void main(void)
{
OSCTUNEbits.PLLEN = 1;
LCDInit();
LCDClear();
InitPins();
ConfigPeriph();
ConfigInterrupts();
while (1) {
received = ReadSerial();
LCDClear();
switch(received) {
case 'a':
received2 = ReadSerial();
sprintf(output,"Received char:%c",received2);
/*
* FIXME : PIC18 doesn't transmit back to RPi
* python script hangs on serial.read(1)
* Same behavior with cat -A /dev/ttyACM0
*
*
* _delay(2); // 2 cycle delay
*while(!PIR1bits.TX1IF);
*sprintf(output,"TRANSMIT");
*LCDWriteLine(output,0);
*TXREG1=received2;
*
*/
break ;
case 'b':
potentiometer = ReadPot();
sprintf(output,"Pot value: %d", potentiometer);
LATD =~ LATD;
break;
case 'c':
received2=ReadSerial();
sprintf(output,"Set LED to 0x%X",received2);
LATD = received2;
break;
default:
sprintf(output, ">>UNKNOWN %c",received);
break;
}
LCDWriteLine(output,0);
}
}
int RobbyUp(void)
{
Output &= ~O_DOWN; // if UP then !DOWN
Output |= O_UP;
while(1)
{
if( WriteSerial(Output) == -1)
{
return (-1);
}
usleep(PAUSE);
if( ReadSerial(&Input) == -1)
{
return (-1);
}
if((~Input & I_UP) == I_UP)
{
Output &= ~O_UP;
if( WriteSerial(Output) == -1)
{
return (-1);
}
break;
}
else
{
usleep(50);
}
}
return (0);
}
int RobbyRight(void)
{
Output &= ~O_LEFT;
Output |= O_RIGHT;
while(1)
{
if( WriteSerial(Output) == -1)
{
return (-1);
}
usleep(PAUSE);
if( ReadSerial(&Input) == -1)
{
return (-1);
}
if((~Input & I_RIGHT) == I_RIGHT)
{
usleep(140000); // permet de continuer le mouvement pour atteindre la butée mécanique
Output &= ~O_RIGHT;
if( WriteSerial(Output) == -1)
{
return (-1);
}
break;
}
else
{
usleep(50);
}
}
return (0);
}
int CNewCardThread::DoInit()
{
int ret = -1;
BYTE ucCardNo[5] = "";
BYTE max_cardno[5] = {0xFE, 0xFF, 0xFF, 0xFF, 0x00};
char stuemp_no[21] = "";
SMT_SleepCard();
// ¶ÁÈ¡ÊÚȨ¿¨
ret = ReadSerial(ucCardNo);
if (ret < 0)
{
Sleep(1000);
return 0;
}
if (_mbsncmp(ucCardNo, max_cardno, sizeof(ucCardNo) - 1) == 0)
{
Sleep(1000);
return 0;
}
((CReadCardInfoDlg*)m_pMainWnd)->SimulateKeyPress(ucCardNo);
Sleep(1000);
return 0;
}
int CALLAPI TA_FastGetCardNo(unsigned int *CardNo)
{
TEST_COM_OPEN;
int ret;
unsigned char serial_no[8];
ret = ReadSerial(serial_no);
if(ret)
return ERR_TA_READCARD;
ret = do_convert_card_phyno(serial_no,CardNo);
if(ret)
return ERR_TA_READCARD;
return ERR_OK;
}
int RobbyClose(void)
{
Output &= ~O_CLOSE;
if( WriteSerial(Output) == -1)
{
return (-1);
}
usleep(PAUSE);
if( ReadSerial(&Input) == -1)
{
return (-1);
}
return (0);
}
int RobbyOpen(void)
{
Output |= O_OPEN;
if( WriteSerial(Output) == -1)
{
return (-1);
}
usleep(PAUSE);
if( ReadSerial(&Input) == -1)
{
return (-1);
}
return (0);
}
bool GetData(const unsigned char type, const int id, float *val1, float *val2, float *val3)
{
bool read_flag = true;
unsigned char szPtr[128];
unsigned char data[128];
int i = 0;
memset(szPtr, 0, sizeof(szPtr));
memset(data, 0, sizeof(data));
// First we need to send out the request for the robot to send its
// data:
szPtr[0] = type;
szPtr[1] = (id+0x30);
szPtr[2] = 0xFF-((type+id+0x30) & 0xFF);
write(fd, szPtr, SHORT_PACKET_SIZE);
