485ser.c

最新推荐文章于 2019-02-15 23:38:06 发布
最新推荐文章于 2019-02-15 23:38:06 发布
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分类专栏： linux c 文章标签： c++ c
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include

include

include

include

include

include

include

include

include

include

include

include “netinet/in.h”

include “sys/socket.h”

include “sys/un.h”

include “sqlite3.h”

static sqlite3 *syssetdb = NULL;

define UART_DEVICE “/dev/ttySAC3”

static int fd_uart;
static int socket_fd;
static int nwrite;
static int nreads;
static int i, res, n, len;
static short CRC_DAT;

static int id_adr;
unsigned char id_adr_char[2];
static sqlite3 *db=NULL;
static int result,nRow,nColumn;
static char *errmsg=NULL;
static char **dbresult;
static char sql[128];

unsigned char uart_buf[256];
unsigned char sock_buf[257];
fd_set readfd;
struct timeval timeout;

static int BAUDRATE;

int speed_arr[] = {B9600,B2400,B4800,B9600,B19200,B38400,B57600,B115200};

static struct sockaddr_in server_addr;

static int uart_open(void)
{
struct termios oldtio, newtio;
printf(“\n”);
fd_uart = open(UART_DEVICE, O_RDWR | O_NOCTTY);
if(fd_uart < 0)
{
perror(“error: can’t open serial port!\n”);
exit(1);
}

tcgetattr(fd_uart, &oldtio);
bzero(&newtio, sizeof(newtio));
//BAUDRATE = B19200;
//printf("1111111BAUDRATE=%d",BAUDRATE);
cfsetispeed(&newtio, BAUDRATE);
cfsetospeed(&newtio, BAUDRATE);
newtio.c_cflag |= CS8 | CLOCAL | CREAD;
newtio.c_iflag = 0;
newtio.c_oflag = 0;
newtio.c_lflag = 0;
newtio.c_cc[VINTR] = 0;
newtio.c_cc[VQUIT] = 0;
newtio.c_cc[VERASE] = 0;
newtio.c_cc[VKILL] = 0;
newtio.c_cc[VEOF] = 0;
newtio.c_cc[VTIME] = 0;
newtio.c_cc[VMIN] = 1;
newtio.c_cc[VSWTC] = 0;
newtio.c_cc[VSTART] = 0;
newtio.c_cc[VSTOP] = 0;
newtio.c_cc[VSUSP] = 0;
newtio.c_cc[VEOL] = 0;
newtio.c_cc[VREPRINT] = 0;
newtio.c_cc[VDISCARD] = 0;
newtio.c_cc[VWERASE] = 0;
newtio.c_cc[VLNEXT] = 0;
newtio.c_cc[VEOL2] = 0;
tcflush(fd_uart, TCIOFLUSH);
tcsetattr(fd_uart, TCSANOW, &newtio);
return 0;

}

short CRC16(unsigned char *Pushdata, unsigned char length)
{
unsigned short Reg_CRC = 0xffff;
unsigned char Temp_reg = 0x00;
unsigned char i, j;
for(i = 0; i < length; i++)
{
Reg_CRC ^= *Pushdata++;
for (j = 0; j < 8; j++)
{
if(Reg_CRC & 0x0001)
Reg_CRC=Reg_CRC >> 1^0xA001;
else
Reg_CRC >>= 1;
}
}
Temp_reg = Reg_CRC >> 8;
return (Reg_CRC << 8 | Temp_reg); //楂樹綆瀛楄妭鎹綅锛岃繑鍥炲€硷細楂樺瓧鑺傚湪鍚庯紝浣庡瓧鑺傚湪鍓?
//浣庡瓧鑺傚湪鍓? 楂樺瓧鑺傚湪鍚庡垰濂界鍚坢odbus-rtu鎶ユ枃鏍煎紡
}

void get_db_data()
{

sprintf(sql,”select * from GetTable where id=%d;”,1);
//printf(“%s”,sql);
result=sqlite3_get_table(db,sql,&dbresult,&nRow,&nColumn,&errmsg);

if(SQLITE_OK==result)
{
id_adr = atoi(dbresult[3]);
printf(“id_adr=%d\n”,id_adr);
printf(“nRow=%d nColumn=%d dbresult=%s %s %s %s \n”,nRow,nColumn,dbresult[0],dbresult[1],dbresult[2],dbresult[3]);

id_adr_char[0] = (id_adr>> 8) & 0xff;

id_adr_char[1] = id_adr & 0xff;
//printf("id_adr_char[0]=%d  id_adr_char[1]=%d\n",id_adr_char[0],id_adr_char[1]);

}
else
{
printf(“open err\n”);
}

sqlite3_free_table(dbresult);

}

void get_bundrate()
{

int ret_sys, nRow_sys, nColumn_sys;
char *errmsg_sys = NULL;
char **dbResult_sys;
int flag;

ret_sys = sqlite3_open("/pqm/pqm/sysset.db", &syssetdb);
while(ret_sys != SQLITE_OK)
{
    printf("open syssetdb error\n");
    ret_sys = sqlite3_open("/pqm/pqm/sysset.db", &syssetdb);
    sleep(1);
}
ret_sys = sqlite3_get_table(syssetdb, "select * from PqmsetTable", &dbResult_sys, &nRow_sys, &nColumn_sys, &errmsg_sys);
if(SQLITE_OK == ret_sys)
{

    flag =  atoi(dbResult_sys[11]);
    BAUDRATE = speed_arr[flag];
    //printf("*******************\n");
    printf("BAUDRATE=%d\n",BAUDRATE);
    //printf("********************\n");    


}

sqlite3_free_table(dbResult_sys);
sqlite3_close(syssetdb);

}

void * serial_ser_thread()
{
sleep(1);

get_bundrate();

uart_open();        //鎵撳紑涓插彛

while(1)
{
    memset(uart_buf, 0, 256);                    //uart_buf 娓呴浂
    n = 0;
    len = 0;

    n = read(fd_uart, uart_buf, 1);

    printf("n= %d uart_buf[0]=%d\n", n ,uart_buf[0]);

    if((n == 1) && (uart_buf[0]==id_adr_char[1]))            //姣旇緝璁惧鍦板潃, 榛樿涓?
        n = read(fd_uart, &uart_buf[1], 1);
    else
    {
        continue;
    }
    //鍔熻兘鐮? 鎴栬€?
    if((n == 1) && ((uart_buf[1] == 3) || (uart_buf[1] == 4)))
    {
        n = read(fd_uart, &uart_buf[2], 6); //璇?瀵勫瓨鍣ㄥ湴鍧€锛屽瘎瀛樺櫒鏁伴噺锛孋RC鏍￠獙
        if(n == 6)
        {
            CRC_DAT = ((uart_buf[6] << 8) | uart_buf[7]);
            if(CRC_DAT == CRC16(uart_buf, 6))    //CRC 鏍￠獙
            {
                //CRC鏍￠獙閫氳繃, 姝ｅ紡寮€濮嬪鐞嗘暟鎹?
                sock_buf[0] = 0;
                sock_buf[1] = 0;
                sock_buf[2] = 0;
                sock_buf[3] = 0;
                sock_buf[4] = 0;
                sock_buf[5] = 6;
                sock_buf[6] = uart_buf[0];
                sock_buf[7] = uart_buf[1];
                sock_buf[8] = uart_buf[2];
                sock_buf[9] = uart_buf[3];
                sock_buf[10] = uart_buf[4];
                sock_buf[11] = uart_buf[5];

                if((socket_fd = socket(AF_INET,SOCK_STREAM, 0)) == -1)
                {
                    close(socket_fd);
                    continue;
                }

                bzero(&server_addr, sizeof(server_addr));
                server_addr.sin_family = AF_INET;
                server_addr.sin_port = htons(1000);
                server_addr.sin_addr.s_addr = inet_addr("127.0.0.1");

                if(connect(socket_fd, (struct sockaddr *)(&server_addr),sizeof(struct sockaddr)) == -1)
                {
                    close(socket_fd);
                    continue;
                }

                timeout.tv_sec = 1;
                timeout.tv_usec = 0;
                FD_ZERO(&readfd);
                FD_SET(socket_fd, &readfd);

                if((nwrite = write(socket_fd, sock_buf, 12)) == -1) {
                    close(socket_fd);
                    continue;
                }

                res = select(socket_fd + 1, &readfd, NULL, NULL, &timeout);
                switch(res) {
                    case -1:
                        break;
                    case 0:
                        break;
                    default:
                        if(FD_ISSET(socket_fd, &readfd)) {
                            if((nreads = read(socket_fd, sock_buf, 256)) == -1) {
                                close(socket_fd);
                                continue;
                            }
                            //璇诲埌浜嗘暟鎹? 杩斿洖缁欎覆鍙?
                            CRC_DAT = CRC16(&sock_buf[6], (sock_buf[8] + 3));
                            sock_buf[sock_buf[8] + 9] = (CRC_DAT >> 8) & 0xff;
                            sock_buf[sock_buf[8] + 10] = CRC_DAT & 0xff;
                            write(fd_uart, &sock_buf[6], sock_buf[8] + 5);

                            printf("sock_buf*****%s",sock_buf);
                        }
                        break;
                }
                close(socket_fd);
            }
        }
    }

    //鍔熻兘鐮?
    else if((n == 1) && (uart_buf[1] == 6))
    {
        n = read(fd_uart, &uart_buf[2], 6); //璇?瀵勫瓨鍣ㄥ湴鍧€锛岃缃€硷紝CRC鏍￠獙
        if(n == 6)
        {
            CRC_DAT = ((uart_buf[6] << 8) | uart_buf[7]);
            if(CRC_DAT == CRC16(uart_buf, 6))    //CRC 鏍￠獙
            {
                //CRC鏍￠獙閫氳繃, 姝ｅ紡寮€濮嬪鐞嗘暟鎹?
                sock_buf[0] = 0;
                sock_buf[1] = 0;
                sock_buf[2] = 0;
                sock_buf[3] = 0;
                sock_buf[4] = 0;
                sock_buf[5] = 6;
                sock_buf[6] = uart_buf[0];
                sock_buf[7] = uart_buf[1];
                sock_buf[8] = uart_buf[2];
                sock_buf[9] = uart_buf[3];
                sock_buf[10] = uart_buf[4];
                sock_buf[11] = uart_buf[5];

                if((socket_fd = socket(AF_INET,SOCK_STREAM, 0)) == -1)
                {
                    close(socket_fd);
                    continue;
                }

                bzero(&server_addr, sizeof(server_addr));
                server_addr.sin_family = AF_INET;
                server_addr.sin_port = htons(1000);
                server_addr.sin_addr.s_addr = inet_addr("127.0.0.1");

                if(connect(socket_fd, (struct sockaddr *)(&server_addr),sizeof(struct sockaddr)) == -1)
                {
                    close(socket_fd);
                    continue;
                }

                timeout.tv_sec = 1;
                timeout.tv_usec = 0;
                FD_ZERO(&readfd);
                FD_SET(socket_fd, &readfd);

                if((nwrite = write(socket_fd, sock_buf, 12)) == -1) {
                    close(socket_fd);
                    continue;
                }

                res = select(socket_fd + 1, &readfd, NULL, NULL, &timeout);
                switch(res) {
                    case -1:
                        break;
                    case 0:
                        break;
                    default:
                        if(FD_ISSET(socket_fd, &readfd)) {
                            if((nreads = read(socket_fd, sock_buf, 256)) == -1) {
                                close(socket_fd);
                                continue;
                            }
                            //璇诲埌浜嗘暟鎹? 杩斿洖缁欎覆鍙?
                            if(nreads == 12)
                            {
                                CRC_DAT = CRC16(&sock_buf[6], 6);
                                sock_buf[12] = (CRC_DAT >> 8) & 0xff;
                                sock_buf[13] = CRC_DAT & 0xff;
                                write(fd_uart, &sock_buf[6], 8);
                            }
                        }
                        break;
                }
                close(socket_fd);
            }
        }
    }

    //鍔熻兘鐮?6
    else if((n == 1) && (uart_buf[1] == 16))
    {
        n = read(fd_uart, &uart_buf[2], 5);    //瀵勫瓨鍣ㄥ湴鍧€, 瀵勫瓨鍣ㄦ暟閲? 瀛楄妭鏁板叡5 涓瓧鑺?
        if(n == 5)
        {
            for(i = 0; i < uart_buf[6] + 2; i ++)
            {
                n = read(fd_uart, &uart_buf[7 + i], 1);
                if(n != 1)
                    continue;
            }
            if(i == (uart_buf[6] + 2))
            {
                CRC_DAT = ((uart_buf[uart_buf[6] + 7] << 8) | uart_buf[uart_buf[6] + 8]);
                if(CRC_DAT == CRC16(uart_buf, uart_buf[6] + 7))    //CRC 鏍￠獙
                {
                    //CRC鏍￠獙閫氳繃, 姝ｅ紡寮€濮嬪鐞嗘暟鎹?
                    sock_buf[0] = 0;
                    sock_buf[1] = 0;
                    sock_buf[2] = 0;
                    sock_buf[3] = 0;
                    sock_buf[4] = 0;
                    sock_buf[5] = uart_buf[6] + 7;
                    sock_buf[6] = uart_buf[0];
                    sock_buf[7] = uart_buf[1];
                    sock_buf[8] = uart_buf[2];
                    sock_buf[9] = uart_buf[3];
                    sock_buf[10] = uart_buf[4];
                    sock_buf[11] = uart_buf[5];
                    sock_buf[12] = uart_buf[6];
                    for(i = 0; i < uart_buf[6]; i++)
                        sock_buf[13 + i] = uart_buf[7 + i];

