vision_sjtu_19/others/src/uart/uart.cpp

//
// Created by xixiliadorabarry on 1/24/19.
//

#include <uart/uart.h>
#include <energy/param_struct_define.h>
#include <options/options.h>
#include <log.h>

using namespace std;

GMAngle_t aim;

string get_uart_dev_name(){
    FILE* ls = popen("ls /dev/ttyUSB* --color=never", "r");
    char name[20] = {0};
    fscanf(ls, "%s", name);
    return name;
}

Uart::Uart(){
    if(wait_uart){
        string name;
        do{
            name = get_uart_dev_name();
            if(name == ""){
                continue;
            }
        }while((fd=open(name.data(), O_RDWR)) < 0);
    }else{
        string name = get_uart_dev_name();
        if(name == ""){
            cerr<<"open port error"<<endl;
            return;
        }
        fd = open(name.data(), O_RDWR);
        if(fd < 0) {
            cerr<<"open port error"<<endl;
            return;
        }
    }

//    fd = open("/dev/ttyUSB1", O_RDWR);
//    if(fd < 0) {
//        cerr<<"open port error"<<endl;
//        return;
//    }

    if(set_opt(fd, 115200, 8, 'N', 1) < 0 )
    {
        cerr<<"set opt error"<<endl;
        return;
    }
    cout << "uart port success" << endl;

    buff[0] = 's';
    buff[1] = '+';
    buff[2] = (0 >> 8) & 0xFF;
    buff[3] = 0 & 0xFF;
    buff[4] = '+';
    buff[5] = (0 >> 8) & 0xFF;
    buff[6] = (0 & 0xFF);
    buff[7] = 'e';

    fps = 0;
    cur_time = time(nullptr);

}

int Uart::set_opt(int fd, int nSpeed, int nBits, char nEvent, int nStop) {
    termios newtio{}, oldtio{};
    if (tcgetattr(fd, &oldtio) != 0) {
        perror("SetupSerial 1");
        return -1;
    }
    bzero(&newtio, sizeof(newtio));
    newtio.c_cflag |= CLOCAL | CREAD;
    newtio.c_cflag &= ~CSIZE;

    switch (nBits) {
        case 7:
            newtio.c_cflag |= CS7;break;
        case 8:
            newtio.c_cflag |= CS8;break;
        default:break;
    }

    switch (nEvent) {
        case 'O':  //奇校验
            newtio.c_cflag |= PARENB;
            newtio.c_cflag |= PARODD;
            newtio.c_iflag |= (INPCK | ISTRIP);
            break;
        case 'E':  //偶校验
            newtio.c_iflag |= (INPCK | ISTRIP);
            newtio.c_cflag |= PARENB;
            newtio.c_cflag &= ~PARODD;
            break;
        case 'N':  //无校验
            newtio.c_cflag &= ~PARENB;
            break;
        default:break;
    }

    switch (nSpeed) {
        case 2400:
            cfsetispeed(&newtio, B2400);
            cfsetospeed(&newtio, B2400);
            break;
        case 4800:
            cfsetispeed(&newtio, B4800);
            cfsetospeed(&newtio, B4800);
            break;
        case 9600:
            cfsetispeed(&newtio, B9600);
            cfsetospeed(&newtio, B9600);
            break;
        case 115200:
            cfsetispeed(&newtio, B115200);
            cfsetospeed(&newtio, B115200);
            break;
        default:
            cfsetispeed(&newtio, B9600);
            cfsetospeed(&newtio, B9600);
            break;
    }

    if (nStop == 1) {
        newtio.c_cflag &= ~CSTOPB;
    } else if (nStop == 2) {
        newtio.c_cflag |= CSTOPB;
    }

    newtio.c_cc[VTIME] = 0;
    newtio.c_cc[VMIN] = 0;
    tcflush(fd, TCIFLUSH);
    if ((tcsetattr(fd, TCSANOW, &newtio)) != 0) {
        perror("com set error");
        return -1;
    }
    printf("set done!\n");

    return 0;
}

void Uart::sendTarget(float x, float y, float z) {
    static short x_tmp, y_tmp, z_tmp;

    time_t t = time(nullptr);
    if(cur_time != t)
    {
        cur_time = t;
        cout<<"fps:"<<fps<<", ("<<x<<","<<y<<","<<z<<")"<<endl;
        fps = 0;
    }
    fps += 1;

    x_tmp= static_cast<short>(x * (32768 - 1) / 100);
    y_tmp= static_cast<short>(y * (32768 - 1) / 100);
    z_tmp= static_cast<short>(z * (32768 - 1) / 1000);

    buff[0] = 's';
    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
    buff[7] = 'e';

    int cnt=0;
    while((cnt+=write(fd, buff+cnt, 8-cnt))!=-1 && cnt<8);
    if(cnt==-1 && wait_uart){
        LOGE("Uart send fail, the uart device may offline! Restart!");
        exit(-1);
    }
}

uint8_t Uart::receive() {
    uint8_t data;
    while(read(fd, &data, 1) < 1);
    return data;
}