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#include "StdAfx.h"
#include <iostream>
#define WIN32_LEAN_AND_MEAN //for GetCommState command
#include "Windows.h"
#include <WinBase.h>
using namespace std;
int main(){
char init[]="";
HANDLE serialHandle;
// Open serial port
serialHandle = CreateFile("\\\\.\\COM8", GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
// Do some basic settings
DCB serialParams;
DWORD read, written;
serialParams.DCBlength = sizeof(serialParams);
if((GetCommState(serialHandle, &serialParams)==0))
{
printf("Get configuration port has a problem.");
return FALSE;
}
GetCommState(serialHandle, &serialParams);
serialParams.BaudRate = CBR_57600;
serialParams.ByteSize = 8;
serialParams.StopBits = ONESTOPBIT;
serialParams.Parity = NOPARITY;
//set flow control="hardware"
serialParams.fOutX=false;
serialParams.fInX=false;
serialParams.fOutxCtsFlow=true;
serialParams.fOutxDsrFlow=true;
serialParams.fDsrSensitivity=true;
serialParams.fRtsControl=RTS_CONTROL_HANDSHAKE;
serialParams.fDtrControl=DTR_CONTROL_HANDSHAKE;
if (!SetCommState(serialHandle, &serialParams))
{
printf("Set configuration port has a problem.");
return FALSE;
}
GetCommState(serialHandle, &serialParams);
// Set timeouts
COMMTIMEOUTS timeout = { 0 };
timeout.ReadIntervalTimeout = 3;
timeout.ReadTotalTimeoutConstant = 3;
timeout.ReadTotalTimeoutMultiplier = 3;
timeout.WriteTotalTimeoutConstant = 3;
timeout.WriteTotalTimeoutMultiplier = 3;
SetCommTimeouts(serialHandle, &timeout);
if (!SetCommTimeouts(serialHandle, &timeout))
{
printf("Set configuration port has a problem.");
return FALSE;
}
//write packet to poll data from robot
WriteFile(serialHandle,">*>p4",sizeof(">*>p4"),&written,NULL);
//check whether the data can be received
char buffer[257];
if (!ReadFile(serialHandle,buffer,sizeof(buffer),&read,NULL))
{
printf("Reading data to port has a problem.");
return FALSE;
}
int t;
bool error;
DWORD numberOfBytesRead=0;
DWORD err = GetLastError();
for (int jj=0;jj<10;jj++)
{
error=ReadFile(serialHandle,LPVOID(buffer),255,&numberOfBytesRead,NULL);
buffer[numberOfBytesRead]=0;
cout<<buffer<<endl;
cout<<error;
}
CloseHandle(serialHandle);
return 0;
}
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