module_tty

Robotkernel handler module for serial (TTY) port integration

This module enables robotkernel HAL to interact with standard serial (TTY) devices on UNIX-like systems. It provides a handler interface that integrates seamlessly with robotkernel's module processing model.

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🧩 Configuration

Configure the module within your robotkernel handler setup:

main.rkc

name: my_tty_handler
so_file: libmodule_tty.so
config: !include tty_0

This is a complete template for module_tty configuration:

tty_0.rkc

# Configuration file for module_tty.
#
# vim: ft=yaml

#########################################################
# tty settings

# Serial interface device name
ifname: /dev/ttyUSB0

# Baudrate to be used.
baudrate: 115200

# Number of data bits.
#character_size: 8

# Number of stop bits.
#stopbits: 1

# Parity control.
# Values can be "off", "even" or "odd"
#parity: off

# Read timeout in microseconds.
timeout_us: 0

# Enable/Disable hardware flow controler.
#hardware_flow_control: false

# Disable setting baudrate from module.
#no_baudrate: false

# Ignore modem control lines.
#use_clocal: true

# Execute/Disable script after opening tty device.
#post_open_script: ""

# Enalbe/Disable asynchronous low latency.
#async_low_latency: true

# Configure interface in RS485 mode
#configure_rs485: false

#########################################################
# logging settings

# Standard robotkernel module local loglevel.
#loglevel: verbose

Parameter	Description
ifname	Path to the TTY device (e.g. /dev/ttyUSB0)
baudrate	Communication speed (e.g. 9600, 115200)
character_size	Number of bits per character (e.g. 7, 8)
stopbits	Number of stop bits (1 or 2)
parity	'none', 'even', or 'odd'
timeout_us	Read timeout in [us].
hardware_flow_control	'none', 'rtscts', or 'xonxoff'
no_baudrate	Do not set any baudrate on device.
use_clocal	Ignore modem control lines
post_open_script	Shellscript to run after device was opened.
async_low_latency	Asynchronous low latency.
configure_rs485	Configure device for RS485 mode.

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✨ Features

• Abstracts POSIX TTY interfaces (e.g. /dev/ttyS*, /dev/ttyUSB*)
• Asynchronous I/O via robotkernel data streams.
• Configurable baud rate, parity, stop bits, flow control, etc.
• Modular design for custom read/write message handling

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⚙️ Runtime Behavior

• Hooks into the HAL execution loop
• Uses blocking or non-blocking I/O for real-time compatibility
• Emits incoming data as messages to downstream modules
• Retrieves queued messages from other modules and sends them out

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🔧 Example Output

TODO

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🖼️ Architecture Diagram

+------------------+        +------------------+
|  Robotkernel HAL | <----> |  module_tty.so   |
+------------------+        +--------+---------+
                                      |
                                      v
                              +---------------+
                              | /dev/ttyUSB0  |
                              +---------------+

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📦 Build & Installation

Please make sure that the prerequisites are installed. These are:

robotkernel

Then you should be able to build module_tty with:

git clone https://github.com/robotkernel-hal/module_tty.git
cd module_tty
./bootstrap.sh
autoreconf -i -f
mkdir build && cd build
../configure
make
sudo make install

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🧪 Testing

TODO

Use socat or virtual PTYs to simulate devices if physical serial ports are unavailable:

socat -d -d pty,raw,echo=0 pty,raw,echo=0

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🤝 Contributing

Contributions welcome! Please ensure:

• No compiler warnings
• Code follows robotkernel coding rules
• Tests included for new features

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📄 License

Licensed under the LGPL-V3 License. See the LICENSE file.

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