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armor/include/CSerialPort/SerialPort.h

@@ -0,0 +1,82 @@
+#ifndef CSERIALPORT_SERIALPORT_H
+#define CSERIALPORT_SERIALPORT_H
+
+#include <cstdint>
+#include <cstring>
+
+namespace itas109 {
+
+enum class Parity {
+    ParityNone  = 0,
+    ParityOdd   = 1,
+    ParityEven  = 2,
+};
+
+enum class DataBits {
+    DataBits5 = 5,
+    DataBits6 = 6,
+    DataBits7 = 7,
+    DataBits8 = 8,
+};
+
+enum class StopBits {
+    StopOne     = 1,
+    StopOneAndHalf = 3,
+    StopTwo     = 2,
+};
+
+enum class FlowControl {
+    FlowNone     = 0,
+    FlowHardware = 1,
+    FlowSoftware = 2,
+};
+
+class CSerialPort {
+public:
+    CSerialPort();
+    ~CSerialPort();
+
+    // 初始化串口参数（不打开）
+    void init(const char* portName,
+              int         baudRate    = 115200,
+              Parity      parity      = Parity::ParityNone,
+              DataBits    dataBits    = DataBits::DataBits8,
+              StopBits    stopBits    = StopBits::StopOne,
+              FlowControl flowControl = FlowControl::FlowNone,
+              int         readTimeoutMs = 1000);
+
+    // 打开串口，成功返回 true
+    bool open();
+
+    // 关闭串口
+    void close();
+
+    // 写数据，返回实际写入字节数（失败返回 -1）
+    int writeData(const uint8_t* data, size_t length);
+
+    // 读数据，返回实际读取字节数（失败返回 -1）
+    int readData(uint8_t* buffer, size_t maxLength);
+
+    // 返回最近一次错误码
+    int getLastError() const { return m_lastError; }
+
+private:
+    char        m_portName[256];
+    int         m_baudRate;
+    Parity      m_parity;
+    DataBits    m_dataBits;
+    StopBits    m_stopBits;
+    FlowControl m_flowControl;
+    int         m_readTimeoutMs;
+
+    int  m_fd;          // 文件描述符
+    int  m_lastError;
+    bool m_isOpen;
+
+    // termios 波特率映射
+    static int toBaudRate(int baud);
+};
+
+} // namespace itas109
+
+#endif // CSERIALPORT_SERIALPORT_H

armor/include/CSerialPort/SerialPortInfo.h

@@ -0,0 +1,27 @@
+#ifndef CSERIALPORT_SERIALPORTINFO_H
+#define CSERIALPORT_SERIALPORTINFO_H
+
+#include <vector>
+#include <cstring>
+
+namespace itas109 {
+
+struct SerialPortInfo {
+    char portName[256];
+    char description[256];
+
+    SerialPortInfo() {
+        std::memset(portName, 0, sizeof(portName));
+        std::memset(description, 0, sizeof(description));
+    }
+};
+
+class CSerialPortInfo {
+public:
+    // 枚举系统上所有可用串口
+    static std::vector<SerialPortInfo> availablePortInfos();
+};
+
+} // namespace itas109
+
+#endif // CSERIALPORT_SERIALPORTINFO_H

