int main(int argc, char** argv)
{
/*The mySerialino must be setup to use the same baud rate*/
cout << "opening port" << endl;
mySerial.Open(PORT);
mySerial.SetBaudRate(SerialStreamBuf::BAUD_9600);
mySerial.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
cout << "port open" << endl;
do
{
cout << "Press a command key, use q to quit: ";
char val = cin.get();
cout << "Key pressed was " << val << endl;
cin.ignore();
if (val == 'q') break;
stringstream ss;
string cmd;
ss << val;
ss >> cmd;
cmd.append("#");
sendSerial(cmd);
if (val == 'b')
{
cout << "value received = " << getSerial() << endl;
}
} while(1);
}
void Broadcast::Transmit()
{
SerialStream mySerial;
mySerial.Open("/dev/ttyUSB0");
mySerial.SetBaudRate(SerialStreamBuf::BAUD_9600);
mySerial << Data;
}
void serialport_open(const char* sp) {
/*The arduino must be setup to use the same baud rate*/
fprintf(stdout, "Setting Params:\n");
ardu.SetBaudRate( SerialStreamBuf::BAUD_115200 ) ;
ardu.SetCharSize( SerialStreamBuf::CHAR_SIZE_8 ) ;
ardu.SetNumOfStopBits(1) ;
ardu.SetParity( SerialStreamBuf::PARITY_ODD ) ;
ardu.SetFlowControl( SerialStreamBuf::FLOW_CONTROL_HARD ) ;
ardu.SetVTime(1);
fprintf(stdout, "Opening:\n");
ardu.Open( sp ) ;
fprintf(stdout, "Opened:\n");
}
void Serial_Open_Port(string comPort)
{
serial_port.Open( comPort ) ;
if(! serial_port.good())
{
std::cerr<<"Error: could not open serial port"<<std::endl;
exit(1);
}
serial_port.SetBaudRate( SerialStreamBuf::BAUD_9600) ;
serial_port.SetCharSize( SerialStreamBuf::CHAR_SIZE_8 ) ;
serial_port.SetNumOfStopBits(1) ;
serial_port.SetParity( SerialStreamBuf::PARITY_EVEN ) ;
serial_port.SetFlowControl( SerialStreamBuf::FLOW_CONTROL_NONE ) ;
}
int main(int argc, char** argv)
{
cout << "opening port" << endl;
mySerial.Open(PORT);
mySerial.SetBaudRate(SerialStreamBuf::BAUD_9600);
mySerial.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
cout << "port open" << endl;
ros::init(argc, argv, "serialCommands");
ros::NodeHandle nh_;
ros::Subscriber arduino_sub = nh_.subscribe("arduino_commands", 60, arduinoCallback);
arduino_pub = nh_.advertise<std_msgs::String>("arduino_sensors", 5);
ros::spin();
mySerial.Close();
}
int main(int argc,char** argv)
{
char response[3];
serial_stream.Open( argv[1] ) ;
serial_stream.SetBaudRate( SerialStreamBuf::BAUD_115200 ) ;
serial_stream.SetCharSize( SerialStreamBuf::CHAR_SIZE_8 ) ;
serial_stream.SetFlowControl( SerialStreamBuf::FLOW_CONTROL_NONE ) ;
serial_stream.SetParity( SerialStreamBuf::PARITY_NONE ) ;
serial_stream.SetNumOfStopBits(0) ;
while (1)
{
serial_stream<<"ABCD";
cout<<"waiting response"<<endl;
serial_stream.read(response,3);
cout<<response<<endl;
}
return 0;
}
void init_connection(SerialStream& stream)
{
stream.Open("/dev/ttyUSB0");
if (stream.IsOpen()){
cout << "\tStream open" << endl;
} else {
cout << "\tCould not open stream" << endl;
exit(1);
}
//Connection Characteristics
stream.SetBaudRate(SerialStreamBuf::BAUD_9600);
stream.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
stream.SetNumOfStopBits(1);
stream.SetParity(SerialStreamBuf::PARITY_NONE);
stream.SetFlowControl(SerialStreamBuf::FLOW_CONTROL_HARD); //??