fsync(fd);
ROS_INFO("Sending request string to Robot %d:", id);
for(i = 0; i < SHORT_PACKET_SIZE; i++)
printf("%02X ",szPtr[i]);
printf("\n");
// Now, we need to get the data sent back:
if(ReadSerial(data))
{
// Good read! Let's check validity:
if(DataChecker(type, data))
{
read_flag = false;
// If it is good data, let's interpret it:
*val1 = InterpNumber(&data[2]);
*val2 = InterpNumber(&data[5]);
*val3 = InterpNumber(&data[8]);
return read_flag;
}
else
ROS_WARN("Full string received, but not valid");
}
else
ROS_WARN("Not enough data received");
// Then let's estimate the data:
*val1 = 0.0;
*val2 = 0.0;
*val3 = 0.0;
return read_flag;
}
static int SerparRead(DriverCall *dc, bool block)
{
static unsigned char readbuf[MAXREADSIZE];
static int rbindex = 0;
int nread;
int read_errno;
int c = 0;
re_status restatus;
int ret_code = -1; /* assume bad packet or error */
/*
* we must not overflow buffer, and must start after
* the existing data
*/
#ifdef COMPILING_ON_WINDOWS
{
BOOL dummy = FALSE;
nread = BytesInRXBufferSerial();
if (nread > MAXREADSIZE - rbindex)
nread = MAXREADSIZE - rbindex;
read_errno = ReadSerial(readbuf+rbindex, nread, &dummy);
if (pfnProgressCallback != NULL && read_errno == COM_OK)
{
progressInfo.nRead += nread;
(*pfnProgressCallback)(&progressInfo);
}
}
#else
nread = Unix_ReadSerial(readbuf+rbindex, MAXREADSIZE-rbindex, block);
read_errno = errno;
#endif
if ((nread > 0) || (rbindex > 0))
{
#ifdef DO_TRACE
printf("[%d@%d] ", nread, rbindex);
#endif
if (nread > 0)
rbindex = rbindex + nread;
do
{
restatus = Angel_RxEngine(readbuf[c], &(dc->dc_packet), &rxstate);
#ifdef DO_TRACE
printf("<%02X ",readbuf[c]);
#endif
c++;
} while (c < rbindex &&
((restatus == RS_IN_PKT) || (restatus == RS_WAIT_PKT)));
#ifdef DO_TRACE
printf("\n");
#endif
switch(restatus)
{
case RS_GOOD_PKT:
ret_code = 1;
/* fall through to: */
case RS_BAD_PKT:
/*
* We now need to shuffle any left over data down to the
* beginning of our private buffer ready to be used
*for the next packet
*/
#ifdef DO_TRACE
printf("SerparRead() processed %d, moving down %d\n",
c, rbindex - c);
#endif
if (c != rbindex)
memmove((char *) readbuf, (char *) (readbuf + c), rbindex - c);
rbindex -= c;
break;
case RS_IN_PKT:
case RS_WAIT_PKT:
rbindex = 0; /* will have processed all we had */
ret_code = 0;
break;
default:
#ifdef DEBUG
printf("Bad re_status in SerparRead()\n");
#endif
break;
}
}
else if (nread == 0)
/* nothing to read */
ret_code = 0;
else if (read_errno == ERRNO_FOR_BLOCKED_IO) /* nread < 0 */
ret_code = 0;
#ifdef DEBUG
if ((nread < 0) && (read_errno != ERRNO_FOR_BLOCKED_IO))
perror("read() error in SerparRead()");
#endif
return ret_code;
}
void Serial::processSerial()
{
connect(SerialPort,SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(handleError(QSerialPort::SerialPortError)));
connect(SerialPort, SIGNAL(readyRead()),this,SLOT(ReadSerial()));
}
int CALLAPI TA_Consume(CardConsume *pCardCons, bool IsVerfy, short TimeOut=10)
{
TEST_COM_OPEN;
int ret,term_idx;
int card_id;
int trade_serial = 0;
double trade_amt,out_amt;
