【C/C++】开源串口库 CSerialPort 应用

愛在花開的季節  金牌会员 | 2024-8-29 14:12:55 | 显示全部楼层 | 阅读模式
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1、简述

本文主要讲述 C++开源库 CSerialPort 的使用，主要在Windows和Linux两个平台分别应用。
有需要了解 C++开源库 CSerialPort 的小同伴，可以先去这边文章下了解下为什么要用 CSerialPort 和 CSerialPort 的介绍。
文章链接：【C/C++】轻量级跨平台 开源串口库 CSerialPort
2、效果图

2.1、命令行（不带GUI）

Windows效果如下，Linux一样可以运行，只是串口名称不一样。因为还要切换系统，我就不截Linux图了

2.2、GUI（这里用的Qt）

放开pro内里的这两行即可，解释掉就是命令行，Windows效果图如下。Linux下这台没装Qt，没尝试，串口名称改下问题不大。
  1. DEFINES += SHASHIDI_GUI
  2. CONFIG += SHASHIDI_GUI
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3、串口硬件知识普及


因为只测试串口的收发消息，把发送和吸收的两个端口短接。找一个杜邦线直接串联起来就可以，这样发什么消息，就收到什么消息。如图是1口和3口短接。
4、焦点实现

4.1、Qt的pro文件

Qt 的 pro 文件，如下。这里我用了一个宏来区分，一个是Pro的区分，一个是代码内里的区分
  1. DEFINES += SHASHIDI_GUI
  2. CONFIG += SHASHIDI_GUI
  3. SHASHIDI_GUI{QT       += core guigreaterThan(QT_MAJOR_VERSION, 4): QT += widgetsTARGET = Demo_SerialPortSOURCES += main.cpp \    mainwindow.cppFORMS += \    mainwindow.uiHEADERS += \    mainwindow.h} else {TARGET = Demo_SerialPort_ConsoleCONFIG += console c++11CONFIG -= app_bundleCONFIG -= qtHEADERS += \    jsserialport.hSOURCES += main.cpp \    jsserialport.cpp}TEMPLATE = appDEFINES += _UNICODEinclude($$PWD/CSerialPort/CSerialPort.pri)win32*: {    #about windows reg    LIBS += $$PWD/CSerialPort/windows/x86/advapi32.lib    #about windows setupapi    LIBS += $$PWD/CSerialPort/windows/x86/setupapi.lib}CONFIG(debug, debug|release) {    DESTDIR = $$PWD/bin_debug} else {    DESTDIR = $$PWD/bin_release}HEADERS += \    CommonSerialPort.h
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4.2、main文件

  1. #ifdef SHASHIDI_GUI
  2. #include "mainwindow.h"
  3. #include <QApplication>
  4. #else
  5. #include "jsserialport.h"
  6. #include <iostream>
  7. using namespace std;
  8. #endif
  11. #ifdef SHASHIDI_GUI
  12. int main(int argc, char *argv[])
  13. {
  14.     QApplication a(argc, argv);
  15.     MainWindow w;
  16.     w.show();
  18.     return a.exec();
  19. #else
  20. int main()
  21. {
  22.     JSSerialPort js;
  23.     js.doWork();
  25.     return 0;
  26. #endif
  27. }
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4.3、SSerialPort类

4.3.1、头文件

  1. #ifndef SSERIALPORT_H
  2. #define SSERIALPORT_H
  4. #include <iostream>
  5. #include "CSerialPort/SerialPort.h"
  6. #include "CSerialPort/SerialPortInfo.h"
  7. #include "CommonSerialPort.h"
  9. using namespace std;
  10. using namespace itas109;
  12. class SSerialPort : public CSerialPortListener
  13. {
  14. public:
  15.     SSerialPort();
  17.     // 工作
  18.     void doWork();
  20.     // 校验
  21.     void doCheck(char receiveBuf[], int receiveSize);
  23.     // 串口信号
  24.     bool m_flag_serialport = false;
  26.     // 发出消息
  27.     void sendMessage();
  29.     // 读取全部数据
  30.     void readAllData();
  32. private:
  33.     // 获取端口列表
  34.     vector<SerialPortInfo> getSerialPortList();
  36.     // 打开串口
  37.     bool openSerialPort(const char *portName,
  38.                         int baudRate = 9600,
  39.                         itas109::Parity parity = itas109::Parity::ParityNone,
  40.                         itas109::DataBits dataBits = itas109::DataBits::DataBits8,
  41.                         itas109::StopBits stopbits = itas109::StopBits::StopOne,
  42.                         itas109::FlowControl flowControl = itas109::FlowControl::FlowNone,
  43.                         unsigned int readBufferSize = 4096, int timeout = 0);
  45.     // 关闭串口
  46.     void closeSerialPort();
  48.     // 收到消息
  49.     void onReadEvent(const char *portName, unsigned int readBufferLen);
  51.     // 设置串口模式  同步\异步
  52.     void setSync(bool isSync);
