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,
                       0);
    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;
    if(GetCommState(hComm,&dcbConfig))
    {
        /*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;
    }

    /*COMMTIMEOUTS time_out;
                 time_out.ReadIntervalTimeout = MAXDWORD;
                 time_out.ReadTotalTimeoutConstant=0;
                 time_out.ReadTotalTimeoutMultiplier=0;
                 time_out.WriteTotalTimeoutConstant=50;
                 time_out.WriteTotalTimeoutMultiplier=5;

    SetCommTimeouts(hComm,&time_out);
                printf("setup and open com OK\n");
                cout <<endl;*/

    // ** 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;

        /*commTimeout.ReadIntervalTimeout = MAXDWORD;
        commTimeout.ReadTotalTimeoutConstant=0;
        commTimeout.ReadTotalTimeoutMultiplier=0;
        commTimeout.WriteTotalTimeoutConstant=0;
        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];
    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;
}