diff --git a/CMakeLists.txt b/CMakeLists.txt index 6cc16f8..b01798e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,6 @@ ENDIF() FIND_PACKAGE(Eigen3 REQUIRED) FIND_PACKAGE(OpenCV 4 REQUIRED) FIND_PACKAGE(Threads) -FIND_PACKAGE(fmt REQUIRED) LINK_DIRECTORIES(${PROJECT_SOURCE_DIR}/others) @@ -42,7 +41,6 @@ ADD_EXECUTABLE(${BIN_NAME} main.cpp ${sourcefiles}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${CMAKE_THREAD_LIBS_INIT}) TARGET_LINK_LIBRARIES(${BIN_NAME} ${OpenCV_LIBS}) -TARGET_LINK_LIBRARIES(${BIN_NAME} fmt::fmt) IF (CMAKE_SYSTEM_NAME MATCHES "Linux") MESSAGE(STATUS "current platform: Linux ") TARGET_LINK_LIBRARIES(${BIN_NAME} "${PROJECT_SOURCE_DIR}/others/libMVSDK.so") diff --git a/armor/include/serialComm.hpp b/armor/include/serialComm.hpp index 52c8885..e1583eb 100644 --- a/armor/include/serialComm.hpp +++ b/armor/include/serialComm.hpp @@ -4,7 +4,7 @@ #include #include "CSerialPort/SerialPort.h" #include "CSerialPort/SerialPortInfo.h" -#include +#include using namespace itas109; diff --git a/armor/include/serialManager.hpp b/armor/include/serialManager.hpp index 467dd45..9051cd0 100644 --- a/armor/include/serialManager.hpp +++ b/armor/include/serialManager.hpp @@ -5,7 +5,7 @@ #include #include #include -#include +#include #include class SerialManager { @@ -19,7 +19,7 @@ private: // 后台重连线程函数 void connectionThreadFunc() { - fmt::print("[I][SerialMgr]: RETRY\n"); + printf("[I][SerialMgr]: RETRY\n"); while (!m_shouldStop.load()) { if (!m_isConnected.load()) { @@ -29,14 +29,14 @@ private: if (m_serial.findFirstTtyUSB() && m_serial.openPort()) { m_isConnected.store(true); } else { - fmt::print("[W][SerialMgr]: Failed, retry in {}ms\n", m_retryIntervalMs); + printf("[W][SerialMgr]: Failed, retry in %dms\n", m_retryIntervalMs); } } std::this_thread::sleep_for(std::chrono::milliseconds(m_retryIntervalMs)); } - fmt::print("[I][SerialMgr]: EXIT\n"); + printf("[I][SerialMgr]: EXIT\n"); } public: @@ -56,7 +56,7 @@ public: if (!m_connectionThread.joinable()) { m_shouldStop.store(false); m_connectionThread = std::thread(&SerialManager::connectionThreadFunc, this); - fmt::print("[I][SerialMgr]: START\n"); + printf("[I][SerialMgr]: START\n"); } } @@ -70,7 +70,7 @@ public: m_serial.closePort(); m_isConnected.store(false); - fmt::print("[I][SerialMgr]: STOP\n"); + printf("[I][SerialMgr]: STOP\n"); } } @@ -90,7 +90,7 @@ public: if (!m_serial.sendData(data, length)) { // 发送失败，标记为断开 m_isConnected.store(false); - fmt::print("[W][SerialMgr]: Failed, mark DISCONNECT\n"); + printf("[W][SerialMgr]: Failed, mark DISCONNECT\n"); return false; } diff --git a/armor/include/unifiedManager.hpp b/armor/include/unifiedManager.hpp index fb3716f..640e0b1 100644 --- a/armor/include/unifiedManager.hpp +++ b/armor/include/unifiedManager.hpp @@ -7,7 +7,6 @@ #include #include #include -#include // Unified device manager (Serial only) class UnifiedDeviceManager { diff --git a/armor/src/serialComm.cpp b/armor/src/serialComm.cpp index 167be7c..04a4c22 100644 --- a/armor/src/serialComm.cpp +++ b/armor/src/serialComm.cpp @@ -1,11 +1,10 @@ #include "serialComm.hpp" -#include #include +#include SerialComm::SerialComm() : m_isOpen(false) { std::memset(m_portName, 0, sizeof(m_portName)); - - // Initialize serial port parameters + m_serialPort.init( "", SerialConfig::BAUD_RATE, @@ -23,29 +22,26 @@ SerialComm::~SerialComm() { bool SerialComm::findFirstTtyUSB() { std::vector portInfos = CSerialPortInfo::availablePortInfos(); - + for (const auto& info : portInfos) { - - // 查找第一个 ttyUSB 设备 const char* portStr = info.portName; if (std::strstr(portStr, "ttyCH341USB") != nullptr) { std::strncpy(m_portName, portStr, sizeof(m_portName) - 1); - m_portName[sizeof(m_portName) - 1] = '\0'; // 字符串结束 - fmt::print("[I][SERIAL]: ttyUSB device found: {}\n", m_portName); + m_portName[sizeof(m_portName) - 1] = '\0'; + printf("[I][SERIAL]: ttyUSB device found: %s\n", m_portName); return true; } } - + return false; } bool SerialComm::openPort() { if (std::strlen(m_portName) == 0) { - fmt::print("[E][Serial]: Port name is empty, call findFirstTtyUSB() first\n"); + printf("[E][Serial]: Port name is empty, call findFirstTtyUSB() first\n"); return false; } - - // Set port name + m_serialPort.init( m_portName, SerialConfig::BAUD_RATE, @@ -55,21 +51,21 @@ bool SerialComm::openPort() { SerialConfig::FLOW_CTRL, SerialConfig::READ_TIMEOUT_MS ); - + if (!m_serialPort.open()) { - fmt::print("[E][Serial]: Failed to open port {}\n", m_portName); - fmt::print("[E][Serial]: Error code: {}\n", m_serialPort.getLastError()); + printf("[E][Serial]: Failed to open port %s\n", m_portName); + printf("[E][Serial]: Error code: %d\n", m_serialPort.getLastError()); m_isOpen = false; return false; } - + m_isOpen = true; - fmt::print("[I][Serial]: Port opened successfully: {}\n", m_portName); - fmt::print("[I][Serial]: Baud rate: {}\n", SerialConfig::BAUD_RATE); - fmt::print("[I][Serial]: Data bits: 8\n"); - fmt::print("[I][Serial]: Stop bits: 1\n"); - fmt::print("[I][Serial]: Parity: None\n"); - + printf("[I][Serial]: Port opened successfully: %s\n", m_portName); + printf("[I][Serial]: Baud rate: %d\n", SerialConfig::BAUD_RATE); + printf("[I][Serial]: Data bits: 8\n"); + printf("[I][Serial]: Stop bits: 1\n"); + printf("[I][Serial]: Parity: None\n"); + return true; } @@ -77,7 +73,7 @@ void SerialComm::closePort() { if (m_isOpen) { m_serialPort.close(); m_isOpen = false; - fmt::print("[I][Serial]: Port closed: {}\n", m_portName); + printf("[I][Serial]: Port closed: %s\n", m_portName); } } @@ -87,17 +83,17 @@ bool SerialComm::sendData(const char* data, size_t length) { bool SerialComm::sendData(const uint8_t* data, size_t length) { if (!m_isOpen) { - fmt::print("[E][Serial]: Port not open\n"); + printf("[E][Serial]: Port not open\n"); return false; } - + int bytesWritten = m_serialPort.writeData(data, length); - + if (bytesWritten > 0) { - fmt::print("[I][Serial]: Sent {} bytes\n", bytesWritten); + printf("[I][Serial]: Sent %d bytes\n", bytesWritten); return true; } else { - fmt::print("[E][Serial]: Failed to send data\n"); + printf("[E][Serial]: Failed to send data\n"); return false; } } @@ -108,24 +104,24 @@ int SerialComm::receiveData(char* buffer, size_t maxLength) { int SerialComm::receiveData(uint8_t* buffer, size_t maxLength) { if (!m_isOpen) { - fmt::print("[E][Serial]: Port not open\n"); + printf("[E][Serial]: Port not open\n"); return -1; } - + int bytesRead = m_serialPort.readData(buffer, maxLength); - + if (bytesRead > 0) { - fmt::print("[I][Serial]: Received {} bytes\n", bytesRead); + printf("[I][Serial]: Received %d bytes\n", bytesRead); } - + return bytesRead; } void SerialComm::listAllPorts() { std::vector