int main(int argc, char *argv[]) {
QApplication app(argc, argv);
mainWindow *mw = new mainWindow;
SerialPort *sp = new SerialPort;
QString *msg = new QString(QMainWindow::tr("<p>Начало проверки модуля МС-54.011</p>"));
mw->setWindowTitle(QMainWindow::tr("КИНД.468354.011"));
mw->resize(1000, 500);
mw->show();
msg->append(QMainWindow::tr("<p>setNextLine()</p>"));
mw->setNextLine(msg);
QList<QSerialPortInfo> listCom = sp->getList();
QListIterator<QSerialPortInfo> i(listCom);
while(i.hasNext()){
msg->append(i.next().portName());
mw->setNextLine(msg);
}
return app.exec();
}
DWORD SerialPort::ThreadProc (LPVOID lpdwThreadParam ) {
SerialPort *port = (SerialPort *)lpdwThreadParam;
HANDLE hCOM = port->get_com();
DWORD read;
const int buffSize = 1024;
char buff[buffSize];
while (true) {
read = 0;
bool res = ReadFile(hCOM, buff, buffSize, &read,0);
if(!port->mTreadFlag)
break;
if(res) {
if(read > 0) {
port->mReadError = false;
buff[read]='\0';
SerialPortRecieved(port, buff, read);
port->mBytesRecivedSinceLastSend += read;
} else {
if(GetCommModemStatus(hCOM, &read)==0) {
if(port->mReadError == false)
SerialPortError(port, ERROR_READ_STRING);
port->mReadError = true;
} else {
port->mReadError = false;
}
port->sleep(100);
}
} else {
port->mReadError = true;
SerialPortError(port, ERROR_READ_STRING);
port->sleep(100);
}
}
return 0;
}
void SerialMake::setSerialPort(SerialPort *instance)
{
if(m_serialPort != instance)
{
if(m_serialPort)
{
SerialPort *serialPort = m_serialPort; m_serialPort = NULL;
serialPort->setSerialMake(NULL);
disconnect(serialPort, SIGNAL(portDestroyedOrChanged()),
this, SLOT(handlePortDestroyedOrChanged()));
}
if(instance)
{
m_serialPort = instance;
m_serialPort->setSerialMake(this);
connect(m_serialPort, SIGNAL(portDestroyedOrChanged()),
this, SLOT(handlePortDestroyedOrChanged()));
}
}
}
MM::Device* SerialManager::CreatePort(const char* portName)
{
// check if the port already exists
std::vector<SerialPort*>::iterator i;
for (i=ports_.begin(); i!=ports_.end(); i++)
{
char name[MM::MaxStrLength];
(*i)->GetName(name);
if (strcmp(name, portName) == 0)
{
(*i)->LogMessage(("adding reference to Port " + std::string(portName)).c_str() , true);
(*i)->AddReference();
return *i;
}
}
// no such port found, so try to create a new one
SerialPort* pPort = new SerialPort(portName);
//pPort->LogMessage(("created new Port " + std::string(portName)).c_str() , true);
ports_.push_back(pPort);
pPort->AddReference();
//pPort->LogMessage(("adding reference to Port " + std::string(portName)).c_str() , true);
return pPort;
}
bool MachineCommand::ExecCommand(SerialPort &sp, const char *cmd, const char *ret)
{
char ans[5];
do
{
// TODO: Check for errors in write/ReadLine in sp.
sp.WriteLine(cmd);
sp.ReadLine(ans, sizeof(ans));
if (strcmp(ans, M_ANS_ERROR) == 0)
{
sp.WriteLine(M_DO_CR);
sp.ReadLine(ans, sizeof(ans));
if (strcmp(ans, M_ANS_CC) != 0)
{
// TODO: Set errormsg somewhere (??)