                    if((socket_fd = socket(AF_INET,SOCK_STREAM, 0)) == -1)
                    {
                        close(socket_fd);
                        continue;
                    }

                    bzero(&server_addr, sizeof(server_addr));
                    server_addr.sin_family = AF_INET;
                    server_addr.sin_port = htons(1000);
                    server_addr.sin_addr.s_addr = inet_addr("127.0.0.1");

                    if(connect(socket_fd, (struct sockaddr *)(&server_addr),sizeof(struct sockaddr)) == -1)
                    {
                        close(socket_fd);
                        continue;
                    }

                    timeout.tv_sec = 1;
                    timeout.tv_usec = 0;
                    FD_ZERO(&readfd);
                    FD_SET(socket_fd, &readfd);

                    if((nwrite = write(socket_fd, sock_buf, uart_buf[6] + 13)) == -1) {
                        close(socket_fd);
                        continue;
                    }

                    res = select(socket_fd + 1, &readfd, NULL, NULL, &timeout);
                    switch(res) {
                        case -1:
                            break;
                        case 0:
                            break;
                        default:
                            if(FD_ISSET(socket_fd, &readfd)) {
                                if((nreads = read(socket_fd, sock_buf, 256)) == -1) {
                                    close(socket_fd);
                                    continue;
                                }
                                //璇诲埌浜嗘暟鎹? 杩斿洖缁欎覆鍙?
                                if(nreads == 12)
                                {
                                    CRC_DAT = CRC16(&sock_buf[6], 6);
                                    sock_buf[12] = (CRC_DAT >> 8) & 0xff;
                                    sock_buf[13] = CRC_DAT & 0xff;
                                    write(fd_uart, &sock_buf[6], 8);
                                }
                            }
                            break;
                    }
                    close(socket_fd);
                }
            }
        }
    }
    else
        continue;
}

close(fd_uart);
return 0;

}

void * adr_ser_thread()
{
result = sqlite3_open(“/pqm/www/test/cgi-bin/pqm.db”,&db);
if(result!=SQLITE_OK)
{
printf(“open error\n”);
return;
}
while(1)
{
sleep(1);
get_db_data();
}
sqlite3_close(db);

}

int main(void)
{
pthread_t serial_thread,adr_thread;
pthread_create(&adr_thread, NULL, adr_ser_thread, NULL); //modbus鏈嶅姟绋嬪簭
pthread_create(&serial_thread, NULL, serial_ser_thread, NULL);

pthread_join(serial_thread, NULL);
pthread_join(adr_thread, NULL);

}
/*************************************************************************************************/

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#include <sys/types.h> #include <sys/socket.h> #include <linux/in.h> #include <linux/un.h> #include <string.h> #include <signal.h> #include <stdio.h> #include <stdlib.h> #include <malloc.h> #include <e
if __name__=='__main__': rospy.init_node('encoder_vel', log_level=rospy.DEBUG) pub = rospy.Publisher('encoder', Odometry, queue_size=10) port = rospy.get_param('~serial_port', '/dev/encoder') baud = rospy.get_param('~baud_rate', 57600) # about 100hz k = rospy.get_param('~k',1) # fix param ser = serial.Serial(port, baud) print(ser.is_open) while( not rospy.is_shutdown()): # time1 = time.time() send_data = bytes.fromhex('01 03 00 03 00 01 74 0A') # read velocity value in 20ms ser.write(send_data) datahex = ser.read(7) angle_v = DueVelData(datahex) send_data = bytes.fromhex('01 03 00 00 00 01 84 0A') # ser.write(send_data) datahex = ser.read(7) dir = DueDirData(datahex) Vel = angle_v * dir * C / 1024.0 / 0.02 * k # print(Vel) # time2 = time.time() # print(1/(time2-time1)) pub_vel = Odometry() pub_vel.header.frame_id = 'odom' pub_vel.child_frame_id = 'base_footprint' pub_vel.header.stamp = rospy.Time.now() pub_vel.twist.twist.linear.x = Vel pub.publish(pub_vel)
最新发布
06-01
这段代码是一个Python程序的主函数，它首先通过调用rospy.init_node()函数初始化ROS节点，并创建一个名为'encoder_vel'的节点。接着，它使用rospy.Publisher()函数创建一个名为'encoder'的消息发布者，用于发布...

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