int main(int argc, char* argv[])
{
printf("[i] Start... \n");
Serial serial;
#if defined(WIN32)
serial.open(SERIAL_PORT_NAME, SERIAL_PORT_RATE, true);
#elif defined(LINUX)
serial.open(SERIAL_PORT_NAME, SERIAL_PORT_RATE);
#endif
if(!serial.connected())
{
printf("[!] Cant open port!\n");
return -1;
}
char c = 'y';
int res = 12;
char buf[BUF_SIZE1];
memset(buf, 0, BUF_SIZE1);
while(true)
{
serial.write( &c, 1 );
#if 0
if(res = serial.available()){
if( res = serial.Read(buf, res) ){
printf("%d %s\n", res, buf);
}
}
#else
if(serial.waitInput(1000)==0)
printf("[i] timeout!\n");
else
{
if(res = serial.available())
{
res = serial.read(buf, res);
printf("%d %s\n", res, buf);
}
}
#endif
}
serial.close();
printf("[i] End.\n");
return 0;
}
TEST(Serial, WriteCOM) {
Serial serial;
serial.open("COM7", 9600);
if(!serial.connected()){
FAIL()<<"cant open serial port!";
}
char buf[1024];
int res = 0;
while(1){
char wbuf[] = {0xff, 0xff, 0x00, 0x00, 0x00, 0x00 ,0xff};
serial.write(wbuf, sizeof(wbuf));
if( serial.waitInput(1000) > 0){
if( (res = serial.available()) > 0 ){
if( res = serial.read(buf, res) ){
printf("[i] read data(%d): \n", res);
for(int i=0; i<res; i++){
printf("%02X ", (unsigned char)buf[i]);
if(i>0 && (i+1)%16 == 0) {
printf("\t");
for(int j=i-15; j<=i; j++){
printf("%c", buf[j]);
}
printf("\n");
}
}
printf("\n");
res = 0;
}
}
}
Sleep(1000);
}
}
void process_serial(Serial &serial, TBuff<uint8_t> &buff, orcp2::packet &pkt)
{
int res = 0;
if(!buff.data || !pkt.message.data) {
ROS_ERROR("[!] Error: no memory!\n");
return ;
}
ros::Time current_time;
ros_4wd_driver::drive_telemetry_4wd drive;
ros_4wd_driver::sensors_telemetry_4wd sensors;
ros_4wd_driver::imu_raw_data imu;
if( res = serial.waitInput(500) ) {
//printf("[i] waitInput: %d\n", res);
if( (res = serial.available()) > 0 ) {
//printf("[i] available: %d\n", res);
//res = res > (buff.real_size-buff.size) ? (buff.real_size-buff.size) : res ;
if( (res = serial.read(buff.data+buff.size, buff.real_size-buff.size)) > 0 ) {
buff.size += res;
// get packet from data
while ( (res = orcp2::get_packet(buff.data, buff.size, &pkt)) > 0) {
// ROS_INFO("[i] res: %02d message: %04X size: %04d CRC: %02X buff.size: %02d\n",
// res, pkt.message_type, pkt.message_size, pkt.checksum, buff.size);
uint8_t crc = pkt.calc_checksum();
if(crc == pkt.checksum) {
// ROS_INFO("[i] Good message CRC: %02X\n", pkt.checksum);
current_time = ros::Time::now();
switch(pkt.message_type) {
case ORCP2_SEND_STRING:
pkt.message.data[pkt.message.size]=0;
ROS_INFO("[i] String: %s\n", pkt.message.data);
//printf("[i] counter: %d\n", counter);
#if 0
if(++counter > 50) {
//printf("[i] digitalWrite: %d\n", val);
val = !val;
orcp.digitalWrite(13, val);
counter = 0;
}
#endif
break;
case ORCP2_MESSAGE_IMU_RAW_DATA:
deserialize_imu3_data(pkt.message.data, pkt.message.size, &raw_imu_data);
ROS_INFO( "[i] IMU: acc: [%d %d %d] mag: [%d %d %d] gyro: [%d %d %d]\n",
raw_imu_data.Accelerometer[0], raw_imu_data.Accelerometer[1], raw_imu_data.Accelerometer[2],
raw_imu_data.Magnetometer[0], raw_imu_data.Magnetometer[1], raw_imu_data.Magnetometer[2],
raw_imu_data.Gyro[0], raw_imu_data.Gyro[1], raw_imu_data.Gyro[2] );
imu.header.stamp = current_time;
imu.accelerometer1 = raw_imu_data.Accelerometer[0];
imu.accelerometer2 = raw_imu_data.Accelerometer[1];
imu.accelerometer3 = raw_imu_data.Accelerometer[2];
