .., B9600 one finds the two constants EXTA, EXTB ('ExternalA' and 'External B'). Many systems extend the list with much higher baud rates.
The effect of a nonzero duration with tcsendbreak() varies. SunOS specifies a break of duration * N seconds, where N is at least0.25, and not more than 0.5. Linux, AIX, DU, Tru64 send a break of duration milliseconds. FreeBSD and NetBSD and HP-UX and MacOS ignore the value ofduration. Under Solaris and UnixWare, tcsendbreak() with nonzero duration behaves like tcdrain().
See Also
stty(1), console_ioctl(4), tty_ioctl(4), setserial(8)
Referenced By
exit(2),getpass(3),perlopentut(1),pty(7),setpgrp(2),stdin(3),termio(7),tty(4)Install from source requires that you download and compile the source code on your own.
This page is organized as the same way as ROSInstallationSource. This page is still working in progress.
Prerequisites
Installing toolchains
Follow the Prerequisites section from Setup.md to install Visual Studio Build Tool 2017, Cmake, and Chocolatey.
Please note that ROS for Windows expects the 64-bit Python2.7 to be installed under C:optpython27amd64.
Installing bootstrap dependencies
These tools are used to facilitate the download and management of ROS packages and their dependencies, among other things.
Generic (pip):
If you are using a non-Debian system you need to make sure that you have all build tools (compiler, CMake, etc.) installed. You can install all ROS Python tools via PIP:
If there are errors with this or the rosdep step below, your system's version of pip may be out-of-date. Use your system's package management to update it, or use it to update itself:
Initializing rosdep
The 10-ms-iot.list points to the rosdep database of ROS for Windows and it will be evaulated before the default source list.
Configure Chocolatey sources
This will add roswin Chocolatey server as a source to discover libraries and tools. Also disable the default one to avoid any potential package naming conflicts.
Installation
Start by building the core ROS packages.
Create a catkin Workspace
In order to build the core packages, you will need a catkin workspace. Create one now:
Next we will want to fetch the core packages so we can build them. We will use wstool for this. Select the wstool command for the particular variant you want to install:
Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries
ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
This will add all of the catkin packages in the given variant and then fetch the sources into the ~/ros_catkin_ws/src directory. The command will take a few minutes to download all of the core ROS packages into the src folder.
Resolving Dependencies
Before you can build your catkin workspace you need to make sure that you have all the required dependencies. We use the rosdep tool for this:
This will look at all of the packages in the src directory and find all of the dependencies they have. Then it will recursively install the dependencies.
The --from-paths option indicates we want to install the dependencies for an entire directory of packages, in this case src. The --ignore-src option indicates to rosdep that it shouldn't try to install any ROS packages in the src folder from the package manager, we don't need it to since we are building them ourselves. The --rosdistro option is required because we don't have a ROS environment setup yet, so we have to indicate to rosdep what version of ROS we are building for. Finally, the -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager.
Termios For Windows App
After a while (and maybe some prompts for your password) rosdep will finish installing system dependencies and you can continue.
Building the catkin Workspace
Once it has completed downloading the packages and resolving the dependencies you are ready to build the catkin packages. We will use the catkin_make_isolated command because there are both catkin and plain cmake packages in the base install, when developing on your catkin only workspaces you may choose to use catkin/commands/catkin_make which only works with catkin packages.
Termios For Windows Python
Invoke catkin_make_isolated:
The rosdep BIN path needs to be added to PATH so catkin can find the build tools (e.g. CMake).
Termios For Windows 10 Pro
Now the packages should have been installed to c:/opt/ros/melodic/x64 or to wherever you specified with the --install-space argument. If you look in that directory you will see that a setup.bash file have been generated. To utilize the things installed there simply source that file like so: