串口通讯函数,serial.h;serial.cpp

串口通讯函数,收发数据,寻找端口等功能一看就懂

serial.h

// Serial.h

#ifndef __SERIAL_H__
#define __SERIAL_H__

class CSerial
{
public:
	CSerial();
	~CSerial();

	BOOL Open( int nPort = 1, int nBaud = 115200, int nDataBit = 8, int nStopBit = 1);
	BOOL Close( void );

	int ReadData( void *, int );
	int SendData( const char *, int );
	int WriteCommBytes( const char *, int );
	int ReadDataWaiting( void );

	BOOL IsOpened( void ){ return( m_bOpened ); }

protected:
	BOOL WriteCommByte( char );
	HANDLE m_hIDComDev;
	OVERLAPPED m_OverlappedRead, m_OverlappedWrite;
	BOOL m_bOpened;
};

#endif

serial.cpp

// Serial.cpp

#include "stdafx.h"
#include "Include\Serial.h"

CSerial::CSerial()
{
	memset( &m_OverlappedRead, 0, sizeof( OVERLAPPED ) );
 	memset( &m_OverlappedWrite, 0, sizeof( OVERLAPPED ) );
	m_hIDComDev = NULL;
	m_bOpened = FALSE;
}

CSerial::~CSerial()
{
	Close();
}

BOOL CSerial::Open( int nPort, int nBaud, int nDataBit, int nStopBit )
{
	if( m_bOpened ) return( TRUE );

	char szPort[15];
	char szComParams[50];
	DCB dcb;

	//wsprintf( szPort, "COM%d", nPort );
	wsprintf( szPort, "\\\\.\\COM%d", nPort );
	m_hIDComDev = CreateFile( szPort, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, NULL );
	if( m_hIDComDev == INVALID_HANDLE_VALUE ) return( FALSE );
//	wsprintf( szPort, "//./COM%d", nPort );//modify by lujuan 051222
//	m_hIDComDev = CreateFile( szPort, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, NULL );
//	if( m_hIDComDev == INVALID_HANDLE_VALUE ) return( FALSE );

	memset( &m_OverlappedRead, 0, sizeof( OVERLAPPED ) );
 	memset( &m_OverlappedWrite, 0, sizeof( OVERLAPPED ) );

	COMMTIMEOUTS CommTimeOuts;
	CommTimeOuts.ReadIntervalTimeout = -1;
	CommTimeOuts.ReadTotalTimeoutMultiplier = -1;
	CommTimeOuts.ReadTotalTimeoutConstant = 30000;
	CommTimeOuts.WriteTotalTimeoutMultiplier = 0;
	CommTimeOuts.WriteTotalTimeoutConstant = 30000;

	wsprintf( szComParams, "COM%d: %d, n, %d, %d", nPort, nBaud, nDataBit, nStopBit);

	m_OverlappedRead.hEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
	m_OverlappedWrite.hEvent = CreateEvent( NULL, TRUE, FALSE, NULL );

	dcb.DCBlength = sizeof( DCB );
	GetCommState( m_hIDComDev, &dcb );
	BuildCommDCB( szComParams, &dcb ); 
	if( !SetCommState( m_hIDComDev, &dcb ) ||
		!SetupComm( m_hIDComDev, 0x20000, 0x20000 ) ||
		!SetCommMask( m_hIDComDev, EV_BREAK|EV_CTS|EV_DSR|EV_RLSD ) ||
		!SetCommTimeouts( m_hIDComDev, &CommTimeOuts ) ||
		m_OverlappedRead.hEvent == NULL ||
		m_OverlappedWrite.hEvent == NULL ){
		DWORD dwError = GetLastError();
		if( m_OverlappedRead.hEvent != NULL ) CloseHandle( m_OverlappedRead.hEvent );
		if( m_OverlappedWrite.hEvent != NULL ) CloseHandle( m_OverlappedWrite.hEvent );
		CloseHandle( m_hIDComDev );
		return( FALSE );
	}

	m_bOpened = TRUE;
	PurgeComm( m_hIDComDev, PURGE_TXABORT | PURGE_RXABORT |
                           PURGE_TXCLEAR | PURGE_RXCLEAR ) ;

	return( m_bOpened );
}

BOOL CSerial::Close( void )
{
	if( !m_bOpened || m_hIDComDev == NULL ) return( TRUE );

	PurgeComm( m_hIDComDev, PURGE_TXABORT | PURGE_RXABORT |
                           PURGE_TXCLEAR | PURGE_RXCLEAR ) ;
	if( m_OverlappedRead.hEvent != NULL ) CloseHandle( m_OverlappedRead.hEvent );
	if( m_OverlappedWrite.hEvent != NULL ) CloseHandle( m_OverlappedWrite.hEvent );
	CloseHandle( m_hIDComDev );
	m_bOpened = FALSE;
	m_hIDComDev = NULL;

	return( TRUE );
}

BOOL CSerial::WriteCommByte( char ucByte )
{
	BOOL bWriteStat;
	DWORD dwBytesWritten;