  54.     // 设置DTR
  55.     void setDTR(bool isDTR);
  57.     // 设置RTS
  58.     void setRTS(bool isRTS);
  60.     // 初始化串口
  61.     void initSerialPort();
  63.     // 初始化发送消息
  64.     void initSendMessage();
  65. private:
  66.     CSerialPort m_SerialPort;   // 串口
  68.     struct TERMINAL_TO_FIRECONTROL *m_terminal_to_firecontrol;    // 终端到火控
  69.     struct FIRECONTROL_TO_TERMINAL *m_firecontrol_to_terminal;    // 火控到终端
  71.     int m_packet_frame_count = 0;   // 报文帧号累计
  72.     int m_buffer_size = 2048;
  73.     int m_frame_length = 34;
  74.     unsigned char m_firstChar = 161;    // 0xA1
  75.     unsigned char m_secondChar = 177;   // 0xB1
  76.     unsigned char m_thirdChar = 50;     // 0x32
  77.     int m_tx = 0;
  78.     int m_rx = 0;
  79. };
  81. #endif // SSERIALPORT_H
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4.3.2、源文件

  1. #include "sserialport.h"
  3. #include <iostream>
  4. #include <iomanip>
  6. SSerialPort::SSerialPort()
  7. {
  8. }
  10. void SSerialPort::doWork()
  11. {
  12.     cout << "doWork: initSerialPort" << endl;
  13.     initSerialPort();
  14.     cout << "doWork: initSendMessage" << endl;
  15.     initSendMessage();
  16.     cout << "doWork: sendMessage" << endl;
  17.     sendMessage();
  18.     cout << "doWork: readAllData" << endl;
  19.     readAllData();
  20. }
  22. void SSerialPort::doCheck(char receiveBuf[], int receiveSize)
  23. {
  24.     cout << "doCheck: start" << receiveSize << endl;
  25.     for(int i = 0; i < receiveSize; i++) {
  26.         if( ( receiveSize - i ) < m_frame_length ) { //不足一帧则退出
  27.             break;
  28.         }
  29.         cout << "doCheck1: " << receiveBuf[i] << endl;
  30.         if( (receiveBuf[i] == m_secondChar) && (receiveBuf[i+1] == m_firstChar) ) { //发现帧头，取出一帧校验
  31.             cout << "doCheck: " << receiveBuf[i] << endl;
  32.             string aa(receiveBuf);
  33.             cout << "doCheck: " << aa << endl;
  34.             string tmp_s(aa, i, m_frame_length);
  35.             cout << "doCheck: " << tmp_s << endl;
  36.             int data = 0;
  37.             for(int i = 0; i < (m_frame_length - 1); i++) {
  38.                 data = data + tmp_s[i];
  39.             }
  40.             unsigned char data1 = data & 0x7f;
  41.             if(data1 != tmp_s[m_frame_length - 1]) {
  42.                 i = i + 1;
  43.                 continue;
  44.             }
  45.             //校验通过，取值
  46.             m_firecontrol_to_terminal->send_address = tmp_s[0];
  47.             m_firecontrol_to_terminal->receive_address = tmp_s[1];
  48.             m_firecontrol_to_terminal->packet_length = tmp_s[2];
  49.             m_firecontrol_to_terminal->packet_frame_number_low = tmp_s[3];
  50.             m_firecontrol_to_terminal->packet_frame_number_high = tmp_s[4];
  51.             m_firecontrol_to_terminal->light_aiming_status_word_1.all = tmp_s[5];
  52.             m_firecontrol_to_terminal->light_aiming_status_word_2.all = tmp_s[6];
  53.             m_firecontrol_to_terminal->laser_ranging_distance_low = tmp_s[7];
  54.             m_firecontrol_to_terminal->laser_ranging_distance_high = tmp_s[8];
  55.             m_firecontrol_to_terminal->servo_status_word_1.all = tmp_s[9];
  56.             m_firecontrol_to_terminal->servo_status_word_2.all = tmp_s[10];
  57.             m_firecontrol_to_terminal->speed_of_chassis = tmp_s[11];
  58.             m_firecontrol_to_terminal->chassis_battery_power = tmp_s[12];
  59.             m_firecontrol_to_terminal->front_flip_arm_angle_low = tmp_s[13];
  60.             m_firecontrol_to_terminal->front_flip_arm_angle_high = tmp_s[14];