throw MachineEvent(EVENT_MACHINE_ERROR, "Expected 'CC', recieved " + string(ans));
return false;
}
else
{
continue;
}
}
} while (strcmp(ans, ret) != 0);
return true;
}
static void * thread_start(void *arg)
{
SerialPort *port = (SerialPort *)arg;
int hCOM = port->getCom();
const int buffSize = 1024;
char buff[buffSize];
while (port->mTreadFlag) {
int rb = read(hCOM, buff, buffSize);
if(rb>0) {
port->mReadError = false;
buff[rb]='\0';
SerialPortRecieved(port, buff);
port->lastCharRecieved = buff[rb-1];
} else if(rb==0) {
if(port->mReadError==false)
SerialPortError(port, ERROR_READ_STRING);
port->mReadError = true;
usleep(50000);
} else {
port->mReadError = false;
usleep(50000);
}
}
port->mTreadFlag = true;
return 0;
}
void send_package(SerialPort& port, MessagePackage& package) try
{
array<uint8_t, 256> a;
auto succ = package.SerializeToArray(a.data(), a.size());
assert(succ);
auto s = package.ByteSize();
cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> size = " << s << endl;
cout << package.DebugString() << endl;
printf("0x%02x ", s);
for (size_t i = 0; i<s; ++i)
{
printf("0x%02x ", a[i]);
}
cout << endl;
cout << ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>" << endl;
port.writebyte(static_cast<uint8_t>(s));
port.write(a.data(), s);
// exit(0);
}
catch(std::exception& ex)
{
std::cerr << ex.what() << std::endl;
}
void * SerialPort::thread_start(void *arg) {
SerialPort *port = (SerialPort *)arg;
int hCOM = port->get_com();
const int buffSize = 1024;
char buff[buffSize];
while (true) {
int rb = read(hCOM, buff, buffSize);
if(!port->mTreadFlag)
break;
if(rb>0) {
port->mReadError = false;
buff[rb]='\0';
SerialPortRecieved(port, buff, rb);
port->mBytesRecivedSinceLastSend += rb;
} else if(rb==0) {
if(port->mReadError==false)
SerialPortError(port, ERROR_READ_STRING);
port->mReadError = true;
port->sleep(100);
} else {
port->mReadError = false;
port->sleep(100);
}
}
return 0;
}
void CheckCurrPort::run()
{
// qDebug()<<QTime::currentTime().toString()<<"startt";
while(true){
msleep(1500);
bool found=0;
foreach (const SerialPortInfo &info, SerialPortInfo::availablePorts()){ //SerialPortInfo &info, SerialPortInfo::availablePorts())
if(info.portName()==currPort){
found=1;
SerialPort testConn;//(currPort);
testConn.setPort(currPort);
if(testConn.open(QIODevice::ReadWrite)){
//???? testConn.close();
emit portDisconnected();
//closeSerialPort(1);
// qDebug()<<QTime::currentTime().toString()<<"opened!";
//return;
} /*else {
qDebug()<<QTime::currentTime().toString()<<"can not open";
}*/
break;
}
}
if(!found){
// closeSerialPort(1);
// qDebug()<<QTime::currentTime().toString()<<" not found!";
emit portDisconnected();
//return;
}
}
// qDebug()<<QTime::currentTime().toString()<<"exitttt";
}
void ChooseConnectionDlg::on_actionCreateSerialPort_triggered()
{
SerialPort * port = sConMgr2.createSerialPort();
port->setName(tr("New Serial Port"));
port->setDeviceName("COM1");
this->focusNewConn(port);
ui->connectionNameEdit->setFocus();
}
void
onResourceAcquisition(void)
{
setEntityState(IMC::EntityState::ESTA_BOOT, Status::CODE_INIT);
m_uart = new SerialPort(m_args.uart_dev, m_args.uart_baud);
m_uart->setCanonicalInput(true);
m_uart->flush();
}
static int prSerialPort_Close(struct VMGlobals *g, int numArgsPushed)
{
PyrSlot* self = g->sp;
SerialPort* port = (SerialPort*)getSerialPort(self);