portInfos = CSerialPortInfo::availablePortInfos(); - - fmt::print("[I][Serial]: Available ports:\n"); + + printf("[I][Serial]: Available ports:\n"); for (const auto& info : portInfos) { - fmt::print("[I][Serial]: - {}\n", info.portName); + printf("[I][Serial]: - %s\n", info.portName); } } \ No newline at end of file diff --git a/armor/src/unifiedManager.cpp b/armor/src/unifiedManager.cpp index 01eaf3d..f852241 100644 --- a/armor/src/unifiedManager.cpp +++ b/armor/src/unifiedManager.cpp @@ -1,4 +1,5 @@ #include "unifiedManager.hpp" +#include UnifiedDeviceManager::UnifiedDeviceManager(int retryIntervalMs) : m_serial(std::make_unique()) @@ -6,7 +7,7 @@ UnifiedDeviceManager::UnifiedDeviceManager(int retryIntervalMs) , m_shouldStop(false) , m_retryIntervalMs(retryIntervalMs) { - fmt::print("[I][Managr]: Unified device manager created\n"); + printf("[I][Managr]: Unified device manager created\n"); } UnifiedDeviceManager::~UnifiedDeviceManager() { @@ -14,31 +15,31 @@ UnifiedDeviceManager::~UnifiedDeviceManager() { } void UnifiedDeviceManager::serialReconnectThreadFunc() { - fmt::print("[I][Managr]: Serial reconnect thread started\n"); + printf("[I][Managr]: Serial reconnect thread started\n"); while (!m_shouldStop.load()) { if (!m_serialConnected.load()) { - fmt::print("[I][Managr]: Attempting to connect serial port...\n"); + printf("[I][Managr]: Attempting to connect serial port...\n"); std::lock_guard lock(m_serialMutex); if (m_serial->findFirstTtyUSB() && m_serial->openPort()) { m_serialConnected.store(true); - fmt::print("[I][Managr]: Serial port connected successfully\n"); + printf("[I][Managr]: Serial port connected successfully\n"); } else { - fmt::print("[W][Managr]: Serial connection failed, retry in {}ms\n", - m_retryIntervalMs); + printf("[W][Managr]: Serial connection failed, retry in %dms\n", + m_retryIntervalMs); } } std::this_thread::sleep_for(std::chrono::milliseconds(m_retryIntervalMs)); } - fmt::print("[I][Managr]: Serial reconnect thread stopped\n"); + printf("[I][Managr]: Serial reconnect thread stopped\n"); } void UnifiedDeviceManager::start() { - fmt::print("[I][Managr]: Starting unified device manager\n"); + printf("[I][Managr]: Starting unified device manager\n"); m_shouldStop.store(false); @@ -46,11 +47,11 @@ void UnifiedDeviceManager::start() { m_serialReconnectThread = std::thread(&UnifiedDeviceManager::serialReconnectThreadFunc, this); } - fmt::print("[I][Managr]: Unified device manager started\n"); + printf("[I][Managr]: Unified device manager started\n"); } void UnifiedDeviceManager::stop() { - fmt::print("[I][Managr]: Stopping unified device manager\n"); + printf("[I][Managr]: Stopping unified device manager\n"); m_shouldStop.store(true); @@ -62,7 +63,7 @@ void UnifiedDeviceManager::stop() { m_serialConnected.store(false); } - fmt::print("[I][Managr]: Unified device manager stopped\n"); + printf("[I][Managr]: Unified device manager stopped\n"); } bool UnifiedDeviceManager::sendData(const char* data, size_t length) { @@ -74,7 +75,7 @@ bool UnifiedDeviceManager::sendData(const char* data, size_t length) { if (!m_serial->sendData(data, length)) { m_serialConnected.store(false); - fmt::print("[W][Managr]: Serial send failed, marked as disconnected\n"); + printf("[W][Managr]: Serial send failed, marked as disconnected\n"); return false; }