  61.             m_firecontrol_to_terminal->back_flip_arm_angle_low = tmp_s[15];
  62.             m_firecontrol_to_terminal->back_flip_arm_angle_high = tmp_s[16];
  63.             m_firecontrol_to_terminal->relay_status_word.all = tmp_s[17];
  64.             m_firecontrol_to_terminal->light_azimuth_position_low = tmp_s[18];
  65.             m_firecontrol_to_terminal->light_azimuth_position_high = tmp_s[19];
  66.             m_firecontrol_to_terminal->light_pitch_position_low = tmp_s[20];
  67.             m_firecontrol_to_terminal->light_pitch_position_high = tmp_s[21];
  68.             m_firecontrol_to_terminal->weapon_azimuth_position_low = tmp_s[22];
  69.             m_firecontrol_to_terminal->weapon_azimuth_position_high = tmp_s[23];
  70.             m_firecontrol_to_terminal->weapon_pitch_position_low = tmp_s[24];
  71.             m_firecontrol_to_terminal->weapon_pitch_position_high = tmp_s[25];
  72.             m_firecontrol_to_terminal->platform_pitch = tmp_s[26];
  73.             m_firecontrol_to_terminal->platform_roll_angle = tmp_s[27];
  74.             m_firecontrol_to_terminal->residual_bullet_low = tmp_s[28];
  75.             m_firecontrol_to_terminal->residual_bullet_high = tmp_s[29];
  76.             m_firecontrol_to_terminal->rsve1 = tmp_s[30];
  77.             m_firecontrol_to_terminal->rsve2 = tmp_s[31];
  78.             m_firecontrol_to_terminal->rsve3 = tmp_s[32];
  79.             m_firecontrol_to_terminal->check = tmp_s[33];
  80.             cout << "doCheck: send_address" << tmp_s << endl;
  81. //            emit sig_check(data1);
  82.         }
  83.     }
  84. }
  86. vector<SerialPortInfo> SSerialPort::getSerialPortList()
  87. {
  88.     vector<SerialPortInfo> portNameList = CSerialPortInfo::availablePortInfos();
  90.     for (size_t i = 0; i < portNameList.size(); i++) {
  91.         cout << "getSerialPortList:" << portNameList[i].portName << endl;
  92.     }
  93.     if ( portNameList.size() == 0 ) {
  94.         cout << "getSerialPortList is Null" << endl;
  95.     }
  96.     return portNameList;
  97. }
  99. bool SSerialPort::openSerialPort(const char *portName, int baudRate, Parity parity, DataBits dataBits, StopBits stopbits, FlowControl flowControl, unsigned int readBufferSize, int timeout)
  100. {
  101.     cout << "openSerialPort-----------------------------------start" << endl;
  102.     bool isOpen = false;
  103.     if(getSerialPortList().size() > 0) {
  104.         m_SerialPort.init(portName, baudRate, parity, dataBits, stopbits, flowControl, readBufferSize);
  106.         cout << "portName:" << portName << endl;
  107.         cout << "baudRate:" << baudRate << endl;
  108.         cout << "parity:" << parity << endl;
  109.         cout << "dataBits:" << dataBits << endl;
  110.         cout << "stopbits:" << stopbits << endl;
  111.         cout << "flowControl:" << flowControl << endl;
  112.         cout << "readBufferSize:" << readBufferSize << endl;
  113.         m_SerialPort.setReadIntervalTimeout(timeout);
  114.         isOpen = m_SerialPort.open();
  115.         if(!isOpen) {
  116.             cerr << "open port error" << m_SerialPort.getLastError() << m_SerialPort.getLastErrorMsg() << endl;
  117.         }
  118.     } else {
  119.         cerr << "This Computer no avaiable port!" << endl;
  120.     }
  121.     cout << "openSerialPort-----------------------------------end" << endl;
  122.     return isOpen;
  123. }
  125. void SSerialPort::closeSerialPort()
  126. {
  127.     m_SerialPort.close();
  128. }
  130. void SSerialPort::onReadEvent(const char *portName, unsigned int readBufferLen)
