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平台阶段性结束

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1、新增了加速度，减速度，运行速度读配置档位
2、优化了串口通讯，待继续调试
3、测试用例，新增了 DCCScanStart() 和 DCCScanStop()的调试
This commit is contained in:
zhengxuan.zhang
2022-11-25 10:51:04 +08:00
parent 341aaa08ff
commit b94d85b393
9 changed files with 453 additions and 220 deletions
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HSI_HexagonMI_EF3/SevenOcean/CMMIO_BASE.CPP
+2 -2
View File
@@ -215,14 +215,14 @@ void CMMIO::LineReceive(char* s, int nbCharAvail, BOOL ignoreDelimiter /*= FALSE
{
if (nbCharAvail != -1)
{
//TRACE(_T("LineReceive got %d chars \n"),nbCharAvail);
TRACE(_T("LineReceive got %d chars \n"),nbCharAvail);
char c;
for (int i = 0; i < nbCharAvail; i++)
{
c = s[i];
m_InputBuffer[CurrentPointer++] = c;
// only add a packet if we have a delimiter
// only add a packet if we have a delimiter ·Ö¸ô·û
if ((!m_usesTerminator && i == nbCharAvail - 1) || (m_usesTerminator && c == m_terminator) ||
ignoreDelimiter)
{
HSI_HexagonMI_EF3/SevenOcean/CMMIO_BASE.H
+1 -1
View File
@@ -6,7 +6,7 @@
#define MAX_OUTPUT_BUFFER_SIZE 2048
#define MAX_RECIEVE_BUFFER_SIZE 3000
#define MAX_RECIEVE_BUFFER_SIZE 30000
// TCP, serial style routines
struct SerialList
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP
+214 -66
View File
@@ -6,7 +6,7 @@
#include <string>
using namespace std;
using namespace std;
//////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
#define LONG_TIMEOUT 5000
@@ -178,7 +178,8 @@ DWORD CPSerial::Open()
// Setup the port according to the stored parameters
if (ProgramPort(m_Port, m_Baud, m_Parity, m_Bits, m_StopBits, m_HandShake))
{
TRACE(_T("CmmIO> Port OPEN %s\n", m_Port), Ok);
TRACE(_T("CmmIO> Port OPEN %s, m_Baud\n", m_Port, m_Baud), Ok);
printf("m_Baud: %d\n", m_Baud);
// Setup the timeouts
CommTimeOut.ReadIntervalTimeout = 25;
CommTimeOut.ReadTotalTimeoutMultiplier = 1;
@@ -486,6 +487,76 @@ int CPSerial::ReadBlock(BYTE* abIn, int MaxLength)
// ReceiveTask() : Internal function, this runs as a thread and provides the
// OnRecieve and OnTransmit events
//void CPSerial::ReceiveTask(void)
//{
// //DWORD BytesWritten;
// DWORD Events;
// unsigned long State;
//
// do
// {
// Sleep(2);
// BYTE abIn[MAXBLOCK];
// int len;
// len = ReadBlock(abIn, MAXBLOCK);
// if ((len > 0) && (len < MAX_RECIEVE_BUFFER_SIZE))
// {
// //memset(m_RecvData, 0, m_iRecvBytes);
// memcpy(m_RecvData, abIn, len);
// m_iRecvBytes = len;
// m_iRecvState = TRUE;
// }
// // Events=0;
// //
// // // Wait for a comm event
// // State=WaitCommEvent(m_PortHandle,&Events,&m_ReceiveOLap);
// // if(!State)
// // {
// // // Since we are using overlapping IO we may have to wait
// // // for the result
// // if(GetLastError() == ERROR_IO_PENDING)
// // GetOverlappedResult(m_PortHandle,&m_ReceiveOLap,&State,TRUE);
// // }
// ////m_iRecvState=FALSE;
// // // If we have a result then OK otherwise the event was probable
// // // the serial port being closed and we shall exit the loop
// // if( State && IsOpen( ) )
// // {
// // // Check the events and act accordingly
// // if( Events & EV_RXCHAR )
// // {
// // OnReceive( );
// // }
// // //ZH
// // /*
// // if( Events & EV_TXEMPTY )
// // {
// // if( m_TXHead )
// // {
// // GetOverlappedResult(m_PortHandle,&m_TransmitOLap,&BytesWritten,TRUE);
// // if( BytesWritten )
// // AddToDebug( m_TXHead->Buffer, BytesWritten, 2 );
// // OnTransmit( 0, BytesWritten );
// // SendBuffer(TRUE);
// // }
// // }
// // */
// // if(Events & EV_BREAK)
// // TRACE(_T("Break detected\n"));
// // if(Events & EV_CTS)
// // TRACE(_T("CTS Changed State\n"));
// // if(Events & EV_DSR)
// // TRACE(_T("DSR Changed State\n"));
// // if(Events & EV_ERR)
// // TRACE(_T("Line error\n"));
// // if(Events & EV_RLSD)
