C++ (Cpp) rs232_end Examples

Example #1

File: main.c Project: gc87/ctools

unsigned int rs232_simple_test(void)
{
	unsigned int try = 0;
	unsigned int bytes = 0;
	unsigned char data[1];
	unsigned int ret = 0;
	struct rs232_port_t *p = NULL;

	p = rs232_init();
	if (p == NULL)
		return 1;

#ifdef WIN32
	rs232_set_device(p, "COM1");
#else
	rs232_set_device(p, "/dev/ttyS1");
#endif
	ret = rs232_open(p);
	if (ret) {
		rs232_end(p);
		return err(ret);
	}

	rs232_set_baud(p, RS232_BAUD_115200);
	printf("[*] port settings: %s\n", rs232_to_string(p));

	rs232_flush(p);
	while (try++ < 10) {
		printf("%02d. [*] read: ", try);
		data[0] = 0x00;
		ret = rs232_read_timeout(p, data, 1, &bytes, 1000);
		if (ret)
			err(ret);
		else
			printf("0x%02x len: %d\n", data[0], bytes);

		data[0] = 0x05;
		bytes = 0;
		printf("%02d. [*] write: ", try);
		ret = rs232_write_timeout(p, data, 1, &bytes, 1000);
		if (ret)
			err(ret);
		else
			printf("len: %d\n", bytes);
	}

	rs232_end(p);
	return 0;
}

Example #2

File: dds_robot.c Project: taka-wang/dds-robot-arm

int main(int argc, char *argv[]) 
{
    signal(SIGINT, int_handler);
    signal(SIGTERM, int_handler);

    if (argc > 1)
    {
        portname = argv[1];
    }
    
    if (init_serial() > 0) 
    {
        printf("open port:(%s) failed, are you root?\n", portname);
        exit(-1);
    }

    // Initialize DDS Section
    int status;
    dds_qos_t * qos = NULL;
    dds_entity_t participant;
    dds_entity_t reader_topic;
    dds_entity_t subscriber;
    dds_entity_t reader;
    dds_readerlistener_t listener;

    // Initialize DDS
    status = dds_init(argc, argv);
    DDS_ERR_CHECK(status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);

    // Create participant
    status = dds_participant_create(&participant, DDS_DOMAIN_DEFAULT, qos, NULL);
    DDS_ERR_CHECK(status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);

    // Create a subscriber
    status = dds_subscriber_create(participant, &subscriber, qos, NULL);
    DDS_ERR_CHECK(status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);

    // Create reader topic
    status = dds_topic_create(participant, &reader_topic, &Motion_coordinate_desc, "motion", NULL, NULL);
    DDS_ERR_CHECK(status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    
    // data available callback
    memset(&listener, 0, sizeof (listener));
    listener.on_data_available = data_available_handler;
    
    // Create reader with DATA_AVAILABLE status condition enabled
    qos = dds_qos_create();
    dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, DDS_SECS (1));
    dds_qset_history (qos, DDS_HISTORY_KEEP_ALL, 0);

    status = dds_reader_create(subscriber, &reader, reader_topic, qos, &listener);
    DDS_ERR_CHECK(status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    dds_qos_delete (qos);

    printf("start listening\n");
    while (do_loop) 
    {
        dds_sleepfor (DDS_MSECS(10));
    }

    // Clean up section
    rs232_end(port);
    dds_status_set_enabled(reader, 0); // disable reader callback
    DDS_ERR_CHECK(status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
    dds_entity_delete(participant);
    dds_fini();

    exit(0);
}