int trade_money,out_money;
char now_date[9] = "";
char now_time[7] = "";
char last_trade_date[9] = "";
char card_serial_no[9] = "";
//AccountMsg acc;
MONEY_PACK_INFO purse_info;
TimeOut = (TimeOut > 0 && TimeOut < 30) ? TimeOut : 10;
TimeOut *= 1000;
if(pCardCons->TranAmt >= 0)
{
return ERR_TA_TRANAMT;
}
term_idx = do_find_dev_by_termno(pCardCons->TerminalNo);
if(term_idx<0)
{
return ERR_TRN_STATION;
}
if((pCardCons->TranAmt*-1) >= g_devices.devices[term_idx].trade_limit_per_cnt)
{
if(strlen(pCardCons->PassWord) == 0)
{
return ERR_TA_EXCEED_QUOTA;
}
}
if(pCardCons->TranJnl < g_devices.devices[term_idx].maxjnl)
{
return ERR_TA_PARA;
}
ret = ReadCardNO(&card_id);
if(ret)
{
return ERR_TA_READCARD;
}
ret = ReadSerial((unsigned char*)card_serial_no);
if(ret)
{
return ERR_TA_READCARD;
}
memset(&purse_info,0,sizeof purse_info);
ret = SMT_GetPacketInfo(g_devices.devices[term_idx].purse_no,&purse_info);
if(ret)
{
return ERR_TA_READCARD;
}
if(purse_info.bala + pCardCons->TranAmt < 0)
{
return ERR_TA_TRANAMT;
}
// 比较日期
do_get_date_time(now_date,now_time);
sprintf(last_trade_date,"20%02d%02d%02d",purse_info.date/10000%100
,purse_info.date/100%100,purse_info.date%100);
if(strcmp(last_trade_date,now_date) == 0)
{
if(purse_info.daybala - pCardCons->TranAmt > g_devices.devices[term_idx].day_trade_limit)
{
if(strlen(pCardCons->PassWord) == 0)
{
return ERR_TA_EXCEED_QUOTA;
}
}
}
KS_YKT_Clt clt;
// 请求交易
clt.SetIntFieldByName("lcert_code",827111);
// 交易卡号
clt.SetIntFieldByName("lvol0",card_id);
// 卡使用次数
clt.SetIntFieldByName("lvol1",purse_info.time_cnt);
// 钱包号
clt.SetIntFieldByName("lvol2",g_devices.devices[term_idx].purse_no);
// 子系统号
clt.SetIntFieldByName("lvol3",g_devices.devices[term_idx].sys_id);
// 设备ID
clt.SetIntFieldByName("lvol4",g_devices.devices[term_idx].device_id);
// 终端流水号
clt.SetIntFieldByName("lvol5",pCardCons->TranJnl);
// 入卡值
clt.SetDoubleFieldByName("damt0",purse_info.bala/100.0);
// 交易金额
clt.SetDoubleFieldByName("damt1",(pCardCons->TranAmt * -1)/100.0);
// 操作员
clt.SetStringFieldByName("scust_no",g_devices.devices[term_idx].oper_code);
// 密码
clt.SetStringFieldByName("semp_pwd",pCardCons->PassWord);
// 物理卡号
clt.SetStringFieldByName("sdate1",card_serial_no);
// 交易日期
clt.SetStringFieldByName("sdate0",now_date);
clt.SetStringFieldByName("stime0",now_time);
// 摘要
clt.SetStringFieldByName("vsmess",pCardCons->Abstract);
if(!clt.SendRequest(FUNC_CONSUME,TimeOut))
{
ret = ERR_FAIL;
}
pCardCons->RetCode = clt.GetReturnCode();
if(ret)
return ret;
if(pCardCons->RetCode)
return ERR_FAIL;
if(clt.HasMoreRecord())
{
clt.GetNextPackage();
clt.GetIntFieldByName("lvol0",&trade_serial);
clt.GetDoubleFieldByName("damt0",&out_amt);
clt.GetDoubleFieldByName("damt1",&trade_amt);
out_money = (int)d4u5(out_amt*100.0);
trade_money = (int)d4u5(trade_amt*100.0);
int curr_card_id;
ret = ReadCardNO(&curr_card_id);
if(ret)
return ERR_TA_READCARD;
int retries = 3;
while(retries-->0)
{
if(curr_card_id != card_id)
return ERR_TA_NOT_SAMECARD;
ret = SMT_PacketSetMoney(g_devices.devices[term_idx].purse_no,out_money);
if(!ret)
