VisionPick/Serial.cpp at master · FireStoneYS/VisionPick · GitHub

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/*
 * Serial.cpp
 *
 *  Created on: Apr 13, 2017
 *      Author: abds
 */

#include "Serial.h"
#include <string.h>
#include <unistd.h>
#include <fcntl.h>


int HandControl::ParrelOpen(){
	if(write(fd,"m2",sizeof("m2")) == -1){
		return -1;
	}
	else {
		return 0;
	}

}
int HandControl::ParrelPick(){
	if(write(fd,"m4",sizeof("m4")) == -1){
		return -1;
	}
	else {
		return 0;
	}

}
int HandControl::TriangleOpen(){
	if(write(fd,"m1",sizeof("m1")) == -1){
		return -1;
	}
	else {
		return 0;
	}

}
int HandControl::TrianglePick(){
	if(write(fd,"m3",sizeof("m3")) == -1){
		return -1;
	}
	else {
		return 0;
	}

}
int HandControl::set_opt(int fd,int nSpeed, int nBits, char nEvent, int nStop)
{
    struct termios newtio,oldtio;
    if  ( tcgetattr( fd,&oldtio)  !=  0)
    {
        perror("SetupSerial 1");
        return -1;
    }
    bzero( &newtio, sizeof( newtio ) );
    newtio.c_cflag  |=  CLOCAL | CREAD;
    newtio.c_cflag &= ~CSIZE;

    switch( nBits )
    {
		case 7:
			newtio.c_cflag |= CS7;
			break;
		case 8:
			newtio.c_cflag |= CS8;
			break;
    }

    switch( nEvent )
    {
		case 'O':                     //奇校验
			newtio.c_cflag |= PARENB;
			newtio.c_cflag |= PARODD;
			newtio.c_iflag |= (INPCK | ISTRIP);
			break;
		case 'E':                     //偶校验
			newtio.c_iflag |= (INPCK | ISTRIP);
			newtio.c_cflag |= PARENB;
			newtio.c_cflag &= ~PARODD;
			break;
		case 'N':                    //无校验
			newtio.c_cflag &= ~PARENB;
			break;
    }

	switch( nSpeed )
	{
		case 2400:
			cfsetispeed(&newtio, B2400);
			cfsetospeed(&newtio, B2400);
			break;
		case 4800:
			cfsetispeed(&newtio, B4800);
			cfsetospeed(&newtio, B4800);
			break;
		case 9600:
			cfsetispeed(&newtio, B9600);
			cfsetospeed(&newtio, B9600);
			break;
		case 115200:
			cfsetispeed(&newtio, B115200);
			cfsetospeed(&newtio, B115200);
			break;
		default:
			cfsetispeed(&newtio, B9600);
			cfsetospeed(&newtio, B9600);
			break;
	}
	if( nStop == 1 )
	{
		newtio.c_cflag &=  ~CSTOPB;
	}
	else if ( nStop == 2 )
	{
		newtio.c_cflag |=  CSTOPB;
	}
	newtio.c_cc[VTIME]  = 0;
	newtio.c_cc[VMIN] = 0;
	tcflush(fd,TCIFLUSH);
	if((tcsetattr(fd,TCSANOW,&newtio))!=0)
	{
		perror("com set error");
		return -1;
	}
	printf("set done!\n");
	return 0;
}
void HandControl::stop(){
	close(fd);
}