-
Notifications
You must be signed in to change notification settings - Fork 13
Expand file tree
/
Copy pathSerialConfig.cpp
More file actions
180 lines (159 loc) · 5.3 KB
/
Copy pathSerialConfig.cpp
File metadata and controls
180 lines (159 loc) · 5.3 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
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
/*
* Copyright (c) 2016 PolySync
*
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
/**
* \example SerialConfig.cpp
*
* PolySync Serial Configuration C++ API example application
*
* Demonstrate the configuration of the serial port for cases where the
* connection is using something other than no flow control, no parity,
* 8 data bits, and 1 stop bit
*
* To exercise this example requires two serial ports, they can be on the
* same computer. One of the serial ports is used by this application;
* this application sets the serial port to a 7E2 configuration. The
* other serial port should be configured the same way. The user can then
* send strings over the serial port until they send "quit" at which point
* the application will exit.
*
* Both serial ports must be capable of running at 7 Data bits, 2 Stop
* bits with even parity and support RTS/CTS hardware flow control.
*/
#include <iostream>
#include <string>
#include <PolySyncNode.hpp>
#include <PolySyncSerial.hpp>
#include <PolySyncDTCException.hpp>
using namespace std;
using namespace polysync;
// Constant values for use in the example
const ps_datarate_kind MY_DATARATE = DATARATE_9600;
const string SERIAL_PORT( "/dev/ttyUSB0" );
const string NODE_NAME( "polysync-serial-config-cpp" );
/**
* @brief SerialConfigNode class
*
* The SerialConfigNode class exists to demonstrate how to use the node class
* to perform serial read functions.
*/
class SerialConfigNode : public Node
{
private:
Serial myDevice;
public:
SerialConfigNode()
: myDevice( SERIAL_PORT )
{
}
/**
* @brief initStateEvent
*
* Initialize the serial port here
* This example will specifically set the device to use 7 data bits, 2 stop
* bits, even parity and hardware flow control using RTS/CTS
*
*/
void initStateEvent() override
{
myDevice.open();
myDevice.setDataRate( MY_DATARATE );
myDevice.setDataBits( dataBits7 );
myDevice.setStopBits( stopBits2 );
myDevice.setParity( parityEven );
myDevice.setHardwareFlowControl( hardwareFlowControlRtscts );
myDevice.applySettings();
}
/**
* @brief okStateEvent
*
* Perform a read here and process any data that has been read.
* This requires an external device configured to the same serial
* configuration to communicate. Any messages sent over that connection
* will be printed unless the user sends "quit" at which point the program
* will exit.
*
*/
void okStateEvent() override
{
vector< uchar > readBuffer;
ps_timestamp ts;
// Returns the number of bytes read.
myDevice.read( readBuffer, ts );
string command;
for ( unsigned int i = 0; i < readBuffer.size(); i++ )
{
command.push_back( static_cast<char>( readBuffer[i] ) );
}
if ( command == "quit" )
{
disconnectPolySync();
}
else
{
// User is free to add their own commands here
cout << "Received the following command: " << command << endl;
}
}
/**
* @brief releaseStateEvent
*
* Perform the serial port cleanup here.
* When the user sends the "quit" command the node executes the release
* state at which point the program resets the serial port back to N,8,1
* with no flow control
*
*/
void releaseStateEvent() override
{
myDevice.setDataBits( dataBits8 );
myDevice.setStopBits( stopBits1 );
myDevice.setParity( parityNone );
myDevice.setHardwareFlowControl( hardwareFlowControlNone );
myDevice.applySettings();
myDevice.close();
}
};
/**
* @brief main
*
* The "connectPolySync" function begins the node's PolySync execution loop.
*
* @return int - exit code
*/
int main()
{
try
{
// Create an instance of the SerialConfigNode and connect it to PolySync
SerialConfigNode SerialConfigNode;
SerialConfigNode.setNodeName(NODE_NAME);
SerialConfigNode.connectPolySync();
}
catch( polysync::DTCException & e )
{
std::cout << e.what() << std::endl;
}
return 0;
}