#pragma once
#include <lib
serial/
SerialPort.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <iostream>
#include <thread>
#include <cstdint>
#include "common.hpp"
#include "blocking_queue.hpp"
using namespace Lib
Serial;
// 向下位机传输的数据包
struct Payload_t
{
int tSpeed; // 速度
bool slowDown;
int16_t tAngle; // 偏移
uint8_t element; // 元素
};
Payload_t payload;
class
SerialDriver
{
public:
SerialDriver(const std::string &port_name, BaudRate bps) : _port_name(port_name), _bps(bps){};
~
SerialDriver
(){};
private:
// 通讯协议结构体
struct Packet
{
uint8_t data[9]; // 数据
};
std::shared_ptr<
SerialPort> _
serial_port = nullptr;
std::string _port_name; // 端口号
BaudRate _bps; // 波特率
bool _loop;
std::thread _worker_thread_send;
BlockingQueue<Payload_t> _queue;
public:
int transmitByte(unsigned char data)
{
// try检测语句块有没有异常
try
{
_
serial_port->WriteByte(data); // 写数据到串口
}
catch (const std::runtime_error &) // catch捕获并处理 try 检测到的异常。
{
std::cerr << "The Write
() runtime_error." << std::endl;
return -2;
}
catch (const NotOpen &) // catch捕获并处理 try 检测到的异常。
{
std::cerr << "Port Not Open ..." << std::endl;
return -1;
}
_
serial_port->DrainWriteBuffer
(); // 等待，直到写缓冲区耗尽，然后返回。
return 0;
}
void carControl(int speed, uint16_t servo, bool slowDown, uint8_t element)
{
payload.tSpeed = speed;
payload.tAngle = servo;
payload.slowDown = slowDown;
payload.element = element;
sendPack(payload);
}
void PID_Init(void)
{
if (!_loop)
return;
uint8_t buff[15]; // 多发送一个字节
buff[0] = 0xAC; // 通信帧头
buff[1] = (uint8_t)config::P_Low;
buff[2] = (uint8_t)config::D_Low;
buff[3] = (uint8_t)config::P_High;
buff[4] = (uint8_t)config::D_High;
buff[5] = (uint8_t)config::P_Ring;
buff[6] = (uint8_t)config::D_Ring;
buff[7] = (uint8_t)config::P_Cross;
buff[8] = (uint8_t)config::D_Cross;
buff[9] = (uint8_t)config::P_Danger;
buff[10] = (uint8_t)config::D_Danger;
buff[11] = (uint8_t)config::P_Rescue;
buff[12] = (uint8_t)config::D_Rescue;
buff[13] = (uint8_t)config::speedBridge;
buff[14] = 0xEF; // 帧尾
// 循环发送数据
for (size_t i = 0; i < 15; i++)
transmitByte(buff[i]);
}
void run_send(void)
{
Payload_t payload;
DataBuffer pkt_buf(sizeof(Packet));
Packet *packet = (Packet*)&pkt_buf[0];
while (_loop)
{
if (_queue.Size
() >= 1)
{
payload = _queue.Take
();
packet->data[0] = 0xFF;
if(config::Shache||config::SC_Stop||config::Shache1) payload.tSpeed = -20;
if(config::Daoche) {
payload.tSpeed = -30;
payload.tAngle = 1150;
}
if(config::Daoche1) {
payload.tSpeed = -30;
payload.tAngle = 880;
}
(payload.tSpeed >= 0) ? (packet->data[1] = 0) : (packet->data[1] = 1); // 0速度是正，1速度是负数
if (payload.tSpeed < 0)
{
payload.tSpeed = -payload.tSpeed;
}
packet->data[2] = (uint8_t)(payload.tSpeed);
packet->data[3] = (uint8_t)(payload.tAngle >> 8);
packet->data[4] = (uint8_t)(payload.tAngle & 0xFF);
packet->data[5] = (uint8_t)(payload.element);
payload.slowDown ? (packet->data[6] = 0) : (packet->data[6] = 1); // 0减速，1加速
config::buzzer?(packet->data[7] = 1):(packet->data[7] = 0);
packet->data[8] = 0xFE;
for (size_t i = 0; i < 9; i++)
transmitByte(packet->data[i]);
}
else
{
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
}
};
int open
()
{
_
serial_port = std::make_shared<
SerialPort>
();
try
{
_
serial_port->Open("/dev/ttyUSB0");
_
serial_port->SetBaudRate(_bps);
_
serial_port->SetCharacterSize(CharacterSize::CHAR_SIZE_8); // 8位数据位
_
serial_port->SetFlowControl(FlowControl::FLOW_CONTROL_NONE); // 设置流控
_
serial_port->SetParity(Parity::PARITY_NONE); // 无校验
_
serial_port->SetStopBits(StopBits::STOP_BITS_1); // 1个停止位
_worker_thread_send = std::thread(&
SerialDriver::run_send, this);
_loop = true;
return 0;
}
catch (const OpenFailed &)
{
return -2;
}
catch (const AlreadyOpen &)
{
return -3;
}
catch (...)
{
return -4;
}
return -1;
};
int close
()
{
uint8_t data[9];
data[0] = 0xFF;
data[1] = (uint8_t)(0);
data[2] = (uint8_t)(0); // 0速度是正，1速度是负数
data[3] = (uint8_t)(1000 >> 8);
data[4] = (uint8_t)(1000 & 0xFF);
data[5] = (uint8_t)(0);
data[6] = (uint8_t)(0); // 0减速，1加速
data[7] = (uint8_t)(0);
data[8] = 0xFE;
for (int k = 0; k < 5; k++)
for (size_t i = 0; i < 9; i++)
transmitByte(data[i]);
_loop = false;
_worker_thread_send.join
();
_queue.ShutDown
();
if (_
serial_port != nullptr)
{
_
serial_port->Close
();
_
serial_port = nullptr;
}
return 0;
};
int sendPack(Payload_t payloadss)
{
if (_queue.Size
() < 3)
{
_queue.
Put(payloadss);
}
return 0;
}
// 添加接收检测方法
bool hasDataAvailable
()
{
if (!_
serial_port || !_
serial_port->IsOpen
())
return false;
try
{
return _
serial_port->IsDataAvailable
();
}
catch (const std::runtime_error& e)
{
std::cerr << "Error checking data availability: " << e.what
() << std::endl;
return false;
}
}
};帮我详细分析这段代码
由于给定内容为空，无法提取关键信息生成摘要。
扫一扫
2965
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
