From fa8d935b2ba4e1fddee7404dc6fd68de18d8c649 Mon Sep 17 00:00:00 2001
From: John Tsiombikas <nuclear@mutantstargoat.com>
Date: Tue, 18 Oct 2016 11:35:26 +0300
Subject: [PATCH] works

---
 src/dev_smag.c    |   10 +++++++---
 src/main.c        |    4 ++--
 src/serial.h      |    4 +++-
 src/unix/serial.c |   40 +++++++++++++++++++++++++---------------
 4 files changed, 37 insertions(+), 21 deletions(-)

diff --git a/src/dev_smag.c b/src/dev_smag.c
index f96ae5d..5d0e6cd 100644
--- a/src/dev_smag.c
+++ b/src/dev_smag.c
@@ -76,16 +76,20 @@ static int opendev(const char *dev)
 		return -1;	/* failed to get a response */
 	}
 
-	ser_printf(fd, "vQ\r");
+	ser_block(fd);
 
-	while(ser_getline_block(fd, buf, sizeof buf) && buf[0] != 'v');
+	ser_printf(fd, "vQ\r");
+	do {
+		ser_getline(fd, buf, sizeof buf);
+	} while(buf[0] != 'v');
 
-	printf("DBG: \"%s\"\n", buf);
 	if(buf[0] != 'v' || !strstr(buf, "MAGELLAN")) {
 		fprintf(stderr, "unknown device: \"%s\"\n", buf + 1);
 		ser_close(fd);
 		return -1;
 	}
+
+	ser_nonblock(fd);
 	return fd;
 }
 
diff --git a/src/main.c b/src/main.c
index e5a87d8..a936a74 100644
--- a/src/main.c
+++ b/src/main.c
@@ -317,13 +317,13 @@ int handle_dev_event(device_event *ev)
 			float axis_len = sqrt(RX(ev) * RX(ev) + RY(ev) * RY(ev) + RZ(ev) * RZ(ev));
 			if(axis_len != 0.0) {
 				rot = quat_rotate(rot, axis_len * 0.001, -RX(ev) / axis_len,
-						-RY(ev) / axis_len, RZ(ev) / axis_len);
+						-RY(ev) / axis_len, -RZ(ev) / axis_len);
 			}
 		}
 
 		pos.x += TX(ev) * 0.001;
 		pos.y += TY(ev) * 0.001;
-		pos.z -= TZ(ev) * 0.001;
+		pos.z += TZ(ev) * 0.001;
 		redisplay = 1;
 		break;
 
diff --git a/src/serial.h b/src/serial.h
index f920461..d21b60d 100644
--- a/src/serial.h
+++ b/src/serial.h
@@ -8,6 +8,9 @@
 int ser_open(const char *port, int baud, unsigned int mode);
 void ser_close(int fd);
 
+int ser_block(int fd);
+int ser_nonblock(int fd);
+
 int ser_pending(int fd);
 /* if msec < 0: wait for ever */
 int ser_wait(int fd, long msec);
@@ -17,6 +20,5 @@ int ser_read(int fd, char *buf, int count);
 
 void ser_printf(int fd, const char *fmt, ...);
 char *ser_getline(int fd, char *buf, int bsz);
-char *ser_getline_block(int fd, char *buf, int bsz);
 
 #endif	/* SERIAL_H_ */
diff --git a/src/unix/serial.c b/src/unix/serial.c
index cdcdb88..22978e4 100644
--- a/src/unix/serial.c
+++ b/src/unix/serial.c
@@ -22,11 +22,10 @@ int ser_open(const char *port, int baud, unsigned int mode)
 		return -1;
 	}
 
-	if((fd = open(port, O_RDWR | O_NONBLOCK | O_NOCTTY)) == -1) {
+	if((fd = open(port, O_RDWR | O_NOCTTY)) == -1) {
 		return -1;
 	}
 
-	/*memset(&term, 0, sizeof term);*/
 	tcgetattr(fd, &term);
 
 	term.c_oflag = 0;
@@ -34,10 +33,13 @@ int ser_open(const char *port, int baud, unsigned int mode)
 	term.c_cc[VMIN] = 0;
 	term.c_cc[VTIME] = 0;
 
-	term.c_cflag = CLOCAL | CREAD | CS8 | HUPCL | CRTSCTS;
+	term.c_cflag = CLOCAL | CREAD | CS8 | HUPCL;
 	if(mode & SER_8N2) {
 		term.c_cflag |= CSTOPB;
 	}
+	if(mode & SER_HWFLOW) {
+		term.c_cflag |= CRTSCTS;
+	}
 
 	term.c_iflag = IGNBRK | IGNPAR;
 
@@ -50,7 +52,9 @@ int ser_open(const char *port, int baud, unsigned int mode)
 		return -1;
 	}
 
-	if(mode & SER_HWFLOW) {
+#ifdef TIOCM_RTS
+	/* assert DTR/RTS lines */
+	{
 		int st;
 		if(ioctl(fd, TIOCMGET, &st) == -1) {
 			perror("ser_open: failed to get modem status");
@@ -64,6 +68,7 @@ int ser_open(const char *port, int baud, unsigned int mode)
 			return -1;
 		}
 	}
+#endif
 
 	return fd;
 }
@@ -73,6 +78,16 @@ void ser_close(int fd)
 	close(fd);
 }
 
+int ser_block(int fd)
+{
+	return fcntl(fd, F_SETFL, fcntl(fd, F_GETFL) & ~O_NONBLOCK);
+}
+
+int ser_nonblock(int fd)
+{
+	return fcntl(fd, F_SETFL, fcntl(fd, F_GETFL) | O_NONBLOCK);
+}
+
 int ser_pending(int fd)
 {
 	static struct timeval tv_zero;
@@ -136,7 +151,7 @@ char *ser_getline(int fd, char *buf, int bsz)
 {
 	static char linebuf[512];
 	static int widx;
-	int i, rd, size;
+	int i, rd, size, offs;
 
 	size = sizeof linebuf - widx;
 	while(size && (rd = read(fd, linebuf + widx, size)) > 0) {
@@ -144,28 +159,23 @@ char *ser_getline(int fd, char *buf, int bsz)
 		size -= rd;
 	}
 
+	linebuf[widx] = 0;
+
 	for(i=0; i<widx; i++) {
 		if(linebuf[i] == '\r' || linebuf[i] == '\n') {
 			size = i >= bsz ? bsz - 1 : i;
 			memcpy(buf, linebuf, size);
 			buf[size] = 0;
 
-			memmove(linebuf, linebuf + i + 1, sizeof linebuf - i - 1);
-			printf("ser_getline-> \"%s\"\n", buf);
+			offs = i + 1;
+			memmove(linebuf, linebuf + offs, widx - offs);
+			widx -= offs;
 			return buf;
 		}
 	}
 	return 0;
 }
 
-char *ser_getline_block(int fd, char *buf, int bsz)
-{
-	if(!ser_wait(fd, -1)) {
-		return 0;
-	}
-	return ser_getline(fd, buf, bsz);
-}
-
 static int baud_id(int baud)
 {
 	switch(baud) {
-- 
1.7.10.4