  131. {
  132.     cout << "onReadEvent:" << portName << readBufferLen << endl;
  133.     if(readBufferLen > 0) {
  134.         unsigned long recLen = 0;
  135.         char * str = NULL;
  136.         str = new char[readBufferLen];
  137.         recLen = m_SerialPort.readData(str, readBufferLen);
  139.         if(recLen > 0) {
  140.             // TODO: 中文需要由两个字符拼接，否则显示为空""
  141.             cout << "onReadEvent:" << portName << str << recLen << endl;
  142.             doCheck(str, recLen);
  143.         } else {
  145.         }
  147.         if(str) {
  148.             delete[] str;
  149.             str = NULL;
  150.         }
  151.     }
  152. }
  154. void SSerialPort::sendMessage()
  155. {
  156.     char message[50];
  157.     if(m_SerialPort.isOpen()) {
  158.         // 伺服旋转限制
  160.         // 高位低位赋值
  161.         m_terminal_to_firecontrol->packet_frame_number_low = m_packet_frame_count & 0x00ff;
  162.         m_terminal_to_firecontrol->packet_frame_number_high = (m_packet_frame_count >> 8) & 0x00ff;
  164.         message[0] = m_firstChar;
  165.         message[1] = m_secondChar;
  166.         message[2] = m_thirdChar;
  167.         cout << "m_terminal_to_firecontrol->packet_frame_number_low: " << m_terminal_to_firecontrol->packet_frame_number_low << endl;
  168.         message[3] = m_terminal_to_firecontrol->packet_frame_number_low;
  169.         message[4] = m_terminal_to_firecontrol->packet_frame_number_high;
  170.         message[5] = m_terminal_to_firecontrol->light_aiming_control_word_1.all;//变化
  171.         message[6] = m_terminal_to_firecontrol->light_aiming_control_word_2.all;
  172.         message[7] = m_terminal_to_firecontrol->light_aiming_control_word_3.all;
  173.         message[8] = m_terminal_to_firecontrol->servo_control_word_1.all;
  174.         message[9] = m_terminal_to_firecontrol->servo_control_word_2.all;
  175.         message[10] = m_terminal_to_firecontrol->chassis_control_word_1.all;
  176.         message[11] = m_terminal_to_firecontrol->relay_control_word.all;
  177.         message[12] = m_terminal_to_firecontrol->light_azimuth_rotation_speed_low;
  178.         message[13] = m_terminal_to_firecontrol->light_azimuth_rotation_speed_high;
  179.         message[14] = m_terminal_to_firecontrol->light_pitch_rotation_speed_low;
  180.         message[15] = m_terminal_to_firecontrol->light_pitch_rotation_speed_high;
  181.         message[16] = m_terminal_to_firecontrol->fan_sweep_azimuth_setting_Angle;
  182.         message[17] = m_terminal_to_firecontrol->fan_sweep_azimuth_fu_setting_Angle;
  183.         message[18] = m_terminal_to_firecontrol->fan_sweep_pitch_setting_Angle;
  184.         message[19] = m_terminal_to_firecontrol->fan_sweep_pitch_fu_setting_Angle;
  185.         message[20] = m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_low;
  186.         message[21] = m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_high;
  187.         message[22] = m_terminal_to_firecontrol->quick_boot_pitch_coordinates_low;
  188.         message[23] = m_terminal_to_firecontrol->quick_boot_pitch_coordinates_high;
  189.         message[24] = m_terminal_to_firecontrol->left_track_speed_low;
  190.         message[25] = m_terminal_to_firecontrol->left_track_speed_high;
  191.         message[26] = m_terminal_to_firecontrol->right_track_speed_low;
  192.         message[27] = m_terminal_to_firecontrol->right_track_speed_high;
  193.         message[28] = m_terminal_to_firecontrol->forward_arm_speed;
  194.         message[29] = m_terminal_to_firecontrol->back_arm_speed;
  195.         message[30] = m_terminal_to_firecontrol->residual_low;
