initial commit

4 files changed, 526 insertions, 0 deletions

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..367f77e
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+build/*
+.vscode/*
\ No newline at end of file
diff --git a/serial.c b/serial.c
new file mode 100644
index 0000000..43506ec
--- /dev/null
+++ b/serial.c
@@ -0,0 +1,260 @@
+/*
+ * 在OpenHarmony系统下开发串口通信的应用与在Linux系统中类似，
+ * 但需要确保你的设备支持串口操作，并且有适当的驱动支持。
+ *
+ * 以下是一个用C++编写的示例，展示如何在OpenHarmony中打开串口，
+ * 设置波特率为115200，并发送指定的16进制数。
+ *   - 打开串口：使用open()函数打开指定的串口设备。
+ *   - 配置串口：使用termios结构体配置串口参数如波特率、字符大小、奇偶校验等。
+ *   - 发送数据：使用write()函数将数据写入串口。
+ *   - 关闭串口：操作完成后，使用close()函数关闭串口。
+ * 确保你的OpenHarmony设备有对应的串口设备文件/dev/ttyS1，
+ * 并且你的应用有足够的权限来访问这个设备。根据你的硬件和操作系统配置，设备文件的路径可能不同。
+ */
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <netinet/in.h>
+#include <poll.h>
+#include <pthread.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <termios.h>
+#include <unistd.h>
+
+#define FULL_SPEED 1.0f // 全速前进的速度
+#define R 0.15f         // 轮距的一半
+
+typedef unsigned char byte;
+int fd;
+int port = 5001;
+char portname[50] = "/dev/ttyUSB0"; // 串口设备名
+char clientIP[20] = "";
+
+struct termios tty;
+pthread_t udpSend, udpRecv;
+const int MAX_BUFFER_SIZE = 1024;
+struct sockaddr_in clientAddr;
+
+int whellInit() {
+    // 打开串口
+    fd = open(portname, O_RDWR | O_NOCTTY | O_SYNC);
+    if (fd < 0) {
+        // C语言报error
+        fprintf(stderr, "Error opening %s: %s\n", portname, strerror(errno));
+        return false;
+    }
+
+    // 设置串口参数
+    memset(&tty, 0, sizeof tty);
+    if (tcgetattr(fd, &tty) != 0) {
+        // cerr << "Error from tcgetattr: " << strerror(errno) << endl;
+        fprintf(stderr, "Error from tcgetattr: %s\n", strerror(errno));
+        return false;
+    }
+
+    cfsetospeed(&tty, B115200); // 设置输出波特率为115200
+    cfsetispeed(&tty, B115200); // 设置输入波特率为115200
+
+    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
+    tty.c_iflag &= ~IGNBRK;                     // ignore break signal
+    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) {
+        // cerr << "Error from tcsetattr: " << strerror(errno) << endl;
+        fprintf(stderr, "Error from tcsetattr: %s\n", strerror(errno));
+        return false;
+    }
+    return true;
+}
+
+bool wheelSend(byte a, byte a_v, byte b, byte b_v) {
+    unsigned char data[7] = {0x53, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00};
+    byte checksum = 0;
+    data[2] = a;
+    data[3] = a_v;
+    data[4] = b;
+    data[5] = b_v;
+
+    for (int i = 0; i < 6; i++) {
+        checksum ^= data[i];
+    }
+    data[6] = checksum;
+
+    // 发送数据
+    if (write(fd, data, 7) != 7) {
+        fprintf(stderr, "Failed to write to the serial port\n");
+        return false;
+    }
+
+    printf("Data %02X %02X %02X %02X %02X %02X %02X wheelSend successfully!\n",
+           data[0], data[1], data[2], data[3], data[4], data[5], data[6]);
+    return true;
+}
+
+void speedControl(byte status, byte speed) {
+    switch (status) {
+    case 1:
+        wheelSend(0x01, speed, 0x01, speed);
+        break;
+    case 2:
+        wheelSend(0x02, speed, 0x01, speed);
+        break;
+    case 3:
+        wheelSend(0x01, speed, 0x02, speed);
+        break;
+    case 0:
+    default:
+        wheelSend(0x00, 0x00, 0x00, 0x00);
+        break;
+    }
+}
+
+void udpSendThread() {
+    // 创建UDP套接字
+    int sockfd = -1;
+    struct sockaddr_in serverAddr;
+    if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    serverAddr.sin_family = AF_INET;   // 设置地址族为IPv4