	PurgeComm(m_hIDComDev, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);

	bWriteStat = WriteFile( m_hIDComDev, (LPSTR) &ucByte, 1, &dwBytesWritten, &m_OverlappedWrite );
	if( !bWriteStat && ( GetLastError() == ERROR_IO_PENDING ) )
	{
		if( WaitForSingleObject( m_OverlappedWrite.hEvent, 1000 ) ) 
			dwBytesWritten = 0;
		else
		{
			GetOverlappedResult( m_hIDComDev, &m_OverlappedWrite, &dwBytesWritten, FALSE );
			m_OverlappedWrite.Offset += dwBytesWritten;
		}
	}

	return( TRUE );
}

int CSerial::WriteCommBytes(const char * ucBytes, int length )
{
	BOOL bWriteStat;
	DWORD dwBytesWritten;

	PurgeComm(m_hIDComDev, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);

	bWriteStat = WriteFile( m_hIDComDev, (LPSTR) ucBytes, length, &dwBytesWritten, &m_OverlappedWrite );
	if( !bWriteStat && ( GetLastError() == ERROR_IO_PENDING ) )
	{
		if( WaitForSingleObject( m_OverlappedWrite.hEvent, 1000 ) ) 
			dwBytesWritten = 0;
		else
		{
			GetOverlappedResult( m_hIDComDev, &m_OverlappedWrite, &dwBytesWritten, FALSE );
			m_OverlappedWrite.Offset += dwBytesWritten;
		}
	}

	return( dwBytesWritten );
}

int CSerial::SendData( const char *buffer, int size )
{
	if( !m_bOpened || m_hIDComDev == NULL ) return( 0 );

	DWORD dwBytesWritten = 0;

	for( int i=0; i<size; i++ )
	{
		WriteCommByte( buffer[i] );
		dwBytesWritten++;
	}

	return( (int) dwBytesWritten );
}
                                 
int CSerial::ReadDataWaiting( void )
{
	if( !m_bOpened || m_hIDComDev == NULL ) return( 0 );

	DWORD dwErrorFlags;
	COMSTAT ComStat;

	ClearCommError( m_hIDComDev, &dwErrorFlags, &ComStat );

	return( (int) ComStat.cbInQue );
}

int CSerial::ReadData( void *buffer, int limit )
{
	if( !m_bOpened || m_hIDComDev == NULL ) return( 0 );

	BOOL bReadStatus;
	DWORD dwBytesRead, dwErrorFlags;
	COMSTAT ComStat;

	ClearCommError( m_hIDComDev, &dwErrorFlags, &ComStat );
	if( !ComStat.cbInQue ) return( 0 );

	dwBytesRead = (DWORD) ComStat.cbInQue;
	if( limit < (int) dwBytesRead ) dwBytesRead = (DWORD) limit;

	bReadStatus = ReadFile( m_hIDComDev, buffer, dwBytesRead, &dwBytesRead, &m_OverlappedRead );
	if( !bReadStatus )
	{
		if( GetLastError() == ERROR_IO_PENDING )
		{
			WaitForSingleObject( m_OverlappedRead.hEvent, 2000 );
			return( (int) dwBytesRead );
		}
		return( 0 );
	}

	return( (int) dwBytesRead );
}


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### 回答1: Serial.cpp是一个 ROS 库,它可以用来实现串行通信。它提供了一组接口来发送和接收数据,并且可以支持多种数据格式,例如字节,字符串,浮点数,整数等。它还可以用来控制传输速率,以及检测串口连接状态。 ### 回答2: serial.cpp是ROS(机器人操作系统)中的一个库文件,用于与串口进行通信。通过使用该库,可以实现在ROS系统中与串口设备进行数据交换和通信。 在ROS中使用serial.cpp,首先需要将该库文件包含到要使用的源文件中,可以通过以下方式实现: ```cpp #include <serial/serial.h> ``` 要使用serial.cpp进行串口通信,首先需要创建一个serial::Serial对象。可以通过以下方式实现: ```cpp serial::Serial my_serial; ``` 然后,需要配置串口的通信参数,包括波特率、数据位、停止位和校验位等。可以通过以下方式进行配置: ```cpp my_serial.setPort("/dev/ttyUSB0"); // 设置串口设备路径,例如"/dev/ttyUSB0" my_serial.setBaudrate(115200); // 设置波特率,例如115200 my_serial.setParity(serial::parity_none); // 设置校验位 my_serial.setStopbits(serial::stopbits_one); // 设置停止位 my_serial.setBytesize(serial::eightbits); // 设置数据位 ``` 之后,需要打开串口连接,可以通过以下方式实现: ```cpp my_serial.open(); if(my_serial.isOpen()){ ROS_INFO("Serial Port is opened successfully."); } ``` 接下来,可以使用串口进行数据的读取和写入。例如,可以使用read()函数读取数据: ```cpp uint8_t buffer[10]; size_t bytes_read = my_serial.read(buffer, sizeof(buffer)); ``` 还可以使用write()函数串口写入数据: ```cpp uint8_t data[] = {0x01, 0x02, 0x03}; size_t bytes_written = my_serial.write(data, sizeof(data)); ``` 最后,当不再需要使用串口时,需要关闭串口连接,可以通过以下方式实现: ```cpp my_serial.close(); ``` 总之,使用serial.cpp可以在ROS系统中方便地进行串口通信,通过配置串口参数、打开串口连接、读取数据和写入数据等操作,实现与串口设备的数据交换与通信。
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