// // TRACE(_T("EV_RLSD error\n"));
// // }
//
// // Go round while the port is open
// }
// while (IsOpen());
//}
void CPSerial::ReceiveTask(void)
{
//DWORD BytesWritten;
@@ -494,69 +565,56 @@ void CPSerial::ReceiveTask(void)
do
{
Sleep(2);
BYTE abIn[MAXBLOCK];
int len;
len = ReadBlock(abIn, MAXBLOCK);
if ((len > 0) && (len < MAX_RECIEVE_BUFFER_SIZE))
Events = 0;
// Wait for a comm event
State = WaitCommEvent(m_PortHandle, &Events, &m_ReceiveOLap);
if (!State)
{
//memset(m_RecvData, 0, m_iRecvBytes);
memcpy(m_RecvData, abIn, len);
m_iRecvBytes = len;
m_iRecvState = TRUE;
// Since we are using overlapping IO we may have to wait
// for the result
if (GetLastError() == ERROR_IO_PENDING)
GetOverlappedResult(m_PortHandle, &m_ReceiveOLap, &State, TRUE);
}
//m_iRecvState=FALSE;
// If we have a result then OK otherwise the event was probable
// the serial port being closed and we shall exit the loop
if (State && IsOpen())
{
// Check the events and act accordingly
if (Events & EV_RXCHAR)
{
OnReceive();
}
//ZH
/*
if( Events & EV_TXEMPTY )
{
if( m_TXHead )
{
GetOverlappedResult(m_PortHandle,&m_TransmitOLap,&BytesWritten,TRUE);
if( BytesWritten )
AddToDebug( m_TXHead->Buffer, BytesWritten, 2 );
OnTransmit( 0, BytesWritten );
SendBuffer(TRUE);
}
}
*/
if (Events & EV_BREAK)
TRACE(_T("Break detected\n"));
if (Events & EV_CTS)
TRACE(_T("CTS Changed State\n"));
if (Events & EV_DSR)
TRACE(_T("DSR Changed State\n"));
if (Events & EV_ERR)
TRACE(_T("Line error\n"));
if (Events & EV_RLSD)
TRACE(_T("EV_RLSD error\n"));
}
// Events=0;
//
// // Wait for a comm event
// State=WaitCommEvent(m_PortHandle,&Events,&m_ReceiveOLap);
// if(!State)
// {
// // Since we are using overlapping IO we may have to wait
// // for the result
// if(GetLastError() == ERROR_IO_PENDING)
// GetOverlappedResult(m_PortHandle,&m_ReceiveOLap,&State,TRUE);
// }
////m_iRecvState=FALSE;
// // If we have a result then OK otherwise the event was probable
// // the serial port being closed and we shall exit the loop
// if( State && IsOpen( ) )
// {
// // Check the events and act accordingly
// if( Events & EV_RXCHAR )
// {
// OnReceive( );
// }
// //ZH
// /*
// if( Events & EV_TXEMPTY )
// {
// if( m_TXHead )
// {
// GetOverlappedResult(m_PortHandle,&m_TransmitOLap,&BytesWritten,TRUE);
// if( BytesWritten )
// AddToDebug( m_TXHead->Buffer, BytesWritten, 2 );
// OnTransmit( 0, BytesWritten );
// SendBuffer(TRUE);
// }
// }
// */
// if(Events & EV_BREAK)
// TRACE(_T("Break detected\n"));
// if(Events & EV_CTS)
// TRACE(_T("CTS Changed State\n"));
// if(Events & EV_DSR)
// TRACE(_T("DSR Changed State\n"));
// if(Events & EV_ERR)
// TRACE(_T("Line error\n"));
// if(Events & EV_RLSD)
// TRACE(_T("EV_RLSD error\n"));
// }
// Go round while the port is open
}
while (IsOpen());
} while (IsOpen());
}
/////////////////////////////////////////////////////////////////////////////
// OnReceive() : Default OnReceive()
// V114
@@ -567,7 +625,12 @@ void CPSerial::OnReceive()
char s[MAX_RECIEVE_BUFFER_SIZE] = {0};
s[1] = '\0';
CurrentPointer = 0;
printf("MAX_RECIEVE_BUFFER_SIZE: %d m_HandShake:%d\n", MAX_RECIEVE_BUFFER_SIZE, m_HandShake);
int num = 0;
printf(" m_HandShake:%d\n", m_HandShake); //打印握手类型
Sleep(100); //延时100ms ，等待接收
if (m_HandShake == CS_HANDSHAKE_FOR_TRESASTR_E)
{
int num = ReadPort(s, MAX_RECIEVE_BUFFER_SIZE);
@@ -593,8 +656,8 @@ void CPSerial::OnReceive()
}
else
{
int num = ReadPort(s, m_iRecvCount);
printf("----RECV: %d----\r\n", num);
num = ReadPort(s, m_iRecvCount);
printf("----Data received:: %d----\r\n", num);
if ((num > 0) && (num < MAX_RECIEVE_BUFFER_SIZE))
{
// memset(m_RecvData,0,m_iRecvBytes);
@@ -614,6 +677,92 @@ void CPSerial::OnReceive()
/////////////////////////////////////////////////////////////////////////////
// ReadPort() : Read the specifed number of bytes.
