Newer
Older
#pragma once
#include "uartconnect.hpp"
#include "comm.hpp"
#include <errno.h>
#include <termios.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
#include <thread>
#include <time.h>
#include <sys/socket.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
class PcUart
{
protected:
PcUart(const char* name)
{
if (!strncmp(name, "/dev/tty", 8))
{
fd = open (name, O_RDWR | O_NOCTTY | O_SYNC);
if (fd < 0)
{
printf ("error %d opening %s: %s\n", errno, name, strerror (errno));
return;
}
struct termios tty;
memset (&tty, 0, sizeof tty);
if (tcgetattr (fd, &tty) != 0)
{
printf ("error %d from tcgetattr\n", errno);
return;
}
//cfsetospeed (&tty, 115220);
//cfsetispeed (&tty, 115220);
cfsetospeed (&tty, 9600);
cfsetispeed (&tty, 9600);
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
// disable IGNBRK for mismatched speed tests; otherwise receive break
// as \000 chars
tty.c_iflag &= ~IGNBRK; // disable break processing
tty.c_lflag = 0; // no signaling chars, no echo,
// no canonical processing
tty.c_oflag = 0; // no remapping, no delays
tty.c_cc[VMIN] = 0; // read doesn't block
tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
tty.c_cflag |= (CLOCAL | CREAD);// ignore modem controls,
// enable reading
tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
tty.c_cflag |= 0;
tty.c_cflag &= ~CSTOPB;
tty.c_cflag &= ~CRTSCTS;
if (tcsetattr (fd, TCSANOW, &tty) != 0)
{
printf ("error %d from tcsetattr\n", errno);
return;
}
memset (&tty, 0, sizeof tty);
if (tcgetattr (fd, &tty) != 0)
{
printf ("error %d from tggetattr\n", errno);
return;
}
tty.c_cc[VMIN] = 1; // blocking
tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
if (tcsetattr (fd, TCSANOW, &tty) != 0)
printf ("error %d setting term attributes\n", errno);
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
}
else
{ // try bluetooth open
struct sockaddr_rc addr = { 0 };
addr.rc_family = AF_BLUETOOTH;
addr.rc_channel = (uint8_t) 1;
str2ba(name, &addr.rc_bdaddr);
fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
connect(fd, (struct sockaddr *)&addr, sizeof(addr));
}
}
bool uartwrite(const void* buf, size_t count)
{
return write (fd, buf, count) == (ssize_t)count;
}
void startReader()
{
std::thread th(&PcUart::reader, this);
th.detach();
}
void reader()
{
uint8_t c;
while (1)
if (read(fd, (void*)&c, 1) == 1)
uartOnChar(c);
}
virtual void uartOnChar(uint8_t c) = 0;
~PcUart()
{
if (fd)
close(fd);
}
int fd;
};
class CommMaster : public Comm, public PcUart, public UartConnect<37>
{
public:
CommMaster(const char* portname, unsigned msTimeout, unsigned retries) :
PcUart(portname), sequence(0), sequenceAck(0), sndBuffer(msgBuffer+2), msTimeout(msTimeout), retries(retries)
{
startReader();
}
bool ack()
{
return sequence == sequenceAck;
}
virtual void addPoints(const uint8_t* xys, unsigned points)
{
if (!points)
return;
points = points<=16 ? points : 16;
for (unsigned i=0; i<2*points; i++) {
sndBuffer[i] = xys[i];
}
sendCommand(Command::kAddPoints, points);
}
virtual void deletePoints() { sendCommand(Command::kDeletePoints); }
virtual void stopMove() { sendCommand(Command::kStopMove); }
virtual void startMove() { sendCommand(Command::kStartMove); }
virtual void setParam() { sendCommand(Command::kSetParam); }
virtual void gotoXY(PosType x, PosType y)
{
writePosType(sndBuffer, x, 0);
writePosType(sndBuffer, y, 1);
sendCommand(Command::kGotoXY);
}
virtual void movedXdY(PosType dx, PosType dy)
{
writePosType(sndBuffer, dx, 0);
writePosType(sndBuffer, dy, 1);
sendCommand(Command::kMovedXdY);
}
virtual void gotoNextPoint() { sendCommand(Command::kGotoNextPoint); }
virtual void setNPoint(uint16_t nPoint)
{
sndBuffer[0] = nPoint>>8;
sndBuffer[1] = nPoint&0xff;
sendCommand(Command::kSetNPoint);
}
virtual void setPos(PosType x, PosType y)
{
writePosType(sndBuffer, x, 0);
writePosType(sndBuffer, y, 1);
sendCommand(Command::kSetPos);
}
private:
void sendCommand(Command cmd, uint8_t len=1)
{
msgBuffer[0] = ++sequence;
len = len ? (len<=16 ? len-1 : 15) : 0;
msgBuffer[1] = (len<<4) | (uint8_t)cmd;
sendMsg(msgBuffer);
//printf("Command %u...", sequence);
//fflush(stdout);
struct timespec dt;
unsigned ms, tries;
for (tries=0; (tries<retries) && (sequence != sequenceAck); tries++)
{
for (ms=0; (ms<msTimeout) && (sequence != sequenceAck); ms++)
{
dt.tv_sec = 0;
dt.tv_nsec = 1000000;
while(nanosleep(&dt,&dt)<0 && errno==EINTR);
}
}
/*if (sequence == sequenceAck)
printf("\t\t\tack in %u ms\n", msTimeout*(tries-1)+ms-1);
else
printf("\t\t\ttimeout\n");*/
}
virtual void onMsg(uint8_t* buffer)
{
SlaveInfo* pInfo = (SlaveInfo*)buffer;
sequenceAck = pInfo->sequence;
memcpy(&info, pInfo, sizeof(info));
printf("Seq %u, status %u, spaceSize %u, freeSpace %u, pos (%d,%d), nPoint %u\n",
info.sequence, info.status, info.spaceSize, info.freeSpace, info.posX, info.posY, info.nPoint);
}
virtual void send(const uint8_t* buffer, unsigned len)
{
uartwrite(buffer, len);
}
virtual void uartOnChar(uint8_t c)
{
onChar(c);
}
public:
SlaveInfo info;
private:
uint8_t sequence;
uint8_t sequenceAck;
uint8_t msgBuffer[kPacketSize-3];
uint8_t* sndBuffer;
unsigned msTimeout;
unsigned retries;
};