Example #1
0
int main()
{
	SerialPort sp;
	cout << sp.Connect("COM3") << endl;
	cout << sp.Setup() << endl;

	// Create a message
	RobotCommand msg;
	UnitStatus stat;
	SetStatus(stat, 0, 0, 0, 1, 1);

	// Write it to device

	while (1)
	{
		char c = getch();
		switch (c)
		{
		case 'w':
			SetMessage(msg, CMD_FORWARD, 50);	// Forward with 50/255 speed
			break;
		case 'a':
			SetMessage(msg, CMD_LEFT, 10);		// Left with 10/255 of max
			break;
		case 's':
			SetMessage(msg, CMD_BACKWARD, 20);	// Backward with 20/255
			break;
		case 'd':
			SetMessage(msg, CMD_RIGHT, 5);
			break;
		case 'q':
			SetMessage(msg, CMD_STOP, 0);		// Stop with no braking
		case 'e':
			SetMessage(msg, CMD_STOP, 255);	// Stop with full braking
			break;
		default:
			cout << "## Command not recognized ##" << endl << endl;
			continue;
		}
		cout << "Sending message: " << endl << "------------------------" << endl << msg << endl << endl;
		sp.WriteMessage(msg);

		cout << "Fetching robot status:" << endl << "------------------------" << endl;
		SetMessage(msg, CMD_GET_CURRENT_STATE);
		sp.WriteMessage(msg);

		int res = sp.ReadMessage(stat);
		if (res)
			cout << "Failed to read message: " << res << endl;
		else
			cout << stat << endl;
	}	

	sp.Close();
	cout << endl << "End" << endl;
	return 0;
}
Example #2
0
void ControlC( int sigNum )
{
    fprintf( stderr, "Shutting down...\n" );

    // Closing the serial port will cause the ReadSerialThread to unblock and exit

    gSerialPort.Close();

    if ( tcsetattr( fileno( stdin ), TCSANOW, &gTio_org ) == -1 )
    {
        LogError( "Unable to restore terminal settings\n" );
    }

    if ( gLogFs2 != NULL )
    {
        fclose( gLogFs2 );
    }

    // Now do whatever the default handling for the signal would be

    signal( sigNum, SIG_DFL );
    raise( sigNum );

} // ControlC
Example #3
0
int main( int argc, char **argv )
{
    int         sig;
    sigset_t    termSig;
    pthread_t   readSerialThreadId;
    pthread_t   readStdinThreadId;
    int         rc;
    int         opt;
    const char *baudStr = NULL;
#if defined( linux )
    const char *portStr = "ttyS0";
#else
    const char *portStr = "com1";
#endif

#if USE_I2C
    PKT_TextChar        = PacketTextChar;
    PKT_SendChar        = PacketSendChar;
    PKT_PacketReceived  = PacketReceived;
#endif

//    signal( SIGINT, ControlC );
//    signal( SIGTERM, ControlC );

    LogInit( stdout );

    while (( opt = getopt_long( argc, argv, "b:dhmp:rsv", gLongOption, NULL )) > 0 )
    {
        switch ( opt )
        {
            case 'b':
            {
                baudStr = optarg;
                break;
            }

            case 'd':
            {
                gDebug = true;
                break;
            }

            case 'g':
            {
                gDongle = true;
                break;
            }

            case 'm':
            {
                gMegaLoad = true;
                break;
            }

            case 'p':
            {
                portStr = optarg;
                break;
            }

            case 'r':
            {
                gUseRtsToReset = true;
                break;
            }

            case 's':
            {
                gStk500 = true;
                break;
            }

            case 'v':
            {
                gVerbose = true;
                break;
            }

#if USE_I2C
            case OPT_DEBUG_DONGLE:
            {
                gSerialDongle.m_debugDongle = true;
                break;
            }

            case OPT_DEBUG_DONGLE_DATA:
            {
                gSerialDongle.m_debugDongleData = true;
                break;
            }
#endif

            case '?':
            case 'h':
            {
                Usage();
                return 1;
            }
        }
    }

    if ( optind < argc )
    {
        if (( optind + 1 ) != argc )
        {
            fprintf( stderr, "Only one download file supported\n" );
            return 1;
        }

        gDownloadFileName = argv[ optind ];
    }

    // Open the file to download

    if ( gDownloadFileName != NULL )
    {
        // If we are asked to download a file, then read the entire file
        // into memory.