  196.         message[31] = m_terminal_to_firecontrol->residual_high;
  197.         message[32] = m_terminal_to_firecontrol->azimuth_correction;
  198.         message[33] = m_terminal_to_firecontrol->pitch_correction;
  199.         message[34] = m_terminal_to_firecontrol->delay_correction;
  200.         message[35] = m_terminal_to_firecontrol->light_aiming_control_word_4.all;
  201.         message[36] = m_terminal_to_firecontrol->light_aiming_control_word_5.all;
  202.         message[37] = m_terminal_to_firecontrol->servo_azimuth_rotation_speed_low;
  203.         message[38] = m_terminal_to_firecontrol->servo_azimuth_rotation_speed_high;
  204.         message[39] = m_terminal_to_firecontrol->servo_pitch_rotation_speed_low;
  205.         message[40] = m_terminal_to_firecontrol->servo_pitch_rotation_speed_high;
  206.         message[41] = m_terminal_to_firecontrol->firing_servo_start_low;
  207.         message[42] = m_terminal_to_firecontrol->firing_servo_start_high;
  208.         message[43] = m_terminal_to_firecontrol->firing_servo_stop_low;
  209.         message[44] = m_terminal_to_firecontrol->firing_servo_stop_high;
  210.         message[45] = m_terminal_to_firecontrol->firing_insurance_close_low;
  211.         message[46] = m_terminal_to_firecontrol->firing_insurance_close_high;
  212.         message[47] = m_terminal_to_firecontrol->firing_insurance_open_low;
  213.         message[48] = m_terminal_to_firecontrol->firing_insurance_open_high;
  215.         int data = 0;
  216.         for( int i = 0; i < 49; i++ ) {
  217.             cout << "sendMessage: " << message[i] << endl;
  218.             data = data + message[i];
  219.         }
  220.         message[49] = data & 0x7f;
  222.         int length = sizeof(message)/sizeof(char);
  223.         if( !m_flag_serialport ) {
  224.             // 支持中文并获取正确的长度
  225.             m_SerialPort.writeData(message, length);
  226.         } else {
  228.         }
  229.         if( m_packet_frame_count >= 0xffff ) {
  230.             m_packet_frame_count = 1;
  231.         } else {
  232.             m_packet_frame_count++;
  233.         }
  234.         cout << "sendMessage:" << message << " length: " << length << endl;
  235.     } else {
  236.         cerr << "please open serial port first!" << endl;
  237.     }
  238. }
  240. void SSerialPort::readAllData()
  241. {
  242.     int recLen = 0;
  243.     char str[4096] = {0};
  244.     recLen = m_SerialPort.readAllData(str);
  246.     if(recLen > 0) {
  247.         // TODO: 中文需要由两个字符拼接，否则显示为空""
  248.         cout << "readAllData:" << str << " length: " << recLen << endl;
  249.         doCheck(str, recLen);
  250.     } else {
  252.     }
  253. }
  255. void SSerialPort::setSync(bool isSync)
  256. {
  257.     if(isSync) {
  258.         m_SerialPort.setOperateMode(itas109::SynchronousOperate);
  259.     } else {
  260.         m_SerialPort.setOperateMode(itas109::AsynchronousOperate);
  261.     }
  262. }
  264. void SSerialPort::setDTR(bool isDTR)
  265. {
  266.     m_SerialPort.setDtr(isDTR);
  267. }
  269. void SSerialPort::setRTS(bool isRTS)
  270. {
  271.     m_SerialPort.setRts(isRTS);
  272. }
  274. void SSerialPort::initSerialPort()
  275. {
  276. #ifdef WIN32
  277.     this->openSerialPort("COM3", 115200, itas109::ParityNone,
  278.                          itas109::DataBits8, itas109::StopOne);
  279. #else
  280.     this->openSerialPort("/dev/ttyUSB0", 115200, itas109::ParityNone,
  281.                          itas109::DataBits8, itas109::StopOne);
  282. #endif
  283. }
  285. void SSerialPort::initSendMessage()
  286. {