+    serverAddr.sin_port = htons(port); // 设置端口号
+    if (inet_aton(clientIP, &serverAddr.sin_addr) == 0) {
+        fprintf(stderr, "Error: Failed to convert IP address\n");
+        close(sockfd);
+        return;
+    }
+    while (true) {
+        // 每秒向socket发送一次0x30
+        byte a = 0x39;
+        // 发送消息
+        sendto(sockfd, (const char *)&a, 1, 0, (struct sockaddr *)&serverAddr,
+               sizeof(serverAddr));
+        printf("Send: Data %02X udpSend successfully!\n", a);
+        sleep(1);
+    }
+}
+
+void udpRecvThread() {
+    int socketfd = -1;
+    char buffer[MAX_BUFFER_SIZE];
+    struct sockaddr_in serverAddr;
+    socklen_t addrLen = sizeof(serverAddr);
+    int bytesReceived;
+
+    // fd_set readfds;
+    // struct timeval tv;
+    int retval;
+    struct pollfd fds;
+
+    if ((socketfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    memset(buffer, 0, sizeof(buffer));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(port);
+    serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    if (bind(socketfd, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
+        -1) {
+        // cerr << "Error: Bind failed" << endl;
+        fprintf(stderr, "Error: Bind failed\n");
+        close(socketfd);
+        return;
+    }
+
+    bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
+                             (struct sockaddr *)&clientAddr, &addrLen);
+    if (bytesReceived == -1) {
+        fprintf(stderr, "Error: Failed to receive data\n");
+        close(socketfd);
+        return;
+    }
+    printf("Received start message from %s: %s\n",
+           inet_ntoa(clientAddr.sin_addr), buffer);
+    strcpy(clientIP, inet_ntoa(clientAddr.sin_addr));
+
+    if (pthread_create(&udpSend, NULL, udpSendThread, NULL) != 0) {
+        fprintf(stderr, "Error creating udpSend thread\n");
+        close(socketfd);
+        return;
+    }
+
+    fds.fd = socketfd;
+    fds.events = POLLIN;
+
+    while (true) {
+        // /* Watch sock to see when it has input. */
+        // FD_ZERO(&readfds);
+        // FD_SET(socketfd, &readfds);
+        // /* Wait up to three seconds. */
+        // tv.tv_sec = 3;
+        // tv.tv_usec = 0;
+
+        // retval = select(socketfd + 1, &readfds, NULL, NULL, &tv);
+        retval = poll(&fds, 1, 3000);
+        if (retval == -1) {
+            fprintf(stderr, "Error: select failed\n");
+            break;
+        } else if (retval == 0) {
+            printf("No data within three seconds.\n");
+            speedControl(0, 0);
+            // break;
+        } else {
+            bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
+                                     (struct sockaddr *)&clientAddr, &addrLen);
+            if (bytesReceived == -1) {
+                fprintf(stderr, "Error: Failed to receive data\n");
+                continue;
+            }
+            printf("Received Message from %s: %2x %2x\n",
+                   inet_ntoa(clientAddr.sin_addr), buffer[0], buffer[1]);
+            speedControl(buffer[0], buffer[1]);
+        }
+    }
+}
+
+int main() {
+    // 关闭1号和2号文件描述符
+    // close(1);
+    // close(2);
+    // // 打开serial.log文件，并将其复制到1号和2号文件描述符
+    // open("serial.log", O_RDWR | O_CREAT, 0666);
+    // dup(1);
+    // dup(2);
+
+    if (!whellInit()) {
+        goto err;
+    }
+
+    if (pthread_create(&udpRecv, NULL, udpRecvThread, NULL) != 0) {
+        fprintf(stderr, "Error creating udpRecv thread\n");
+        goto err;
+    }
+    pthread_join(udpRecv, NULL);
+
+err:
+    close(fd);
+    return 0;
+}