stream.SetVMin(1000);
}
int main(int argc, char **argv)
{
// initialize global variables
prevtime = std::chrono::system_clock::now();
std::cerr << "koko1" << std::endl;
for(int k=0;k<7;++k)
data.push_back(0);
ardu.Open(PORT);
std::cerr << "koko2" << std::endl;
ardu.SetBaudRate(SerialStreamBuf::BAUD_38400);
ardu.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
std::cerr << "koko3" << std::endl;
glutInit(&argc, argv);
std::cerr << "koko4" << std::endl;
InitGL();
std::cerr << "koko5" << std::endl;
glutMainLoop();
return 0;
}
void open()
{
ardu.Open("/dev/ttyACM0");
ardu.SetBaudRate(SerialStreamBuf::BAUD_9600);
ardu.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
}
void open(){
/*The arduino must be setup to use the same baud rate*/
ardu.Open(PORT);
ardu.SetBaudRate(SerialStreamBuf::BAUD_9600);
}
int main()
{
// Open the serial port for reading:
ardu.Open(PORT);
ardu.SetBaudRate(SerialStreamBuf::BAUD_115200);
ardu.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
char str[8];
// ardu << out;
ardu >> str;
std::cout << str;
//sscanf(str,"%d",&res);
//sleep(1);
//serial_send(fd, 'A');
sleep(1);
//while(result != 'A')
return 1;
while(true)
{
ardu >> str;
std::cout << str;
//int test = read(fd, &byte, 1);
//serial_send(fd, 'A');
//printf("%i %i %c\n", test, byte, byte);
//sleep(1);
}
// Set the last signalled state of the system as sent by the opto signal over USB.
// "t" is top-dead-center, and "b" is bottom-dead-center.
char system_state = 'B';
int image_counter = image_counter_min;
// Create the main rendering window
sf::RenderWindow App(sf::VideoMode(800, 600, 32), "SFML Graphics");
// Use v-sync (make it so that we sync with the monitor, and don't draw more than 60fps.
App.UseVerticalSync(false);
// App.SetFramerateLimit(60); // Limit to 60 frames per second
// App.SetFramerateLimit(0); // No limit
// Start game loop
while (App.IsOpened())
{
// Process events
sf::Event Event;
while (App.GetEvent(Event))
{
// Close window : exit
if (Event.Type == sf::Event::Closed)
App.Close();
// A key has been pressed
if (Event.Type == sf::Event::KeyPressed)
{
// Escape key : exit
if (Event.Key.Code == sf::Key::Escape)
App.Close();
}
}
// Read from the USB port.
uint8_t input_state; //= serial_recv(fd);
printf("%i ", input_state);
if (input_state != system_state && (input_state == 'B' || input_state == 'T'))
{ // Start the appropriate image sequence.
// Change the system state.
system_state = input_state;
//printf("%c\n", system_state);
// Reset the image counter.
image_counter = 0;
}
// Get the elapsed time.
float elapsed = Clock.GetElapsedTime();
if (elapsed > refresh_rate)
{
// Update the image.
printf("%i %f\n", image_counter, elapsed);
Clock.Reset();
// Increment or decrement the image counter.
if (system_state == 'B') image_counter++;
else if (system_state == 'T') image_counter++;
// Make sure the counter doesn't go out of bounds.
if (image_counter > image_counter_max) image_counter = image_counter_max;
if (image_counter < image_counter_min) image_counter = image_counter_min;
// Draw the appropriate colour:
switch( image_counter )
{
case 0:
App.Clear(sf::Color(0, 0, 0));
break;
case 1:
App.Clear(sf::Color(85, 85, 85));
break;
case 2:
App.Clear(sf::Color(170, 170, 170));
break;
case 3:
App.Clear(sf::Color(255, 255, 255));
break;
}
}
// Clear the screen with red color
// App.Clear(sf::Color(200, 0, 0));
// Display window contents on screen
App.Display();
}
return EXIT_SUCCESS;
}
Server::Server(DomParser* _parser): QObject(0)
{
parser = _parser;
connect(&server, SIGNAL(newConnection()), this, SLOT(acceptConnection()));
serial_port.Open(ARDUINO) ;
if ( ! serial_port.good() )
{
std::cerr << "[" << __FILE__ << ":" << __LINE__ << "] "
<< "Error: Could not open serial port."
<< std::endl ;
exit(1) ;
}
//
// Set the baud rate of the serial port.
//
serial_port.SetBaudRate( SerialStreamBuf::BAUD_9600 ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not set the baud rate." <<
std::endl ;
exit(1) ;
}
//
// Set the number of data bits.
//
serial_port.SetCharSize( SerialStreamBuf::CHAR_SIZE_8 ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not set the character size." <<
std::endl ;
exit(1) ;
}
//
// Disable parity.
//
serial_port.SetParity( SerialStreamBuf::PARITY_NONE ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not disable the parity." <<
std::endl ;
exit(1) ;
}
//
// Set the number of stop bits.
//
serial_port.SetNumOfStopBits( 1 ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not set the number of stop bits."
<< std::endl ;
exit(1) ;
}
//
// Turn off hardware flow control.
//
serial_port.SetFlowControl( SerialStreamBuf::FLOW_CONTROL_NONE ) ;
if ( ! serial_port.good() )
{
std::cerr << "Error: Could not use hardware flow control."
<< std::endl ;
exit(1) ;
}
server.listen(QHostAddress::Any, 8888);
}
void serial_setup( void )
{
ardu.Open(PORT);
ardu.SetBaudRate(BAUDRATE);
ardu.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
}
SerialComm()
{
node.SetBaudRate(SerialStreamBuf::BAUD_9600);
node.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
node.Open(PORT);
}
