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SerialPort.cpp
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SerialPort.cpp
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#include "SerialPort.hpp"
#include <iostream>
#include <string.h>
#include <unistd.h>
//#include <unistd.h> //For usleep()
using namespace std;
//////////////////////////////////////////////
int num = 0;
SerialPort::SerialPort(const string portName, int baudRate)
{
fp = fopen("test1.txt","w");
printf("baudRate code = %d\n", baudRate);
//this->nFd = OpenDevice(portName);
this->nFd = open(portName.c_str(), O_RDWR|O_NOCTTY|O_NDELAY );
if(-1 == this->nFd)
{
this->nFd = -1;
}
struct termios options = { 0 }; //宣告一個設定 comport 所需要的結構體 並且清空內部
/* c_cflag 控制模式:
* CLOCAL:忽略任何modem status lines
* CREAD:啟動字元接收
* CS8:傳送或接收時,使用八個位元
*/
options.c_cflag = (baudRate | CLOCAL | CREAD | CS8); //依序,設定 baud rate,不改變 comport 擁有者, 接收致能, 8 data bits
cfsetispeed( &options , baudRate );
cfsetospeed( &options , baudRate );
options.c_cc[ VTIME ] = 1; //10 = 1秒,定義等待的時間,單位是百毫秒
options.c_cc[ VMIN ] = 0; //定義了要求等待的最小字節數,這個基本上給 0
tcflush(this->nFd , TCIOFLUSH ); // 刷新和立刻寫進去fd
if ( (tcsetattr( this->nFd , TCSANOW , &options )) == -1 )
{ //寫回本機設備,TCSANOW >> 立刻改變數值
this->nFd = -1;
}
}
bool SerialPort::isOpen()
{//檢查port是否已經開啟
return (-1 == this->nFd) ? false : true;
}
void SerialPort::Close()
{
close(this->nFd);
}
SerialPort::~SerialPort() {
// TODO Auto-generated destructor stub
//應該有些什麼東西要手動free掉? 目前看起來沒有
fclose(fp);
}
int SerialPort::OpenDevice(string strDevice)
{
int fd = open(strDevice.c_str(), O_RDWR|O_NOCTTY|O_NDELAY );
if (-1 == fd)
{
perror("Can't Open Serial Port");
return -1;
}
return fd;
}
int SerialPort::GetFileDescriptor()
{//暫時開放,其實物件導向以後,這個資訊不應該public。不然等於是破壞port操作封裝性
return this->nFd;
}
//寫入字串資訊
int SerialPort::Send(string strOutMsg)
{
int nCount = write(this->nFd, strOutMsg.c_str(), strOutMsg.length());
return nCount;
}
//寫入二進位資訊,所以必須自己給長度。
int SerialPort::Send(unsigned char* strOutMsg, size_t nbyte)
{
int nCount = write(this->nFd, strOutMsg, nbyte);
return nCount;
}
unsigned char SerialPort::Recv(void)
{//接收資訊
const static size_t rxBufferSize = 1;
unsigned char strRxBuf[rxBufferSize]; //接收要用unsigned
string strRxFullMsg = "";
int nullRecvCounter=0;
int nullFirstRecvCounter=0;
int valuex = -999;
int valuey = -999;
int bt = 0;
int ret;
printf("read start\n");
do{
memset(strRxBuf, 0, rxBufferSize); //清空緩衝
int nRead = read(this->nFd, strRxBuf, rxBufferSize); //接收資料
usleep(1000);
//cout << "nRead= " << nRead << endl;
if(0 >= nRead && !strRxFullMsg.empty())
{//如果這一次沒有收到東西,且從未收過資料
nullRecvCounter++;
//printf("nullRecvCounter = %d\n",nullRecvCounter);
if(nullRecvCounter>10)break;
}
else if(0 < nRead)
{//如果有收到東西
nullRecvCounter=0;//計數歸0
//printf("%02x",nRead);
//printf("%02x\n", strRxBuf[0]);
//printf("%02x\n", strRxBuf[1]);
//strRxFullMsg.append((char*)strRxBuf, nRead);//加入字串才用signed
//////////////////////////////////////////
ret = flow_parse_char(strRxBuf[0]);
if (!ret) {
short x = 0, y = 0;
//struct tm tmTmp;
char sttemp[32];
//localtime_s(&tmTmp,&t);
//asctime_s(sttemp, &tmTmp);
x = updata.flow_x_integral;
y = updata.flow_y_integral;
//timespan = updata.integration_timespan;
if (valuex != -999) {
x = filter(x, valuex, 50);
}
if (valuey != -999) {
y = filter(y, valuey, 50);
}
valuex = x;
valuey = y;
char str[64];
sprintf(str, "x= %4d ,y=%4d\n",x,y);
printf("x=%4d , y=%4d\n", x, y);
printf("%s\n", str);
fputs(str,SerialPort::fp);
// printf_s("time is: %s\n", sttemp);
//f << x << " " << y << "\n" << "time:" << sttemp << "\n";
//printf("num=%d \n", num);
//printf("time=%d \n", timespan);//这个是光流间隔时间
}
else if (nRead < 0) {
printf("Error from read: %d: %s\n", nRead, strerror(errno));
}
///////////////////////////////////////////////////////////////////////
}
else
{
nullFirstRecvCounter++;
//printf("nullFirstRecvCounter = %d\n",nullFirstRecvCounter);
}
}while(nullFirstRecvCounter+nullRecvCounter < 1000);//設定time out為1000mSec
return strRxBuf[0];
}
//////////////////////////////////////////////////////////
int16_t SerialPort::flow_parse_char(uint8_t ch)
{
num++;
int16_t ret = 1;
static int16_t s = 0, p = 0;
static uint8_t Xor_r = 0x00, Xor_c = 0x00;
switch (s)
{
case 0:
if (ch == 0xFE)
{
s = 1;
//printf("Got FE\n");
}
break;
case 1:
if (ch == 0x0A)
{
s = 2;
p = 0;
Xor_c = 0x00;
//printf("Got 0A\n");
}
else
s = 0;
break;
case 2:
((char *)&updata)[p++] = ch;
Xor_c ^= ch;
if (p == 10) {
s = 3;
p = 0;
}
break;
case 3: //crc
s = 4;
Xor_r = ch;
break;
case 4://end
if (ch == 0x55) {
//printf("Got 0x55\n");
if (Xor_r == Xor_c) {
ret = 0;
}
else
ret = 2;
}
s = 0;
break;
default:
break;
}
return ret;
}
int SerialPort::filter(int new_value,int value,int a) {
return ((100 - a)*value + a * new_value)/100;
}
///////////////////////////////////////////////////