  287.     cout << "initSendMessage-----------------------------------start" << endl;
  288.     m_packet_frame_count = 1;
  290.     m_terminal_to_firecontrol = (struct TERMINAL_TO_FIRECONTROL*)malloc(sizeof(struct TERMINAL_TO_FIRECONTROL));
  291.     m_firecontrol_to_terminal = (struct FIRECONTROL_TO_TERMINAL*)malloc(sizeof(struct FIRECONTROL_TO_TERMINAL));
  292.     m_terminal_to_firecontrol->send_address = m_firstChar;
  293.     m_terminal_to_firecontrol->receive_address = m_secondChar;
  294.     m_terminal_to_firecontrol->packet_length = m_thirdChar;
  295.     m_terminal_to_firecontrol->packet_frame_number_low = 1;
  296.     std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(m_terminal_to_firecontrol->packet_frame_number_low)<<endl;
  297.     m_terminal_to_firecontrol->packet_frame_number_high = 0;
  298.     m_terminal_to_firecontrol->light_aiming_control_word_1.all = 0x01;
  299.     m_terminal_to_firecontrol->light_aiming_control_word_2.all = 0x00;
  300.     m_terminal_to_firecontrol->light_aiming_control_word_3.all = 0x00;
  301.     m_terminal_to_firecontrol->servo_control_word_1.all = 0x09;
  302.     m_terminal_to_firecontrol->servo_control_word_2.all = 0x02;
  303.     m_terminal_to_firecontrol->chassis_control_word_1.all = 0x00;
  304.     m_terminal_to_firecontrol->relay_control_word.all = 0x00;
  305.     m_terminal_to_firecontrol->light_azimuth_rotation_speed_low = 0x00;
  306.     m_terminal_to_firecontrol->light_azimuth_rotation_speed_high = 0X00;
  307.     m_terminal_to_firecontrol->light_pitch_rotation_speed_low = 0;
  308.     m_terminal_to_firecontrol->light_pitch_rotation_speed_high = 0;
  309.     m_terminal_to_firecontrol->fan_sweep_azimuth_setting_Angle = 0;
  310.     m_terminal_to_firecontrol->fan_sweep_azimuth_fu_setting_Angle = 0;
  311.     m_terminal_to_firecontrol->fan_sweep_pitch_setting_Angle = 0;
  312.     m_terminal_to_firecontrol->fan_sweep_pitch_fu_setting_Angle = 0;
  313.     m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_low = 0;
  314.     m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_high = 0;
  315.     m_terminal_to_firecontrol->quick_boot_pitch_coordinates_low = 0;
  316.     m_terminal_to_firecontrol->quick_boot_pitch_coordinates_high = 0;
  317.     m_terminal_to_firecontrol->left_track_speed_low = 0;
  318.     m_terminal_to_firecontrol->left_track_speed_high = 0;
  319.     m_terminal_to_firecontrol->right_track_speed_low = 0;
  320.     m_terminal_to_firecontrol->right_track_speed_high = 0;
  321.     m_terminal_to_firecontrol->forward_arm_speed = 0;
  322.     m_terminal_to_firecontrol->back_arm_speed = 0;
  323.     m_terminal_to_firecontrol->residual_low = 0;
  324.     m_terminal_to_firecontrol->residual_high = 0;
  325.     m_terminal_to_firecontrol->azimuth_correction = 0;
  326.     m_terminal_to_firecontrol->pitch_correction = 0;
  327.     m_terminal_to_firecontrol->delay_correction = 0;
  328.     m_terminal_to_firecontrol->light_aiming_control_word_4.all = 0;
  329.     m_terminal_to_firecontrol->light_aiming_control_word_5.all = 0;
  330.     m_terminal_to_firecontrol->servo_azimuth_rotation_speed_low = 0x00;
  331.     m_terminal_to_firecontrol->servo_azimuth_rotation_speed_high = 0x00;
  332.     m_terminal_to_firecontrol->servo_pitch_rotation_speed_low = 0;
  333.     m_terminal_to_firecontrol->servo_pitch_rotation_speed_high = 0;
  334.     m_terminal_to_firecontrol->firing_servo_start_low = 0;
  335.     m_terminal_to_firecontrol->firing_servo_start_high = 0;
  336.     m_terminal_to_firecontrol->firing_servo_stop_low = 0;
  337.     m_terminal_to_firecontrol->firing_servo_stop_high = 0;
