串口通讯之rs232 c++版本
rs232.cpp
#ifndef kranfix_rs232_rs232_cc #define kranfix_rs232_rs232_cc #include "rs232.h" static int error; static struct termios nps; kfx::RS232::RS232(char *dev_name, int baudrate) : available(false) { // asigning device name strcpy(devname, dev_name); // Chossing baudrate switch (baudrate) { case 50 : baudr = B50; break; case 75 : baudr = B75; break; case 110 : baudr = B110; break; case 134 : baudr = B134; break; case 150 : baudr = B150; break; case 200 : baudr = B200; break; case 300 : baudr = B300; break; case 600 : baudr = B600; break; case 1200 : baudr = B1200; break; case 1800 : baudr = B1800; break; case 2400 : baudr = B2400; break; case 4800 : baudr = B4800; break; case 9600 : baudr = B9600; break; case 19200 : baudr = B19200; break; case 38400 : baudr = B38400; break; case 57600 : baudr = B57600; break; case 115200 : baudr = B115200; break; case 230400 : baudr = B230400; break; case 460800 : baudr = B460800; break; case 500000 : baudr = B500000; break; case 576000 : baudr = B576000; break; case 921600 : baudr = B921600; break; case 1000000 : baudr = B1000000; break; default : printf("invalid baudrate\n"); return; } port = open(devname, O_RDWR | O_NOCTTY | O_NDELAY); if (port == -1) { perror("unable to open comport "); return; } error = tcgetattr(port, &ops); if (error == -1) { close(port); perror("unable to read portsettings "); return; } memset(&nps, 0, sizeof(nps)); /* clear the new struct */ nps.c_cflag = baudr | CS8 | CLOCAL | CREAD; nps.c_iflag = IGNPAR; nps.c_oflag = 0; nps.c_lflag = 0; nps.c_cc[VMIN] = 0; /* block untill n bytes are received */ nps.c_cc[VTIME] = 0; /* block untill a timer expires (n * 100 mSec.) */ error = tcsetattr(port, TCSANOW, &nps); if (error == -1) { close(port); perror("unable to adjust portsettings "); return; } available = true; } int kfx::RS232::Read(unsigned char byte) { return read(port, &byte, 1); } int kfx::RS232::Read(unsigned char *buf, int size) { #ifndef __STRICT_ANSI__ /* __STRICT_ANSI__ is defined when the -ansi option is used for gcc */ if (size > SSIZE_MAX) size = (int) SSIZE_MAX; /* SSIZE_MAX is defined in limits.h */ #else if(size>4096) size = 4096; #endif return read(port, buf, size); } int kfx::RS232::Write(unsigned char byte) { return write(port, &byte, 1); } int kfx::RS232::Write(unsigned char *buf, int size) { return write(port, buf, size); } void kfx::RS232::Close() { close(port); tcsetattr(port, TCSANOW, &ops); } /* Constant Description -------------------------------------------- TIOCM_LE DSR (data set ready/line enable) TIOCM_DTR DTR (data terminal ready) TIOCM_RTS RTS (request to send) TIOCM_ST Secondary TXD (transmit) TIOCM_SR Secondary RXD (receive) TIOCM_CTS CTS (clear to send) TIOCM_CAR DCD (data carrier detect) TIOCM_CD Synonym for TIOCM_CAR TIOCM_RNG RNG (ring) TIOCM_RI Synonym for TIOCM_RNG TIOCM_DSR DSR (data set ready) */ int kfx::RS232::IsCTSEnabled() { int status; status = ioctl(port, TIOCMGET, &status); return (status & TIOCM_CTS) ? 1 : 0; } // Sends a string to serial port till finding a '\0' void kfx::RS232::Print(const char *text) { while (*text != 0) Write(*(text++)); } #endif // kranfix_rs232_rs232_cc
rs232.h
#ifndef github_com_kranfix_rs232_rs232_h #define github_com_kranfix_rs232_rs232_h #include <stdio.h> #include <string.h> #include <termios.h> #include <sys/ioctl.h> #include <unistd.h> #include <fcntl.h> #include <sys/types.h> #include <sys/stat.h> #include <limits.h> namespace kfx { const char Comports[22][13] = {"/dev/ttyACM0", "/dev/ttyS1", "/dev/ttyS2", "/dev/ttyS3", "/dev/ttyS4", "/dev/ttyS5", "/dev/ttyS6", "/dev/ttyS7", "/dev/ttyS8", "/dev/ttyS9", "/dev/ttyS10", "/dev/ttyS11", "/dev/ttyS12", "/dev/ttyS13", "/dev/ttyS14", "/dev/ttyS15", "/dev/ttyUSB0", "/dev/ttyUSB1", "/dev/ttyUSB2", "/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyUSB5"}; class RS232 { char devname[13]; // Device Name int baudr, port; // Baudrate and Port Number bool available; struct termios ops; // old port settings public: RS232(char *, int); int IsAvailable() { return available; } char *GetDeviceName() { return devname; } int Read(unsigned char); int Read(unsigned char *, int); int Write(unsigned char); int Write(unsigned char *, int); void Print(const char *); void Close(); int IsCTSEnabled(); }; } #endif // giihub_com_kranfix_rs232_rs232_h
Gripper.cpp
// // Created by wt on 2020/6/15. // #include "Gripper.h" Gripper::Gripper(char *port, int bau):rs232(port,bau) { } Gripper::~Gripper() { } void Gripper::pinch(int speed, int power) { //数据 unsigned char data[10]; data[0] = '\xEB'; data[1] = '\x90'; data[2] = '\x01'; data[3] = '\x05'; data[4] = '\x10'; data[5] = speed&0x00ff; data[6] = speed>>8; data[7] = power&0x00ff; data[8] = power>>8; data[9] = (data[2]+data[3]+data[4]+data[5]+data[6]+data[7]+data[8])&0x00ff; rs232.Write(data,10); } void Gripper::release(int speed) { //数据 unsigned char data[8]; data[0] = '\xEB'; data[1] = '\x90'; data[2] = '\x01'; data[3] = '\x03'; data[4] = '\x11'; data[5] = speed&0x00ff; data[6] = speed>>8; data[7] = (data[2]+data[3]+data[4]+data[5]+data[6])&0x00ff; rs232.Write(data,8); }
Gripper.h
// // Created by wt on 2020/6/15. // #ifndef JAWCPP_GRIPPER_H #define JAWCPP_GRIPPER_H #include "rs232.h" class Gripper { private: kfx::RS232 rs232; public: Gripper(char *port, int bau = 115200); ~Gripper(); //夹住 void pinch(int speed=500,int power = 100); //松开 void release(int speed=500); }; #endif //JAWCPP_GRIPPER_H
main.cpp
#include <iostream> #include "Gripper.h" int main() { Gripper gripper("/dev/ttyUSB1"); gripper.pinch(1000,300); // gripper.release(); return 0; }
CMakeLists.txt
cmake_minimum_required(VERSION 3.16) project(JawCpp) set(CMAKE_CXX_STANDARD 14) add_executable(JawCpp main.cpp rs232.cpp Gripper.cpp)