        if (( gDownloadInfo = ReadFile( gDownloadFileName )) == NULL )
        {
            return 1;
        }
    }

    if ( !gSerialPort.Open( portStr, baudStr ))
    {
        return 1;
    }
    if ( gUseRtsToReset )
    {
        gSerialPort.StrobeRTS( 10 );
    }

    // Put stdin in raw mode

    setbuf( stdin, NULL );
    setbuf( stdout, NULL );

#if defined( unix )
    sigemptyset( &termSig );
    sigaddset( &termSig, SIGINT );
    sigaddset( &termSig, SIGTERM );

    pthread_sigmask( SIG_BLOCK, &termSig, NULL );

    struct termios tio_new;

    if ( tcgetattr( fileno( stdin ), &gTio_org ) < 0 )
    {
        LogError( "Unable to retrieve terminal settings\n" );
        return 1;
    }
    
    tio_new = gTio_org;
    tio_new.c_lflag &= ~( ICANON | ECHO );
    tio_new.c_cc[VMIN] = 1;
    tio_new.c_cc[VTIME] = 0;

    if ( tcsetattr( fileno( stdin ), TCSANOW, &tio_new ) < 0 )
    {
        LogError( "Unable to update terminal settings\n" );
        return 1;
    }
#endif

    const char *bootLoaderType = "*** Unknown ***";

    if ( gDongle )
    {
        bootLoaderType = "Serial Dongle";
    }
    else
    if ( gMegaLoad )
    {
        bootLoaderType = "MegaLoad v2.3";
    }
    else
    if ( gStk500 )
    {
        bootLoaderType = "STK500";
    }

    gLogFs2 = fopen( "BootHost.log", "wb" );

    Log( "BootHost - BootLoader: %s\n", bootLoaderType );

    // Kick off the serial port reader thread.

    rc = pthread_create( &readSerialThreadId, NULL, ReadSerialThread, &gSerialPort );
    if ( rc != 0 )
    {
        fprintf( stderr, "Error creating ReadSerialThread: %d\n", rc );
        return 1;
    }

    // Kick off the stdin reader thread.

    rc = pthread_create( &readStdinThreadId, NULL, ReadStdinThread, NULL );
    if ( rc != 0 )
    {
        fprintf( stderr, "Error creating ReadSerialThread: %d\n", rc );
        return 1;
    }

#if defined( unix )

    // Wait for a termmination signal

    if (( rc = sigwait( &termSig, &sig )) != 0 )
    {
        fprintf( stderr, "sigwait failed\n" );
    }
    else
    {
        fprintf( stderr, "Exiting...\n" );
    }

    pthread_cancel( readSerialThreadId );
    pthread_cancel( readStdinThreadId );

    // Restore stdin back to the way it was when we started

    if ( tcsetattr( fileno( stdin ), TCSANOW, &gTio_org ) == -1 )
    {
        LogError( "Unable to restore terminal settings\n" );
    }
#endif

#if defined( __CYGWIN__ )

    // Under Windows closing the serial port and stdin will cause the reads
    // to unblock. Under linux, this isn't required, but it doesn't hurt 
    // either.

    gSerialPort.Close();
    fclose( stdin );
#endif

    // Unblock the termination signals so the user can kill us if we hang up
    // waiting for the reader threads to exit.

#if defined( unix )
    pthread_sigmask( SIG_UNBLOCK, &termSig, NULL );
#endif

    pthread_join( readSerialThreadId, NULL );
    pthread_join( readStdinThreadId, NULL );

#if !defined( __CYGWIN__ )
    gSerialPort.Close();
    fclose( stdin );
#endif

    if ( gVerbose )
    {
        printf( "Done\n" );
    }

    return 0;

} // main