  338.     m_terminal_to_firecontrol->firing_insurance_close_low = 0;
  339.     m_terminal_to_firecontrol->firing_insurance_close_high = 0;
  340.     m_terminal_to_firecontrol->firing_insurance_open_low = 0;
  341.     m_terminal_to_firecontrol->firing_insurance_open_high = 0;;
  342.     m_terminal_to_firecontrol->check = 0;
  343.     cout << "initSendMessage-----------------------------------end" << endl;
  344. }
复制代码
4.4、Linux下的CMakeLists.txt

  1. cmake_minimum_required(VERSION 3.0.2)
  2. project(electro_optical_system)
  4. ## Compile as C++11, supported in ROS Kinetic and newer
  5. add_compile_options(-std=c++11)
  7. ## Find catkin macros and libraries
  8. ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9. ## is used, also find other catkin packages
  10. find_package(catkin REQUIRED COMPONENTS
  11.   roscpp
  12.   rospy
  13.   std_msgs
  14. )
  16. ## System dependencies are found with CMake's conventions
  17. # find_package(Boost REQUIRED COMPONENTS system)
  18. find_package(OpenCV REQUIRED)
  20. ## Uncomment this if the package has a setup.py. This macro ensures
  21. ## modules and global scripts declared therein get installed
  22. ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
  23. # catkin_python_setup()
  25. ################################################
  26. ## Declare ROS messages, services and actions ##
  27. ################################################
  29. ## To declare and build messages, services or actions from within this
  30. ## package, follow these steps:
  31. ## * Let MSG_DEP_SET be the set of packages whose message types you use in
  32. ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
  33. ## * In the file package.xml:
  34. ##   * add a build_depend tag for "message_generation"
  35. ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
  36. ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
  37. ##     but can be declared for certainty nonetheless:
  38. ##     * add a exec_depend tag for "message_runtime"
  39. ## * In this file (CMakeLists.txt):
  40. ##   * add "message_generation" and every package in MSG_DEP_SET to
  41. ##     find_package(catkin REQUIRED COMPONENTS ...)
  42. ##   * add "message_runtime" and every package in MSG_DEP_SET to
  43. ##     catkin_package(CATKIN_DEPENDS ...)
  44. ##   * uncomment the add_*_files sections below as needed
  45. ##     and list every .msg/.srv/.action file to be processed
  46. ##   * uncomment the generate_messages entry below
  47. ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
  49. ## Generate messages in the 'msg' folder
  50. # add_message_files(
  51. #   FILES
  52. #   Message1.msg
  53. #   Message2.msg
  54. # )
  56. ## Generate services in the 'srv' folder
  57. # add_service_files(
  58. #   FILES
  59. #   Service1.srv
  60. #   Service2.srv
  61. # )
  63. ## Generate actions in the 'action' folder
  64. # add_action_files(
  65. #   FILES
  66. #   Action1.action
  67. #   Action2.action
  68. # )
  70. ## Generate added messages and services with any dependencies listed here
  71. # generate_messages(
  72. #   DEPENDENCIES
  73. #   std_msgs
  74. # )
  76. ################################################
  77. ## Declare ROS dynamic reconfigure parameters ##
  78. ################################################
  80. ## To declare and build dynamic reconfigure parameters within this
  81. ## package, follow these steps:
  82. ## * In the file package.xml:
  83. ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
  84. ## * In this file (CMakeLists.txt):
  85. ##   * add "dynamic_reconfigure" to
  86. ##     find_package(catkin REQUIRED COMPONENTS ...)
