/*===========================================================================
FUNCTION DIAG_DTR_ENABLE
DESCRIPTION
Invoked when Diag initializes. This registers a callback with SIO that is
intended to report when there are DTR changes.
PARAMETERS
None
RETURN VALUE
None
===========================================================================*/
void diag_dtr_enable( diagcomm_io_conn_type * conn )
{
sio_ioctl_param_type ioctl_param;
ASSERT( conn != NULL);
ASSERT( conn->io_type == DIAGCOMM_IO_TYPE_SIO );
/* Register DTR callback for SMD and SIO ports */
ioctl_param.enable_dte_ready_event_ext.cb_func = diag_dtr_changed_cb;
//Set up call back data - since we are interested in knowing SIO stream_id when
//call back comes we are passing port info to SIO for MPSS
ioctl_param.enable_dte_ready_event_ext.cb_data = (void *)conn;
if ( conn->channel_type == DIAGCOMM_IO_CTRL )
{
// Set DTR using sio_control_ioctl for control channel
sio_control_ioctl ( conn->handle.sio_handle,
(uint32)SIO_IOCTL_ENABLE_DTR_EVENT_EXT,
(void*)&ioctl_param );
}
else if ( conn->channel_type == DIAGCOMM_IO_DATA )
{
// Set DTR using sio_ioctl for data channel
sio_ioctl ( conn->handle.sio_handle,
(uint32)SIO_IOCTL_ENABLE_DTR_EVENT_EXT,
(void*)&ioctl_param );
}
} /* diag_dtr_enable */
/*===========================================================================
FUNCTION DIAG_DTR_CHANGED_CB
DESCRIPTION
Invoked when DTR changes. This is intended to flip a variable that causes
Diag to vote/not vote for sleep based on connectivity status.
PARAMETERS
cb_data - Diag I/O connection handle
RETURN VALUE
None
===========================================================================*/
void diag_dtr_changed_cb( void * cb_data )
{
sio_ioctl_param_type param;
boolean dte_ready_asserted;
diagcomm_io_conn_type * conn = (diagcomm_io_conn_type *)cb_data;
ASSERT( conn != NULL );
ASSERT( conn->io_type == DIAGCOMM_IO_TYPE_SIO );
param.dte_ready_asserted = &dte_ready_asserted;
if( conn->port_type == DIAGCOMM_PORT_SIO )
{
if( conn->channel_type == DIAGCOMM_IO_CTRL )
{
sio_control_ioctl( conn->handle.sio_handle, SIO_IOCTL_DTE_READY_ASSERTED, ¶m );
diagcomm_sio_ctrl_conn_changed( conn, dte_ready_asserted );
}
else if( conn->channel_type == DIAGCOMM_IO_DATA )
{
sio_ioctl( conn->handle.sio_handle, SIO_IOCTL_DTE_READY_ASSERTED, ¶m );
diagcomm_sio_conn_changed( conn, dte_ready_asserted );
}
}
else if( conn->port_type == DIAGCOMM_PORT_SMD )
{
}
{
if( conn->channel_type == DIAGCOMM_IO_CTRL )
{
sio_control_ioctl( conn->handle.sio_handle, SIO_IOCTL_DTE_READY_ASSERTED, ¶m );
}
else if( conn->channel_type == DIAGCOMM_IO_DATA )
{
sio_ioctl( conn->handle.sio_handle, SIO_IOCTL_DTE_READY_ASSERTED, ¶m );
}
diagcomm_smd_conn_changed( conn, dte_ready_asserted );
}
MSG_3(MSG_SSID_DIAG, MSG_LEGACY_HIGH,"diag_dtr_changed_cb: port=%d, channel=%d, \
status=%d", conn->port_type, conn->channel_type, conn->channel_connected);
} /* diag_dtr_changed_cb */
//---------------------------------------------------------------------------
bool __fastcall CSerialPort::Open(int nPort,int nBaudRate,int nMode)
{
m_nPortNo=nPort;
if(sio_open(nPort)!=SIO_OK)
return false;
//if(sio_ioctl(nPort,B9600,BIT_8|STOP_1|P_NONE)!=SIO_OK)
if( sio_ioctl(nPort,nBaudRate,nMode) != SIO_OK )
return false;
//sio_SetReadTimeouts(nPort,MAXDWORD,2000);
return true;
}
/******************* Start Scan ***************/
void CMainFrame:: OnStartscan()
{
if(SIO_OK!=sio_open(Port))
{
MessageBox("串口打开错误");
return;
}
else
{
sio_ioctl(Port,BaudRate,DataBits | StopBits | Parity);
sio_cnt_irq(Port,CntIrq,1);