diff --git a/server.cpp b/server.cpp
new file mode 100644
index 0000000..5e41eb8
--- /dev/null
+++ b/server.cpp
@@ -0,0 +1,167 @@
+#include <arpa/inet.h>
+#include <chrono>
+#include <cmath>
+#include <condition_variable>
+#include <cstring>
+#include <iostream>
+#include <mutex>
+#include <netinet/in.h>
+#include <sstream>
+#include <string.h>
+#include <string>
+#include <sys/socket.h>
+#include <thread>
+#include <unistd.h>
+
+using namespace std;
+
+enum robotState { // 机器人状态枚举
+    beforeStart,
+    pending,
+    afterEnd, // 建好了图，接下来可选择重新建图或选终点开始路径
+    startRoute,
+};
+
+enum runState { stop, go, left, right };
+
+struct ReceiveDataStruct {
+    int robotId;
+    robotState state;
+    int x;
+    int y;
+    int r;
+};
+
+const int PORT = 5001;
+const char *SERVER_IP = "0.0.0.0";
+const int MAX_BUFFER_SIZE = 1024;
+
+struct ReceiveData {
+    int values[4];
+};
+
+bool newDataAvailable = false;
+string CLIENT_IP = "127.0.0.1";
+struct sockaddr_in clientAddr;
+ReceiveData receivedData = {{0, 1, 2, 3}};
+
+// UDP发送线程函数
+void udpSenderThread() {
+    char values[100] = {0};
+    struct sockaddr_in serverAddr;
+    int sockfd = -1;
+
+    // 创建UDP套接字
+    if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(PORT);
+    if (inet_aton(CLIENT_IP.c_str(), &serverAddr.sin_addr) == 0) {
+        fprintf(stderr, "Error: Failed to convert IP address\n");
+        close(sockfd);
+        return;
+    }
+
+    while (true) {
+        this_thread::sleep_for(chrono::seconds(1)); // 每1秒发送一次
+
+        // 更新发送的消息
+        memset(values, 0, 100);
+        for (int i = 0; i < 4; ++i) {
+            // values[i] = receivedData.values[i] + 1;
+            sprintf(values + strlen(values), "%d ", receivedData.values[i] + 1);
+        }
+        sprintf(values + strlen(values), "\n");
+        printf("Sending message to %s: %s\n", CLIENT_IP.c_str(), values);
+
+        // 发送消息
+        sendto(sockfd, (const char *)values, sizeof(int) * 4, 0,
+               (struct sockaddr *)&serverAddr, sizeof(serverAddr));
+    }
+
+    close(sockfd);
+}
+
+// 主线程接收UDP消息并打印
+void receiveAndPrintMessages() {
+    int sock;
+    struct sockaddr_in serverAddr;
+    socklen_t addrLen = sizeof(clientAddr);
+    char buffer[MAX_BUFFER_SIZE];
+    ReceiveData receivedData;
+    int pos, bytesReceived;
+
+    // 创建UDP套接字
+    if ((sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    memset(buffer, 0, sizeof(buffer));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(PORT);
+    serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    // 绑定到端口
+    if (::bind(sock, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
+        -1) {
+        cerr << "Error: Bind failed" << endl;
+        close(sock);
+        return;
+    }
+
+    bytesReceived = recvfrom(sock, buffer, MAX_BUFFER_SIZE, 0,
+                             (struct sockaddr *)&clientAddr, &addrLen);
+    if (bytesReceived == -1) {
+        fprintf(stderr, "Error: Failed to receive data\n");
+        return;
+    }
+    printf("Received Message from %s: %s\n", inet_ntoa(clientAddr.sin_addr),
+           buffer);
+    CLIENT_IP = inet_ntoa(clientAddr.sin_addr);
+    thread senderThread2(udpSenderThread);
+    while (true) {
+        // 接收消息
+        bytesReceived = recvfrom(sock, buffer, MAX_BUFFER_SIZE, 0,
+                                 (struct sockaddr *)&clientAddr, &addrLen);
+        if (bytesReceived == -1) {
+            fprintf(stderr, "Error: Failed to receive data\n");
+            continue;
+        }
+
+        printf("Receive %d bytes from %s: \"%s\"\n", bytesReceived,