armor/src/CSerialPort/SerialPort.cpp

@@ -0,0 +1,207 @@
+#include "CSerialPort/SerialPort.h"
+
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <sys/select.h>
+#include <cerrno>
+#include <cstring>
+
+namespace itas109 {
+
+CSerialPort::CSerialPort()
+    : m_baudRate(115200)
+    , m_parity(Parity::ParityNone)
+    , m_dataBits(DataBits::DataBits8)
+    , m_stopBits(StopBits::StopOne)
+    , m_flowControl(FlowControl::FlowNone)
+    , m_readTimeoutMs(1000)
+    , m_fd(-1)
+    , m_lastError(0)
+    , m_isOpen(false)
+{
+    std::memset(m_portName, 0, sizeof(m_portName));
+}
+
+CSerialPort::~CSerialPort() {
+    close();
+}
+
+void CSerialPort::init(const char* portName,
+                       int         baudRate,
+                       Parity      parity,
+                       DataBits    dataBits,
+                       StopBits    stopBits,
+                       FlowControl flowControl,
+                       int         readTimeoutMs)
+{
+    std::strncpy(m_portName, portName, sizeof(m_portName) - 1);
+    m_portName[sizeof(m_portName) - 1] = '\0';
+    m_baudRate      = baudRate;
+    m_parity        = parity;
+    m_dataBits      = dataBits;
+    m_stopBits      = stopBits;
+    m_flowControl   = flowControl;
+    m_readTimeoutMs = readTimeoutMs;
+}
+
+bool CSerialPort::open() {
+    if (m_isOpen) close();
+
+    m_fd = ::open(m_portName, O_RDWR | O_NOCTTY | O_NONBLOCK);
+    if (m_fd < 0) {
+        m_lastError = errno;
+        return false;
+    }
+
+    struct termios tty;
+    std::memset(&tty, 0, sizeof(tty));
+    if (tcgetattr(m_fd, &tty) != 0) {
+        m_lastError = errno;
+        ::close(m_fd);
+        m_fd = -1;
+        return false;
+    }
+
+    // 波特率
+    speed_t speed = static_cast<speed_t>(toBaudRate(m_baudRate));
+    cfsetispeed(&tty, speed);
+    cfsetospeed(&tty, speed);
+
+    // 数据位
+    tty.c_cflag &= ~CSIZE;
+    switch (m_dataBits) {
+        case DataBits::DataBits5: tty.c_cflag |= CS5; break;
+        case DataBits::DataBits6: tty.c_cflag |= CS6; break;
+        case DataBits::DataBits7: tty.c_cflag |= CS7; break;
+        case DataBits::DataBits8:
+        default:                  tty.c_cflag |= CS8; break;
+    }
+
+    // 停止位
+    if (m_stopBits == StopBits::StopTwo)
+        tty.c_cflag |= CSTOPB;
+    else
+        tty.c_cflag &= ~CSTOPB;
+
+    // 校验位
+    switch (m_parity) {
+        case Parity::ParityOdd:
+            tty.c_cflag |=  PARENB;
+            tty.c_cflag |=  PARODD;
+            tty.c_iflag |=  (INPCK | ISTRIP);
+            break;
+        case Parity::ParityEven:
+            tty.c_cflag |=  PARENB;
+            tty.c_cflag &= ~PARODD;
+            tty.c_iflag |=  (INPCK | ISTRIP);
+            break;
+        case Parity::ParityNone:
+        default:
+            tty.c_cflag &= ~PARENB;
+            tty.c_iflag &= ~(INPCK | ISTRIP);
+            break;
+    }
+
+    // 流控
+    if (m_flowControl == FlowControl::FlowHardware)
+        tty.c_cflag |= CRTSCTS;
+    else
+        tty.c_cflag &= ~CRTSCTS;
+
+    if (m_flowControl == FlowControl::FlowSoftware)
+        tty.c_iflag |= (IXON | IXOFF | IXANY);
+    else
+        tty.c_iflag &= ~(IXON | IXOFF | IXANY);
+
+    // 本地模式 & 输入模式（raw）
+    tty.c_cflag |=  (CREAD | CLOCAL);
+    tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
+    tty.c_oflag &= ~OPOST;
+
+    // 非阻塞读，超时由 select 控制
+    tty.c_cc[VMIN]  = 0;
+    tty.c_cc[VTIME] = 0;
+
+    if (tcsetattr(m_fd, TCSANOW, &tty) != 0) {
+        m_lastError = errno;
+        ::close(m_fd);
+        m_fd = -1;
+        return false;
+    }
+
+    tcflush(m_fd, TCIOFLUSH);
+    m_isOpen    = true;
+    m_lastError = 0;
+    return true;
+}
+
+void CSerialPort::close() {
+    if (m_fd >= 0) {
+        ::close(m_fd);
+        m_fd = -1;
+    }
+    m_isOpen = false;
+}
+
+int CSerialPort::writeData(const uint8_t* data, size_t length) {
+    if (!m_isOpen || m_fd < 0) {
+        m_lastError = EBADF;
+        return -1;
+    }
+    ssize_t written = ::write(m_fd, data, length);
+    if (written < 0) {
+        m_lastError = errno;
+        return -1;
+    }
+    tcdrain(m_fd);  // 等待发送完成
+    return static_cast<int>(written);
+}
+
+int CSerialPort::readData(uint8_t* buffer, size_t maxLength) {
+    if (!m_isOpen || m_fd < 0) {
+        m_lastError = EBADF;
+        return -1;
+    }
+
+    // 用 select 实现超时
+    struct timeval tv;
+    tv.tv_sec  = m_readTimeoutMs / 1000;
+    tv.tv_usec = (m_readTimeoutMs % 1000) * 1000;
+
+    fd_set fds;
+    FD_ZERO(&fds);
+    FD_SET(m_fd, &fds);
+
+    int ret = select(m_fd + 1, &fds, nullptr, nullptr, &tv);
+    if (ret <= 0) {
+        // 超时或错误
+        m_lastError = (ret == 0) ? ETIME : errno;
+        return 0;
+    }
+
+    ssize_t bytesRead = ::read(m_fd, buffer, maxLength);
+    if (bytesRead < 0) {
+        m_lastError = errno;
+        return -1;
+    }
+    m_lastError = 0;
+    return static_cast<int>(bytesRead);
+}
+
+int CSerialPort::toBaudRate(int baud) {
+    switch (baud) {
+        case 9600:   return B9600;
+        case 19200:  return B19200;
+        case 38400:  return B38400;
+        case 57600:  return B57600;
+        case 115200: return B115200;
+        case 230400: return B230400;
+        case 460800: return B460800;
+        case 921600: return B921600;
+        default:     return B115200;
+    }
+}
+
+} // namespace itas109

armor/src/CSerialPort/SerialPortInfo.cpp

@@ -0,0 +1,35 @@
+#include "CSerialPort/SerialPortInfo.h"
+
+#include <dirent.h>
+#include <cstring>
+#include <string>
+
+namespace itas109 {
+
+std::vector<SerialPortInfo> CSerialPortInfo::availablePortInfos() {
+    std::vector<SerialPortInfo> result;
+
+    // 扫描 /dev 目录，找 ttyUSB / ttyCH341USB / ttyACM / ttyS 等设备
+    DIR* dir = opendir("/dev");
+    if (!dir) return result;
+
+    struct dirent* entry;
+    while ((entry = readdir(dir)) != nullptr) {
+        const char* name = entry->d_name;
+        if (std::strstr(name, "ttyUSB") != nullptr  ||
+            std::strstr(name, "ttyCH341") != nullptr ||
+            std::strstr(name, "ttyACM") != nullptr)
+        {
+            SerialPortInfo info;
+            std::string fullPath = std::string("/dev/") + name;
+            std::strncpy(info.portName, fullPath.c_str(), sizeof(info.portName) - 1);
+            std::strncpy(info.description, name, sizeof(info.description) - 1);
+            result.push_back(info);
+        }
+    }
+    closedir(dir);
+
+    return result;
+}
+
+} // namespace itas109