new RS232.cpp

// v3.0 28/04/13 this version fixed the error of RS232 communication

#include "RS232.h"

using namespace std;

HANDLE hComm;


int RS232::RS232_close()
{
	COM_flg = 0;

	CloseHandle(hComm);

	return 1;
}


//HANDLE RS232_open(const char *port)
HANDLE RS232::RS232_open()
{
	COM_flg = 1;

	TCHAR *pccomport=TEXT("COM1");
	hComm = CreateFile(pccomport,
					   GENERIC_READ | GENERIC_WRITE,
					   0,
					   NULL,
					   OPEN_EXISTING,
					   0,
					   NULL);
	if (hComm == INVALID_HANDLE_VALUE)//如果COM未開啟
	{
		cout << "can not open" << endl;
		cout <<endl;
		return 0;
	}
	else
	{
		cout << "opened " << endl;
		cout <<endl;
	}

	// ** Configuration
	DCB dcbConfig;

	memset(&dcbConfig, 0, sizeof(dcbConfig));  /* clear the new struct  */
	dcbConfig.DCBlength = sizeof(dcbConfig);

	baudr=new char[64];
	strcpy(baudr, "baud=38400 data=8 parity=N stop=1");
	if(!BuildCommDCBA(baudr, &dcbConfig))      // Linh Tao uses this one!!!
	{
		printf("unable to set comport dcb settings\n");
		CloseHandle(hComm);
		//return(1);
	}

	//if(GetCommState(hComm,&dcbConfig))    // He does not use GetCommState
	//{
	//	/*dcbConfig.BaudRate = CBR_38400;
	//	dcbConfig.ByteSize = 8;
	//	dcbConfig.Parity = NOPARITY;
	//	dcbConfig.StopBits = ONESTOPBIT;*/
	//	dcbConfig.BaudRate = CBR_38400; //CBR_19200;     // ATTENTION!!! -> CBR_38400 can run with DENSO
	//	dcbConfig.ByteSize = 8;
	//	dcbConfig.Parity = NOPARITY;
	//	dcbConfig.StopBits = ONESTOPBIT;
	//	dcbConfig.fBinary = TRUE;
	//	dcbConfig.fParity = TRUE;

	//} else
	//{
	//	cout << "Get COM's status fail!!" << endl;
	//}

	if (!SetCommState(hComm,&dcbConfig))
	{
		cout << "Set/Config COM fail!!" << endl;
		cout << endl;
        CloseHandle(hComm);
        //return 0;
	}

	// ** Set TimeOuts
	COMMTIMEOUTS commTimeout;
	DWORD dwTimeOutInSec = 5;

	if(GetCommTimeouts(hComm, &commTimeout))
	{
		commTimeout.ReadIntervalTimeout     = 1000 * dwTimeOutInSec;
		commTimeout.ReadTotalTimeoutConstant     = 1000 * dwTimeOutInSec;
		commTimeout.ReadTotalTimeoutMultiplier     = 0;
		commTimeout.WriteTotalTimeoutConstant     = 1000 * dwTimeOutInSec;
		commTimeout.WriteTotalTimeoutMultiplier = 0;
	}
	else
	{
		cout << "Get COM's Timeout fail!!" << endl;
	}

	if(SetCommTimeouts(hComm, &commTimeout))
		cout << "Set COM's Timeout Succeed!!" << endl;

	else
		cout << "Set COM's Timeout fail!!" << endl;

	return hComm;
}


void RS232::RS232_write(char* buf)
{

	cout<<" To RS232:";
	cout<<buf<<endl;

        /* evaluate the len of the buf */
	int n;
	int size = 0;
	while(buf[size] != 0)
	{
		size++;
	}/* End of while-loop */

     /* write the char to the RS232 channel */
	if(WriteFile(hComm, buf, size, (LPDWORD)((void *)&n), NULL))
	{
		//return(n);
	}
	//return 0;
}

void RS232::RS232_read()
{
	unsigned char* ch=new unsigned char[1];

	int n;

	do
	{
		ReadFile(hComm, ch, 1, (LPDWORD)((void *)&n), NULL);
	}while (ch[0] != 's' && ch[0] != 'S');

	//return(n);
	//PurgeComm(hComm, PURGE_RXCLEAR);
	//ch=nullptr;
	delete[] ch;
}


RS232::RS232()
{
	RS232_open();
}


RS232::~RS232()
{
	CloseHandle(hComm);  // close when finish communication OR there will be leak error!!
}


int RS232::Read()
{

	RS232_read();

	return 1;
}


int RS232::Write(double* joints)
{
	// reopen
	//if (!COM_flg)
	//{
	//	RS232_open();
	//}

	double j1=joints[0];
	double j2=joints[1];
	double j3=joints[2];
	double j4=joints[3];
	double j5=joints[4];
	double j6=joints[5];
	double  w=joints[6];
	double gripper = joints[7];

	//char joint[20];
	char *joint= new char[40];
	strcpy(joint,"\0");
	char *jdenso;
	char *input3="q\r";
	//char inp3[]="q\r";
	//input3=inp3;

    sprintf(joint, "%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f \r",j1,j2,j3,j4,j5,j6,w,gripper);
	//strcat(joint," \r");
	//jdenso=joint;
	//RS232_write(jdenso);
	RS232_write(joint);
    RS232_read();
	RS232_write(input3);

	//RS232_write(buf);

	// close then
	//RS232_close();

	return 1;
}