+               CLIENT_IP.c_str(), buffer);
+        pos = 0;
+        for (int i = 0; i < 4; ++i) {
+            receivedData.values[i] = atoi(strtok(buffer + pos, " "));
+            // pos += log10(receivedData.values[i]) + 2;
+            // pos需要递增，否则会一直解析第一个数，要求能处理数据为0或负数的情况
+            pos += strlen(strtok(buffer + pos, " ")) + 1;
+        }
+        newDataAvailable = true;
+
+        // 打印消息
+        // CLIENT_IP = inet_ntoa(clientAddr.sin_addr);
+        // cout << "Received Message from " << CLIENT_IP << ": ";
+        // printf("Received Message from %s: ", CLIENT_IP.c_str());
+        // for (int i = 0; i < 4; ++i) {
+        //     printf("%d ", receivedData.values[i]);
+        // }
+        printf("\n");
+    }
+
+    close(sock);
+    senderThread2.join();
+}
+
+int main() {
+    thread receiverThread(receiveAndPrintMessages);
+    receiverThread.join();
+
+    return 0;
+}
diff --git a/testClient.c b/testClient.c
new file mode 100644
index 0000000..bbd2529
--- /dev/null
+++ b/testClient.c
@@ -0,0 +1,97 @@
+// 编写一段C程序，使用pthread创建两个线程
+// 发送线程将数据发送到127.0.0.1的5001端口，每0.5s一次
+// 接收线程接收127.0.0.1的5001端口的数据并打印
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <netinet/in.h>
+#include <pthread.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <termios.h>
+#include <unistd.h>
+
+pthread_t udpSend, udpRecv;
+pthread_mutex_t mutex;
+int port = 5001;
+char clientIP[20] = "127.0.0.1";
+
+void udpSenderThread() {
+    struct sockaddr_in serverAddr;
+    int sockfd = -1;
+
+    // 创建UDP套接字
+    if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(port);
+    serverAddr.sin_addr.s_addr = inet_addr(clientIP);
+
+    while (1) {
+        char values[100] = {0};
+        // strcpy(values, "Hello, world!");
+        pthread_mutex_lock(&mutex);
+        printf("Input the data you want to send: ");
+        scanf("%s", values);
+        pthread_mutex_unlock(&mutex);
+        sendto(sockfd, values, strlen(values), 0,
+               (struct sockaddr *)&serverAddr, sizeof(serverAddr));
+        // printf("Send: %s\n", values);
+        sleep(1);
+    }
+}
+
+void udpReceiverThread() {
+    int sockfd = -1;
+    struct sockaddr_in serverAddr;
+    struct sockaddr_in clientAddr;
+    socklen_t clientAddrLen = sizeof(clientAddr);
+    char buffer[1024] = {0};
+
+    // 创建UDP套接字
+    if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
+        fprintf(stderr, "Error: Failed to create socket\n");
+        return;
+    }
+
+    memset((char *)&serverAddr, 0, sizeof(serverAddr));
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_port = htons(port - 1);
+    serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+    if (bind(sockfd, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
+        -1) {
+        fprintf(stderr, "Error: Failed to bind socket\n");
+        close(sockfd);
+        return;
+    }
+
+    while (1) {
+        pthread_mutex_lock(&mutex);
+        int len = recvfrom(sockfd, buffer, 1024, 0,
+                           (struct sockaddr *)&clientAddr, &clientAddrLen);
+        pthread_mutex_unlock(&mutex);
+        if (len == -1) {
+            fprintf(stderr, "Error: Failed to receive data\n");
+            close(sockfd);
+            return;
+        }
+        buffer[len] = '\0';
+        printf("Received: %s\n", buffer);
+    }
+}
+
+int main() {
+    pthread_create(&udpSend, NULL, udpSenderThread, NULL);
+    // pthread_create(&udpRecv, NULL, udpReceiverThread, NULL);
+    pthread_join(udpSend, NULL);
+    // pthread_join(udpRecv, NULL);
+}
\ No newline at end of file