if (port == 0) return errFailed;
port->stop();
return errNone;
}
/// <summary>
/// Entry point for the application
/// </summary>
/// <param name="hInstance">handle to the application instance</param>
/// <param name="hPrevInstance">always 0</param>
/// <param name="lpCmdLine">command line arguments</param>
/// <param name="nCmdShow">whether to display minimized, maximized, or normally</param>
/// <returns>status</returns>
int APIENTRY wWinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdLine, int nCmdShow)
{
port1.connect(L"\\\\.\\COM17");
port2.connect2(L"\\\\.\\COM21"); //neu
CSkeletonBasics application;
application.Run(hInstance, nCmdShow);
}
void BluetoothSinkPlugin::newConnection(string, QDBusUnixFileDescriptor fd, QVariantMap)
{
SerialPort *bluetoothDev = new SerialPort();
bluetoothDev->setDescriptor(fd.fileDescriptor());
auto client = amb::make_shared(new amb::AmbRemoteServer(bluetoothDev, routingEngine));
client->disconnected = [this, client]() {
removeOne(&clients, client);
};
clients.push_back(client);
}
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
QTextCodec *c = QTextCodec::codecForName("UTF-8");
QTextCodec::setCodecForCStrings(c);
QTextCodec::setCodecForLocale(c);
QTextCodec::setCodecForTr(c);
SerialPort w;
w.show();
return a.exec();
}
int main()
{
Dualshock3 joystick;
joystick.connect();
int err=serialPort.connect("//dev//ttyACM0");
send_command('n', 0);
while( 1 ) /* infinite loop */
{
joystick.getData();
if (joystick.button[16]){
serialPort.disconnect();
close( joy_fd );
system("sixad --stop &");
exit(0);
}
joystick.getData();
// Detect conflits and process input
if (joystick.axis[12] != 0 && joystick.axis[13] != 0){
// Rumbleeeeeee
send_command('n', 0);
}else if (joystick.axis[12] == 0 && joystick.axis[13] != 0){
//input_processing(FWD, joystick.axis[13]);
cout << "frente" << endl;
send_command('f', joystick.axis[12]/547);
}else if(joystick.axis[12] != 0 && joystick.axis[13] == 0){
//input_processing(BCK, joystick.axis[12]);
send_command('b', joystick.axis[13]/547);
}else{
send_command('n', 0);
}
joystick.getData();
if (joystick.axis[0] > 0){
send_command('r', joystick.axis[0]);
}else if(joystick.axis[0] < 0){
send_command('l', abs(joystick.axis[0]));
}else{
send_command('l', 0);
}
}
serialPort.disconnect();
close( joy_fd ); /* too bad we never get here */
return 0;
}
void send(Field& packet)
{
try
{
SerialPort port;
port.write(packet);
}
catch (AlphaException& e)
{
cout << "Error: " << e.what() << endl;
throw;
}
}
int MachineCommand::ExecCommandInt(SerialPort &sp, const char *cmd)
{
char ans[5];
int i;
// TODO: Check for errors in write/ReadLine in sp.
sp.WriteLine(cmd);
sp.ReadLine(ans, sizeof(ans));
if(EOF == sscanf_s(ans, "%d", &i))
{
return -1;
}
return i;
}
int serial() {
printf("Starting test serial\n");
SerialPort serialPort;
std::thread th([&] {
serialPort.start("/dev/cu.usbmodem1411", 230400);
});
//usleep(100000);
uint8_t msg[1024] = {0};
int size;
printf("try to send simulator start\n");
serialPort.write_some((char *) msg, size);
//usleep(10000000);
serialPort.stop();
return 0;
}
static int prSerialPort_Cleanup(struct VMGlobals *g, int numArgsPushed)
{
PyrSlot* self = g->sp;
SerialPort* port = (SerialPort*)getSerialPort(self);
if (port == 0) return errFailed;
port->cleanup();
post("SerialPort Cleanup\n");
