Fix linking error caused by wrong lib pathHEADmaster

In the old commit, CMakeLists is set to find liblcm in
${CMAKE_SOURCE_ROOT}/libs, and there are two dirs: aarch64 and x86.
When I compile it for x86-64 computer using the cmake on host machine,
it will automatically find lib under ${CMAKE_SOURCE_ROOT}/lib/x86, and
when compiling for arm using cmake/compiler provided by ohos, it will
also find under ${CMAKE_SOURCE_ROOT}/lib/aarch64. Sounds good.

But, this is just a feature of special version for cmake/make/binutils,
causing error on other linux distributions. The path should be given,
but tools wouldn't find libs there recursively, which means path should
be spercific.

So in this commit, I use runme.sh to compile. It will work depending on
the argument(named arch) given by user, and pass it as a macro named
OHOS_ARCH to cmake, which is used in linking path of CMakeLists.

Besides, libpthread.so is not always default linked. So let's write it
in CMakeLists.

Last but not least, keeping source code clean is our duty. There's a
.clang-format under ${CMAKE_SOURCE_ROOT} to help. Use it.

Moving for the better!

4 files changed, 39 insertions, 7 deletions

diff --git a/serial/CMakeLists.txt b/serial/CMakeLists.txt
index 5ded98c..c0bc05a 100644
--- a/serial/CMakeLists.txt
+++ b/serial/CMakeLists.txt
@@ -8,4 +8,4 @@ aux_source_directory(${CMAKE_SOURCE_DIR}/lcmtype DIR_SRCS)
 add_executable(serial ${DIR_SRCS})
 
 # 添加链接库
-target_link_libraries(serial lcm)
\ No newline at end of file
+target_link_libraries(serial lcm pthread)
diff --git a/serial/serial.c b/serial/serial.c
index a2f253a..6163703 100644
--- a/serial/serial.c
+++ b/serial/serial.c
@@ -1,7 +1,12 @@
 #include "serial.h"
+#include <math.h>
 
 lcm_t *lcm;
 
+// TODO 屏蔽停止指令
+bool stopFlag = false;
+////////////////////////
+
 int curStatus = -1, curSpeed = 0; // 这里的速度指百分比速度
 double curOmega = 0.0;
 // 临界区数据
@@ -72,6 +77,23 @@ void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
         curOmega = (double)-DEFAULT_SPEED * FULLSPEED / 100 / RADIUS;
         curSpeed = 0;
         break;
+    // TODO 屏蔽停止指令
+    case 4:
+        wheelSend(0x00, 0x00, 0x00, 0x00);
+        curOmega = 0;
+        curSpeed = 0;
+        stopFlag = true;
+        printf("Stop for 2 seconds\n");
+        break;
+    // 取消屏蔽
+    case 5:
+        wheelSend(0x00, 0x00, 0x00, 0x00);
+        curOmega = 0;
+        curSpeed = 0;
+        stopFlag = false;
+        printf("Stop but can recieve cmd\n");
+        break;
+    ////////////////////////////////////
     case 0:
     default:
         wheelSend(0x00, 0x00, 0x00, 0x00);
@@ -85,6 +107,11 @@ void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
 
 void parsePath(const lcm_recv_buf_t *rbuf, const char *channel,
                const path_t *msg, void *userdata) {
+    // TODO
+    if (stopFlag) {
+        return;
+    }
+    /////////////////
     int16_t length = msg->length;
     double v, w;
     int8_t vWheels[2];
@@ -127,7 +154,7 @@ void setCurPose(const lcm_recv_buf_t *rbuf, const char *channel,
     pthread_mutex_unlock(&curPoseMutex);
 }
 
-void sendCurPose() {
+void *sendCurPose(void *args) {
     pose_t pose;
     while (true) {
         renewCurPose();
@@ -152,4 +179,4 @@ void renewCurPose() {
     curPose[2] += curOmega * dt;
     lastTime = clock();
     pthread_mutex_unlock(&curPoseMutex);
-}
\ No newline at end of file
+}
diff --git a/serial/serial.h b/serial/serial.h
index 3563557..2fbf870 100644
--- a/serial/serial.h
+++ b/serial/serial.h
@@ -19,7 +19,7 @@
 // TODO: 两个待测数据
 #define RADIUS 0.13    // 两轮之间的距离的一半，米
 #define FULLSPEED 0.60 // 轮子全速，m/s
-#define fabs(x) ((x) > 0 ? (x) : -(x))
+// #define fabs(x) ((x) > 0 ? (x) : -(x))
 typedef unsigned char byte;
 
 int identify_device(const char *port);
@@ -34,6 +34,6 @@ void parsePath(const lcm_recv_buf_t *rbuf, const char *channel,
 void setCurPose(const lcm_recv_buf_t *rbuf, const char *channel,
                 const pose_t *msg, void *userdata);
 void renewCurPose();
-void sendCurPose();
+void *sendCurPose(void *args);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/serial/wheel.c b/serial/wheel.c
index 8155734..c470234 100644
--- a/serial/wheel.c
+++ b/serial/wheel.c
@@ -5,7 +5,8 @@ char *portname; // 串口设备名
 struct termios tty;
 
 bool whellInit() {
-    portname = findUSBDev("wheel");
+    // portname = findUSBDev("wheel");
+    portname = "/dev/ttyUSB1"; // "/dev/ttyUSB1
     if (portname == NULL) {
         fprintf(stderr, "Error: Failed to find wheel serial port\n");
         return false;
@@ -55,6 +56,10 @@ 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;
+    // TODO: 速度转换
+    int temp = ((int)a_v + 2);
+    a_v = (byte)temp;
+    ////////////////////////
     data[3] = a_v;
     data[4] = b;
     data[5] = b_v;