add old lci module
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@@ -0,0 +1,206 @@
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/*
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* 这是cpp使用linux C手段读写串口的实现。
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*
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* 作者在其中加入了“沟通”手段，这种手段主要是针对COPS设备。
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*
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* COPS设备的通信手段主要是上位机问，下位机答，一问一答的形式。
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*
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* （！）还未进行对于热插拔的支持。
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*
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* 20250621 暂时不用了
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*/
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#pragma once
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#include <iostream>
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#include <vector>
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#include <regex>
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#include <chrono>
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#include <thread>
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#include <cstdio>
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#include <fcntl.h>
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#include <dirent.h>
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#include <unistd.h>
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#include <termios.h>
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#include <sys/time.h>
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namespace qing {
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/*
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* 串口类
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*
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* 长连接的速度会更快
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*/
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class Serial {
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private:
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/* 串口文件描述符 */
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int fd = 0;
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public:
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/* 输入设备文件地址，进行构造。打开后通常需要等待一下 */
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Serial(const std::string& path, double wait = 2) {
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fd = open(path.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
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if (fd == -1) {
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throw DeviceOpenErroring();
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}
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std::this_thread::sleep_for(std::chrono::milliseconds((long)(wait*1000))); /* 等待串口 */
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}
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//释放
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~Serial() {
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if (fd != -1) close(fd);
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}
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/* 设置串口 */
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void Set() {
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struct termios options;
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tcgetattr(fd, &options);
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cfsetispeed(&options, B115200); /* 设置波特率 */
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cfsetospeed(&options, B115200);
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options.c_cflag |= (CLOCAL | CREAD);// 启用接收和本地模式
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options.c_cflag &= ~PARENB;// 8位数据位，无校验，1位停止位
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options.c_cflag &= ~CSTOPB;
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= CS8;
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options.c_cflag &= ~CRTSCTS;// 禁用硬件流控
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options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);// 原始输入模式
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options.c_oflag &= ~OPOST;// 原始输出模式
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options.c_cc[VMIN] = 0;// 设置超时 - 1秒
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options.c_cc[VTIME] = 10;
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tcsetattr(fd, TCSANOW, &options);
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tcflush(fd, TCIOFLUSH); /* 清空缓冲区 */
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}
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/* 写数据 每次写之前清空缓冲区数据*/
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void Write(const std::string& msg) {
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tcflush(fd, TCIOFLUSH); /* 清空缓冲区 */
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write(fd, msg.c_str(), msg.size());
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}
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/* 读数据 */
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std::string CircleRead() {
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char buffer[1024] = {0};
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std::string ret = "";
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ssize_t n;
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do {
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n = read(fd, buffer, sizeof(buffer));
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if (n == -1 && ret == "") {
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throw NoResponse();
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} else if (n == -1 && ret != "") {
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return ret;
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} else if (n == 0) {
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return ret;
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} else if (n > 0) {
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buffer[n] = '\0';
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ret += buffer;
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}
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} while (true);
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}
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/* 读数据 */
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std::string Read() {
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char buffer[1024] = {0};
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std::string ret = "";
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ssize_t n;
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n = read(fd, buffer, sizeof(buffer));
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if (n == -1 && ret == "") {
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throw NoResponse();
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} else if (n > 0) {
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buffer[n] = '\0';
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ret += buffer;
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}
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return ret;
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}
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/* 发送然后获取 */
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std::string Send_Wait_And_Get(const std::string& snd, double wait) {
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Write(snd);
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std::this_thread::sleep_for(std::chrono::milliseconds((long)(wait*1000)));
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return Read();
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}
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/* 一问一答，尝试一定次数 */
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std::string Try_Comm(const std::string& snd, double wait, int times = 10, int drop_tail = 0) {
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int num = 0;
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while (true) {
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try {
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num ++;
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if (num > times) break;
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std::string msg = Send_Wait_And_Get(snd, wait);
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DropTail(msg, drop_tail);
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return msg;
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} catch (qing::Serial::Serial_Error e) {
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std::cerr << e.what() << std::endl;
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}
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}
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throw NoResponse();
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}
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/* 去掉字符串末尾一定数量的字符 */
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static void DropTail(std::string& msg, int n) {
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for (int i=0; i<n; i++) {
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msg.pop_back();
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}
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}
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/* 串口异常类 */
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class Serial_Error: public std::exception {
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private:
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std::string message;
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public:
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explicit Serial_Error(const std::string& msg): message(msg) {}
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const char* what() const noexcept override {
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return message.c_str();
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}
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};
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/* 打开设备异常 */
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class DeviceOpenErroring: public Serial_Error {
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public:
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DeviceOpenErroring(): Serial_Error("Device Open Erroring") {}
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};
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/* select异常 */
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class SelectErroring: public Serial_Error {
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public:
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SelectErroring(): Serial_Error("Select Erroring") {}
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};
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/* 无响应 */
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class NoResponse: public Serial_Error {
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public:
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NoResponse(): Serial_Error(" No Response") {}
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};
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/* 无响应异常 */
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class SerialReadError: public Serial_Error {
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public:
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SerialReadError(): Serial_Error("Serial Read Error") {}
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};
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/* 获取所有的串口 */
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static std::vector<std::string> GetPorts() {
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std::vector<std::string> ports;
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//Linux实现
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DIR *dir;
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struct dirent *ent;
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const std::regex serial_regex("(ttyS|ttyUSB|ttyACM)[0-9]+");
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if ((dir = opendir("/dev")) != NULL) {
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while((ent = readdir(dir)) != NULL) {
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std::string name = ent->d_name;
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if (std::regex_match(name, serial_regex)) {
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ports.push_back("/dev/"+name);
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}
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}
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closedir(dir);
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}
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return ports;
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}
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/* 以线程不安全的方式打印所有的串口 */
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static void UnsafePrintPorts() {
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auto v = GetPorts();
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for (const auto& i: v) {
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std::cout << i << std::endl;
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}
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}
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};
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}
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