  87. ##   * uncomment the "generate_dynamic_reconfigure_options" section below
  88. ##     and list every .cfg file to be processed
  90. ## Generate dynamic reconfigure parameters in the 'cfg' folder
  91. # generate_dynamic_reconfigure_options(
  92. #   cfg/DynReconf1.cfg
  93. #   cfg/DynReconf2.cfg
  94. # )
  96. ###################################
  97. ## catkin specific configuration ##
  98. ###################################
  99. ## The catkin_package macro generates cmake config files for your package
  100. ## Declare things to be passed to dependent projects
  101. ## INCLUDE_DIRS: uncomment this if your package contains header files
  102. ## LIBRARIES: libraries you create in this project that dependent projects also need
  103. ## CATKIN_DEPENDS: catkin_packages dependent projects also need
  104. ## DEPENDS: system dependencies of this project that dependent projects also need
  105. catkin_package(
  106. #  INCLUDE_DIRS include
  107. #  LIBRARIES electro_optical_system
  108. #  CATKIN_DEPENDS roscpp rospy std_msgs
  109. #  DEPENDS system_lib
  110. )
  112. ###########
  113. ## Build ##
  114. ###########
  116. ## Specify additional locations of header files
  117. ## Your package locations should be listed before other locations
  118. include_directories(
  119. # include
  120.   ${catkin_INCLUDE_DIRS}
  121. )
  123. ## Declare a C++ library
  124. # add_library(${PROJECT_NAME}
  125. #   src/${PROJECT_NAME}/electro_optical_system.cpp
  126. # )
  128. ## Add cmake target dependencies of the library
  129. ## as an example, code may need to be generated before libraries
  130. ## either from message generation or dynamic reconfigure
  131. # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  133. ## Declare a C++ executable
  134. ## With catkin_make all packages are built within a single CMake context
  135. ## The recommended prefix ensures that target names across packages don't collide
  136. # add_executable(${PROJECT_NAME}_node src/electro_optical_system_node.cpp)
  138. ## Rename C++ executable without prefix
  139. ## The above recommended prefix causes long target names, the following renames the
  140. ## target back to the shorter version for ease of user use
  141. ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
  142. # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
  144. ## Add cmake target dependencies of the executable
  145. ## same as for the library above
  146. # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  148. ## Specify libraries to link a library or executable target against
  149. # target_link_libraries(${PROJECT_NAME}_node
  150. #   ${catkin_LIBRARIES}
  151. # )
  153. #############
  154. ## Install ##
  155. #############
  157. # all install targets should use catkin DESTINATION variables
  158. # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
  160. ## Mark executable scripts (Python etc.) for installation
  161. ## in contrast to setup.py, you can choose the destination
  162. # catkin_install_python(PROGRAMS
  163. #   scripts/my_python_script
  164. #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  165. # )
  167. ## Mark executables for installation
  168. ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
  169. # install(TARGETS ${PROJECT_NAME}_node
  170. #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  171. # )
  173. ## Mark libraries for installation
  174. ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
  175. # install(TARGETS ${PROJECT_NAME}
  176. #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  177. #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  178. #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
  179. # )
  181. ## Mark cpp header files for installation
  182. # install(DIRECTORY include/${PROJECT_NAME}/
  183. #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  184. #   FILES_MATCHING PATTERN "*.h"
  185. #   PATTERN ".svn" EXCLUDE
  186. # )
  188. ## Mark other files for installation (e.g. launch and bag files, etc.)
  189. # install(FILES
  190. #   # myfile1
  191. #   # myfile2
  192. #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  193. # )
  195. #############
  196. ## Testing ##
  197. #############
  199. ## Add gtest based cpp test target and link libraries
  200. # catkin_add_gtest(${PROJECT_NAME}-test test/test_electro_optical_system.cpp)
  201. # if(TARGET ${PROJECT_NAME}-test)
  202. #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
  203. # endif()
  205. ## Add folders to be run by python nosetests
  206. # catkin_add_nosetests(test)
  207. add_executable(EOS src/main.cpp src/jsserialport.cpp src/CSerialPort/SerialPort.cpp src/CSerialPort/SerialPortInfo.cpp  src/CSerialPort/SerialPortUnixBase.cpp src/CSerialPort/SerialPortBase.cpp  src/CSerialPort/SerialPortInfoUnixBase.cpp  src/CSerialPort/SerialPortInfoBase.cpp)
  208. target_link_libraries(EOS ${catkin_LIBRARIES}
  209.                                 ${OpenCV_LIBS})
  210. add_dependencies(EOS ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
复制代码
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