}
Scan_num=0;
OnBtnSend(num);
//OnBtnSend('1');
}
//初始化端口
BOOL CComm_Thread::Init_ComPort()
{
COApp* pApp=(COApp*)AfxGetApp();
unsigned int x_Baud[]= {B300,B600,B1200,B2400,B4800,B9600,B19200,B38400,B57600};
if(CommLink)
return false;
if(sio_open(pApp->x_Port)!=0)
return false;
sio_ioctl(pApp->x_Port,x_Baud[pApp->x_Order],P_NONE|BIT_8|STOP_1);
sio_SetReadTimeouts(pApp->x_Port,200,200);
sio_flush(pApp->x_Port,2);
return true;
}
/***************************************************************
【函数功能】： 打开串口
【输 入】： port：串口号（默认0）。【构造函数时也可指定串口号】
【输 出】： 执行结果：0正确，-1错误。
【说 明】： 正确用法有3种：<1> CGyro *p = new CGyro(n); p->open();
<2> CGyro *p = new CGyro(n); p->open(n);
<3> CGyro *p = new CGyro; p->open(n);
***************************************************************/
int CGyro::Open(int port)
{
if(m_bPortOpened)
return 1;
// 读取配置
string iniFile = string(INI_FILE);
//if (mrpt::system::fileExists(iniFile) == false) // INI 文件找不到
//{
// cout << "!Gyro惯导：start():找不到ini文件！" << iniFile << endl;
// return -1;
//} // ini文件在主窗口init时检查一次即可，不存在则退出
mrpt::utils::CConfigFile INI_Cfg(iniFile);
m_iPort = INI_Cfg.read_int("Gyro", "COM_Port", 0);
// 如果形参有传入，则以传入值为主，并修改ini文件
if (port > 0)
{
INI_Cfg.write("Gyro", "COM_Port", port); // 用传入形参更新配置文件数据
m_iPort = port;
}
else
{
if (m_iPort <= 0)
{
cout<<"[!!!] Gyro: 必须指定一个大于0的串口号！"<<endl;
return -1;
}
}
// 打开串口
if(sio_open(m_iPort) != SIO_OK)
{
cout<<"[!!!] Gyro: 打开串口错误！"<<endl;
return -1;
}
sio_ioctl(m_iPort, B115200, P_NONE | BIT_8 | STOP_1 );
sio_cnt_irq(m_iPort,RecvCall, 1);
m_bPortOpened = true;
cout<<"[+] Gyro: Started!"<<endl;
return 0;
}
/***************************************************************
【函数功能】： 打开串口
【输 入】： port：串口号（默认0）。【构造函数时也可指定串口号】
【输 出】： 执行结果：0正确，-1错误。
【说 明】： 正确用法有3种：<1> CSensor *p = new CSensor(n); p->open();
<2> CSensor *p = new CSensor(n); p->open(n);
<3> CSensor *p = new CSensor; p->open(n);
***************************************************************/
int CSensor::Open(int port)
{
if(m_bPortOpened)
return -1;
// 读取配置
string iniFile = string(INI_FILE);
//if (mrpt::system::fileExists(iniFile) == false) // INI 文件找不到
//{
// cout << "!Sensor传感：start():找不到ini文件！" << iniFile << endl;
// return -1;
//} // ini文件在主窗口init时检查一次即可，不存在则退出
mrpt::utils::CConfigFile INI_Cfg(iniFile);
m_iPort = INI_Cfg.read_int("Sensor", "COM_Port", 0);
// 读取传感器位置及配置
std::vector<double> aux; // Auxiliar vector
std::stringstream sname;
for (int i=0; i<NUM_OF_USENSOR; i++)
{
sname.str("");
sname.clear();
sname<<"pose"<<i;
INI_Cfg.read_vector("Sensor", sname.str(), aux, aux, false);
m_pUS[i].pose = TPose3D( aux[0], aux[1], aux[2],
DEG2RAD( (double)aux[3]), DEG2RAD( (double)aux[4]), DEG2RAD( (double)aux[5]) );
m_pUS[i].stopZone = (double)aux[6];
m_pUS[i].id = i;
m_pUS[i].distance = 2.0; // 初始值设为2m
m_pUS[i].bValid = true; // 初始化都有效
}
m_timestamp_US = mrpt::system::now();
// 如果形参有传入，则以传入值为主，并修改ini文件
if (port > 0)
{
INI_Cfg.write("Sensor", "COM_Port", port); // 用传入形参更新配置文件数据
m_iPort = port;
}
else
{
if (m_iPort <= 0)
{
cout<<"[!!!] Sensor: 必须指定一个大于0的串口号！"<<endl;
return -1;
}
}
// 打开串口
if(sio_open(m_iPort) != SIO_OK)
{
cout<<"[!!!] Sensor: 打开串口错误！"<<endl;
return -1;
}
sio_ioctl(m_iPort, B115200, P_NONE | BIT_8 | STOP_1 );
sio_cnt_irq(m_iPort,RecvCall, 1);
// 创建发送线程
m_bSendThreadStopFlag = false;
//m_hSendThreadHandle = CreateThread(NULL,NULL,
// (LPTHREAD_START_ROUTINE)SendThread,this,NULL,NULL);
m_hSendThreadHandle = (HANDLE)_beginthread(SendThread, 0, this);
////////////////////////////////
m_bPortOpened = true;
cout<<"[+] Sensor: Started !"<<endl;
return 0;
}