delete port;
SetNil(slotRawObject(self)->slots+0);
return errNone;
}
int main()
{
VideoCapture webcam(3);
Mat frame;
webcam.set(CV_CAP_PROP_FRAME_WIDTH, height);
webcam.set(CV_CAP_PROP_FRAME_HEIGHT, width);
if (serialPort.connect("//dev//ttymxc3")==0) {
cout << "Can't open serial port" << endl;
return -1;
}
while(true)
{
timer.reset();
webcam.read(frame);
cv::blur( frame, frame, Size(4,4) );
imshow("Blured",frame);
Mat frame_can = Mat::zeros( frame.size(), CV_8UC3 );
cv::Canny( frame, frame_can, 50, 200, 3 );
detect_lines(frame_can, frame, "Canny");
waitKey(5);
cout << "Timer: " << timer.elapsed() << endl;
}
return 0;
}
static int prSerialPort_Next(struct VMGlobals *g, int numArgsPushed)
{
PyrSlot* self = g->sp;
SerialPort* port = (SerialPort*)getSerialPort(self);
// printf( "port %i", port );
if (port == 0) return errFailed;
uint8_t byte;
if (port->get(&byte)) {
SetInt(self, byte);
} else {
SetNil(self);
}
return errNone;
}
void
onResourceAcquisition(void)
{
setEntityState(IMC::EntityState::ESTA_BOOT, Status::CODE_INIT);
try
{
m_uart = new SerialPort(m_args.uart_dev, m_args.uart_baud);
m_uart->setCanonicalInput(true);
m_uart->flush();
}
catch (std::runtime_error& e)
{
throw RestartNeeded(e.what(), 30);
}
}
virtual int onReadable(SerialPort& sp){
char buf[100];
int len = sp.read(buf, sizeof(buf));
buf[len] = 0;
InfoLog("Receive data from matrix len = "<<len);
return 0;
}
bool send_request(std::string request)
{
#if(DEBUG_MODE)
ROS_INFO("DEBUG MODE request to serial port:\n %s",request.c_str());
#endif
#if(SERIAL_ON)
if(lsc.isOpen())
{
lsc.writeData(request.c_str(),request.length());
usleep(15000);
}
else
return false;
#endif
return true;
}
bool
sendCommand(const char* cmd, const char* reply)
{
char bfr[128];
m_uart->writeString(cmd);
if (Poll::poll(*m_uart, 1.0))
{
m_uart->readString(bfr, sizeof(bfr));
if (std::strcmp(bfr, reply) == 0)
return true;
}
return false;
}
void
onMain(void)
{
char bfr[32];
while (!stopping())
{
consumeMessages();
if (m_wdog.overflow())
{
setEntityState(IMC::EntityState::ESTA_ERROR, Status::CODE_COM_ERROR);
throw RestartNeeded(DTR(Status::getString(CODE_COM_ERROR)), 5);
}
if (!Poll::poll(*m_uart, 1.0))
continue;
size_t rv = m_uart->readString(bfr, sizeof(bfr));
if (rv == 0)
throw RestartNeeded(DTR("I/O error"), 5);
if (std::sscanf(bfr, "%f", &m_sspeed.value) != 1)
continue;
if ((m_sspeed.value < c_min_speed) || (m_sspeed.value > c_max_speed))
m_sspeed.value = -1;
m_wdog.reset();
dispatch(m_sspeed);
}
}
BOOL InitHardware(void)
{
/// Fill DCB structure with settings
DCB dcb;
memset(&dcb, 0, sizeof(dcb));
dcb.BaudRate = CBR_115200;
dcb.ByteSize = 8;
dcb.Parity = NOPARITY;
dcb.StopBits = ONESTOPBIT;
/// Open port and check if failed
BOOL retval = g_cSerialPort.open(dcb, _T("COM3"));
if (!retval)
{
return FALSE;
}
/// Assign serial port to Modbus class.
retval = g_cModbus.setSerialPort(&g_cSerialPort);
if (!retval)
{
return FALSE;
}
return TRUE;
}
void SendData( const void *buf, size_t bytesToWrite )
{
if ( gDebug )
{
DumpMem( "Send", 0, buf, bytesToWrite );
}
gSerialPort.Write( buf, bytesToWrite );
} // SendData
static int prSerialPort_RXErrors(struct VMGlobals *g, int numArgsPushed)
{
PyrSlot* self = g->sp;
SerialPort* port = (SerialPort*)getSerialPort(self);
if (port == 0) return errFailed;
SetInt(self, port->rxErrors());
return errNone;
}
