1 files changed, 260 insertions, 0 deletions

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;
+}