//
#if 0
DWORD CPSerial::ReadPort(char* Buffer, DWORD Bytes)
{
DWORD recieved, Error;
BOOL ReadState;
long len = 0;
int read_loop = 1;
// Check the port is open
if (IsOpen())
{
// Enter a critical section incase this is been used from multiple threads
// EnterCriticalSection(&m_ReadLock);
// Start the read
while (read_loop != 0)
{
//BOOL ReadFile(
// HANDLE hFile, //文件的句柄
// LPVOID lpBuffer, //用于保存读入数据的一个缓冲区
// DWORD nNumberOfBytesToRead, //要读入的字节数
// LPDWORD lpNumberOfBytesRead, //指向实际读取字节数的指针
// LPOVERLAPPED lpOverlapped
// //如文件打开时指定了FILE_FLAG_OVERLAPPED，那么必须，用这个参数引用一个特殊的结构。
// //该结构定义了一次异步读取操作。否则，应将这个参数设为NULL
//);
ReadState = ReadFile(m_PortHandle, Buffer, 1, &recieved, &m_ReadOLap);
printf("Bytes: %d\r\n", Bytes);
if (!ReadState)
{
Sleep(3);
// the specifed number of bytes were not available so
// the read will continue in the background aslong as
// GetLastError() returns ERROR_IO_PENDING
if (GetLastError() == ERROR_IO_PENDING)
{
// Wait for the read to complete
WaitForSingleObject(m_ReadOLap.hEvent, LONG_TIMEOUT); // GER
// get the result of the read
if (GetOverlappedResult(m_PortHandle, &m_ReadOLap, &recieved, FALSE) == 0)
Error = GetLastError();
}
else
{
// Gone wrong so clear any erros
ClearCommError(m_PortHandle, &Error, nullptr);
recieved = 0;
}
}
len++;
printf("BytesRead:%d %s\r\n", len, std::to_string(recieved));
// recieved prompt, so end read loop
if ((len == 2) && (Buffer[0] == '6F') && (Buffer[1] == '6B'))
{
printf("1111");
read_loop = 0;
}
// recieve nothing so quit
if (len <= 0) { read_loop = 0; }
if (Buffer[len - 1] != '\r')
{
printf("%C", Buffer[len - 1]);
}
else
{
len = 0;
printf("\n");
}
//ZH
/*
// Read some bytes so add then to the debug list
if( BytesRead )
AddToDebug( Buffer, BytesRead, 1 );
*/
// LeaveCriticalSection( &m_ReadLock );
}
}
return (len);
}
#endif
DWORD CPSerial::ReadPort(char* Buffer, DWORD Bytes)
{
@@ -630,7 +779,7 @@ DWORD CPSerial::ReadPort(char* Buffer, DWORD Bytes)
ReadState = ReadFile(m_PortHandle, Buffer, Bytes, &BytesRead, &m_ReadOLap);
if (!ReadState)
{
Sleep(3);
Sleep(5);
// the specifed number of bytes were not available so
// the read will continue in the background aslong as
// GetLastError() returns ERROR_IO_PENDING
@@ -658,12 +807,11 @@ DWORD CPSerial::ReadPort(char* Buffer, DWORD Bytes)
AddToDebug( Buffer, BytesRead, 1 );
*/
// LeaveCriticalSection( &m_ReadLock );
}
}
return (BytesRead);
}
/////////////////////////////////////////////////////////////////////////////
// ReadPort() : Read the specifed number of bytes into a CString class.
//
HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.H
+3 -3
View File
@@ -191,9 +191,9 @@ public:
// BV Nov 2001: Made public
// CRITICAL_SECTION m_QueueLock;
BOOL m_iRecvState;
INT m_iRecvBytes;
INT m_iRecvCount;
BOOL m_iRecvState; //接收状态
INT m_iRecvBytes; //接收字节数
INT m_iRecvCount; //接收计数
unsigned char m_RecvData[MAX_RECIEVE_BUFFER_SIZE];
};