imu.magnetometer1 = raw_imu_data.Magnetometer[0];
imu.magnetometer2 = raw_imu_data.Magnetometer[1];
imu.magnetometer3 = raw_imu_data.Magnetometer[2];
imu.gyro1 = raw_imu_data.Gyro[0];
imu.gyro2 = raw_imu_data.Gyro[1];
imu.gyro3 = raw_imu_data.Gyro[2];
imu_raw_data_pub.publish(imu);
break;
case ORCP2_MESSAGE_ROBOT_4WD_DRIVE_TELEMETRY:
deserialize_robot_4wd_drive_part(pkt.message.data, pkt.message.size, &robot_data);
ROS_INFO( "[i] Drive telemetry: bmp: %d enc: [%d %d %d %d] PWM: [%d %d %d %d]\n",
robot_data.Bamper,
robot_data.Encoder[0], robot_data.Encoder[1], robot_data.Encoder[2], robot_data.Encoder[3],
robot_data.PWM[0], robot_data.PWM[1], robot_data.PWM[2], robot_data.PWM[3] );
drive.header.stamp = current_time;
drive.bamper = robot_data.Bamper;
drive.encoder1 = robot_data.Encoder[0];
drive.encoder2 = robot_data.Encoder[1];
drive.encoder3 = robot_data.Encoder[2];
drive.encoder4 = robot_data.Encoder[3];
drive.pwm1 = robot_data.PWM[0];
drive.pwm2 = robot_data.PWM[1];
drive.pwm3 = robot_data.PWM[2];
drive.pwm4 = robot_data.PWM[3];
drive_telemetry_pub.publish(drive);
calc_odometry(drive);
break;
case ORCP2_MESSAGE_ROBOT_4WD_SENSORS_TELEMETRY:
deserialize_robot_4wd_sensors_part(pkt.message.data, pkt.message.size, &robot_data);
ROS_INFO( "[i] Sensors telemetry: US: %d IR: [%d %d %d %d] V: %d\n",
robot_data.US[0],
robot_data.IR[0], robot_data.IR[1], robot_data.IR[2], robot_data.IR[3],
robot_data.Voltage );
sensors.header.stamp = current_time;
sensors.us = robot_data.US[0];
sensors.ir1 = robot_data.IR[0];
sensors.ir2 = robot_data.IR[1];
sensors.ir3 = robot_data.IR[2];
sensors.ir4 = robot_data.IR[3];
sensors.voltage = robot_data.Voltage;
sensors_telemetry_pub.publish(sensors);
break;
case ORCP2_MESSAGE_ROBOT_4WD_TELEMETRY:
deserialize_robot_4wd(pkt.message.data, pkt.message.size, &robot_data);
ROS_INFO( "[i] Drive Telemetry: bmp: %d enc: [%d %d %d %d] PWM: [%d %d %d %d]\n",
robot_data.Bamper,
robot_data.Encoder[0], robot_data.Encoder[1], robot_data.Encoder[2], robot_data.Encoder[3],
robot_data.PWM[0], robot_data.PWM[1], robot_data.PWM[2], robot_data.PWM[3] );
drive.header.stamp = current_time;
drive.bamper = robot_data.Bamper;
drive.encoder1 = robot_data.Encoder[0];
drive.encoder2 = robot_data.Encoder[1];
drive.encoder3 = robot_data.Encoder[2];
drive.encoder4 = robot_data.Encoder[3];
drive.pwm1 = robot_data.PWM[0];
drive.pwm2 = robot_data.PWM[1];
drive.pwm3 = robot_data.PWM[2];
drive.pwm4 = robot_data.PWM[3];
drive_telemetry_pub.publish(drive);
calc_odometry(drive);
ROS_INFO( "[i] Sensors Telemetry: US: %d IR: [%d %d %d %d] V: %d\n",
robot_data.US[0],
robot_data.IR[0], robot_data.IR[1], robot_data.IR[2], robot_data.IR[3],
robot_data.Voltage );
sensors.header.stamp = current_time;
sensors.us = robot_data.US[0];
sensors.ir1 = robot_data.IR[0];
sensors.ir2 = robot_data.IR[1];
sensors.ir3 = robot_data.IR[2];
sensors.ir4 = robot_data.IR[3];
sensors.voltage = robot_data.Voltage;
sensors_telemetry_pub.publish(sensors);
break;
default:
ROS_INFO("[i] Unknown message type: %04X!\n", pkt.message_type);
break;
}
}
else {
ROS_WARN("[!] Bad message CRC: %02X vs: %02X\n", crc, pkt.checksum);
}
}
}
else {
ROS_WARN("[!] too much data: %d (%d)\n", res, buff.size);
buff.size = 0;
}
}
else {
ROS_INFO("[!] no available: %d\n", res);
}
}
else {
ROS_INFO("[!] waitInput timeout: %d\n", res);
}
}
