1 files changed, 130 insertions, 0 deletions

diff --git a/serial/serial.c b/serial/serial.c
new file mode 100644
index 0000000..db45fac
--- /dev/null
+++ b/serial/serial.c
@@ -0,0 +1,130 @@
+#include "path_ctrl_t.h"
+#include <errno.h>
+#include <fcntl.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <termios.h>
+#include <unistd.h>
+
+typedef unsigned char byte;
+#define MAX_BUFFER_SIZE 1024
+#define DEFAULT_SPEED 0x15
+
+int fd;                             // 轮子的串口文件描述符
+char portname[50] = "/dev/ttyUSB0"; // 串口设备名
+char clientIP[20] = "";
+struct termios tty;
+
+bool whellInit();
+bool wheelSend(byte a, byte a_v, byte b, byte b_v);
+void speedControl(byte status, byte speed);
+void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata);
+
+int main() {
+    if (!whellInit()) {
+        goto err;
+    }
+    lcm_t *path_lcm = lcm_create(NULL);
+    if (!path_lcm) {
+        fprintf(stderr, "Failed to create LCM\n");
+        goto err;
+    }
+    path_ctrl_t cmd;
+    path_ctrl_t_subscribe(path_lcm, "wheel_ctrl", parseCmd, &cmd);
+
+    while (true) {
+        lcm_handle(path_lcm);
+    }
+
+err:
+    close(fd);
+    return 0;
+}
+
+bool whellInit() {
+    // 打开串口
+    fd = open(portname, O_RDWR | O_NOCTTY | O_SYNC);
+    if (fd < 0) {
+        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) {
+        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) {
+        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 parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
+              const path_ctrl_t *msg, void *userdata) {
+    byte status = msg->cmd, speed = msg->speed;
+    switch (status) {
+    case 1:
+        wheelSend(0x01, speed, 0x01, speed);
+        break;
+    case 2:
+        wheelSend(0x02, DEFAULT_SPEED, 0x01, DEFAULT_SPEED);
+        break;
+    case 3:
+        wheelSend(0x01, DEFAULT_SPEED, 0x02, DEFAULT_SPEED);
+        break;
+    case 0:
+    default:
+        wheelSend(0x00, 0x00, 0x00, 0x00);
+        break;
+    }
+}
\ No newline at end of file