break;
}
if(ret)
return ERR_TA_WRITECARD;
clt.ResetHandler();
// 请求交易
clt.SetIntFieldByName("lcert_code",827111);
// 交易卡号
clt.SetIntFieldByName("lvol0",card_id);
// 卡使用次数
clt.SetIntFieldByName("lvol1",purse_info.time_cnt);
// 钱包号
clt.SetIntFieldByName("lvol2",g_devices.devices[term_idx].purse_no);
// 子系统号
clt.SetIntFieldByName("lvol3",g_devices.devices[term_idx].sys_id);
// 设备ID
clt.SetIntFieldByName("lvol4",g_devices.devices[term_idx].device_id);
// 终端流水号
clt.SetIntFieldByName("lvol5",pCardCons->TranJnl);
// 入卡值
clt.SetDoubleFieldByName("damt0",purse_info.bala/100.0);
// 交易金额
clt.SetDoubleFieldByName("damt1",(pCardCons->TranAmt * -1)/100.0);
// 操作员
clt.SetStringFieldByName("scust_no",g_devices.devices[term_idx].oper_code);
// 密码
clt.SetStringFieldByName("semp_pwd",pCardCons->PassWord);
// 后台流水号
clt.SetIntFieldByName("lvol6",trade_serial);
if(clt.SendRequest(FUNC_CONSUME_CONFIRM))
{
pCardCons->TranAmt = trade_money;
return ERR_OK;
}
pCardCons->RetCode = clt.GetReturnCode();
}
return ERR_FAIL;
}
void SerialProc(void)
{
WORD numBytesRead;
BYTE i;
char buff[10];
char *buffPtr;
BYTE *readPtr;
char state; // 0:readed ',' 1:readed number
BYTE exit;
WORD byteOrWord; // 0:未設定
WORD pos;
WORD v;
WORD bpos;
// check whether data is recieved from uart
if (!DataRdyUSART())
return;
bpos = 0;
// read data from uart
numBytesRead = ReadSerial(uartInBuffer, sizeof(uartInBuffer));
if (numBytesRead == 0 || numBytesRead == 0xFFFF)
return;
state = 0;
buffPtr = buff;
readPtr = uartInBuffer;
pos = 0;
byteOrWord = 0;
exit = 0;
loop:
for(i=0;i<numBytesRead;i++) {
if (readPtr[i]=='\r' || readPtr[i]=='\n'){
if (pos>0) {
if (buffPtr==buff) {
sprintf(uartOutBuffer,
(far rom char*)"parse error. need number. [%d,%c]\r\n",
bpos+i,readPtr[i]);
PutsStringCPtr(uartOutBuffer);
return;
}
*buffPtr++ = '\0';
v = atoi(buff);
exit += WriteBuffer(v,&pos,&byteOrWord);
buffPtr = buff;
WriteEOF(pos);
SendIRImpl();
PrintIRBuffer("echo,");
}
return;
} else if (state==0) {
if(readPtr[i] != 'H' && readPtr[i] != 'L') {
sprintf(uartOutBuffer,
(far rom char*)"parse error. need 'H' or 'L'. [%d,%c]\r\n",
bpos+i,readPtr[i]);
PutsStringCPtr(uartOutBuffer);
WriteEOF(pos);
PrintIRBuffer("echo,");
return;
}
state = 1;
} else if (state==1) {
if (readPtr[i] == ',') {
state = 0;
if (buffPtr==buff) {
sprintf(uartOutBuffer,
(far rom char*)"parse error. need number. [%d,%c]\r\n",
bpos+i,readPtr[i]);
PutsStringCPtr(uartOutBuffer);
WriteEOF(pos);
PrintIRBuffer("echo,");
return;
}
*buffPtr++ = '\0';
v = atoi(buff);
exit += WriteBuffer(v,&pos,&byteOrWord);
buffPtr = buff;
} else if ('0' <= readPtr[i] && readPtr[i] <= '9') {
*buffPtr++ = readPtr[i];
} else {
sprintf(uartOutBuffer,
(far rom char*)"parse error. need ',' or number. [%d,%c]\r\n",
bpos+i,readPtr[i]);
PutsStringCPtr(uartOutBuffer);
WriteEOF(pos);
PrintIRBuffer("echo,");
return;
}
}
}
bpos += numBytesRead;
numBytesRead = ReadSerial(uartInBuffer, sizeof(uartInBuffer));
if (numBytesRead == 0xFFFF)
return;
goto loop;
}
//SCIF_SCFRDR2
u32 ReadSerialData()
{
s32 rd=ReadSerial();
return (u8)rd ;
}
