diff --git a/robot_client/include/rc_rtmp/rcrtmp.h b/robot_client/include/rc_rtmp/rcrtmp.h deleted file mode 100644 index b976327e..00000000 --- a/robot_client/include/rc_rtmp/rcrtmp.h +++ /dev/null @@ -1,8 +0,0 @@ -// -// Created by PulsarV on 18-5-16. -// - -#ifndef ROBOCAR_RCRTMP_H -#define ROBOCAR_RCRTMP_H - -#endif //ROBOCAR_RCRTMP_H diff --git a/robot_client/include/rc_serial/imu_device/JY901.h b/robot_client/include/rc_serial/imu_device/JY901.h deleted file mode 100644 index d0393c42..00000000 --- a/robot_client/include/rc_serial/imu_device/JY901.h +++ /dev/null @@ -1,165 +0,0 @@ -// -// Created by PulsarV on 18-10-26. -// - -#ifndef ROBOCAR_JY901_H -#define ROBOCAR_JY901_H - -#define SAVE 0x00 -#define CALSW 0x01 -#define RSW 0x02 -#define RRATE 0x03 -#define BAUD 0x04 -#define AXOFFSET 0x05 -#define AYOFFSET 0x06 -#define AZOFFSET 0x07 -#define GXOFFSET 0x08 -#define GYOFFSET 0x09 -#define GZOFFSET 0x0a -#define HXOFFSET 0x0b -#define HYOFFSET 0x0c -#define HZOFFSET 0x0d -#define D0MODE 0x0e -#define D1MODE 0x0f -#define D2MODE 0x10 -#define D3MODE 0x11 -#define D0PWMH 0x12 -#define D1PWMH 0x13 -#define D2PWMH 0x14 -#define D3PWMH 0x15 -#define D0PWMT 0x16 -#define D1PWMT 0x17 -#define D2PWMT 0x18 -#define D3PWMT 0x19 -#define IICADDR 0x1a -#define LEDOFF 0x1b -#define GPSBAUD 0x1c - -#define YYMM 0x30 -#define DDHH 0x31 -#define MMSS 0x32 -#define MS 0x33 -#define AX 0x34 -#define AY 0x35 -#define AZ 0x36 -#define GX 0x37 -#define GY 0x38 -#define GZ 0x39 -#define HX 0x3a -#define HY 0x3b -#define HZ 0x3c -#define Roll 0x3d -#define Pitch 0x3e -#define Yaw 0x3f -#define TEMP 0x40 -#define D0Status 0x41 -#define D1Status 0x42 -#define D2Status 0x43 -#define D3Status 0x44 -#define PressureL 0x45 -#define PressureH 0x46 -#define HeightL 0x47 -#define HeightH 0x48 -#define LonL 0x49 -#define LonH 0x4a -#define LatL 0x4b -#define LatH 0x4c -#define GPSHeight 0x4d -#define GPSYAW 0x4e -#define GPSVL 0x4f -#define GPSVH 0x50 - -#define DIO_MODE_AIN 0 -#define DIO_MODE_DIN 1 -#define DIO_MODE_DOH 2 -#define DIO_MODE_DOL 3 -#define DIO_MODE_DOPWM 4 -#define DIO_MODE_GPS 5 - -struct JY901DATA{ - unsigned char data1; - unsigned char data2; - unsigned char data3; - unsigned char data4; - unsigned char data5; - unsigned char data6; - unsigned char data7; - unsigned char data8; - unsigned char data9; - unsigned char data10; - unsigned char sum; -}; - -struct STime -{ - unsigned char ucYear; - unsigned char ucMonth; - unsigned char ucDay; - unsigned char ucHour; - unsigned char ucMinute; - unsigned char ucSecond; - unsigned short usMiliSecond; -}; -struct SAcc -{ - short a[3]; - short T; -}; -struct SGyro -{ - short w[3]; - short T; -}; -struct SAngle -{ - short Angle[3]; - short T; -}; -struct SMag -{ - short h[3]; - short T; -}; - -struct SDStatus -{ - short sDStatus[4]; -}; - -struct SPress -{ - long lPressure; - long lAltitude; -}; - -struct SLonLat -{ - long lLon; - long lLat; -}; - -struct SGPSV -{ - short sGPSHeight; - short sGPSYaw; - long lGPSVelocity; -}; -class CJY901 -{ -public: - struct STime stcTime; - struct SAcc stcAcc; - struct SGyro stcGyro; - struct SAngle stcAngle; - struct SMag stcMag; - struct SDStatus stcDStatus; - struct SPress stcPress; - struct SLonLat stcLonLat; - struct SGPSV stcGPSV; - - CJY901 (); - void CopeSerialData(char ucData[],unsigned short usLength); -}; -//extern CJY901 JY901; -void CharToLong(char Dest[],char Source[]); -#endif //ROBOCAR_JY901_H diff --git a/robot_client/include/rc_serial/rc_gyro_serial.h b/robot_client/include/rc_serial/rc_gyro_serial.h deleted file mode 100644 index 7ab2bf4f..00000000 --- a/robot_client/include/rc_serial/rc_gyro_serial.h +++ /dev/null @@ -1,13 +0,0 @@ -// -// Created by PulsarV on 18-5-15. -// -#include -namespace RC{ - class GyroDevice:public Serial{ - public: - - void setBackContent(char **arg); - void setBackSpeed(int speed); - void getContent(char *buffer,int size); - }; -} diff --git a/robot_client/include/rc_serial/rcserial.h b/robot_client/include/rc_serial/rcserial.h deleted file mode 100644 index 733e18bc..00000000 --- a/robot_client/include/rc_serial/rcserial.h +++ /dev/null @@ -1,59 +0,0 @@ -// -// Created by PulsarV on 18-5-10. -// - -#ifndef ROBOCAR_RCSERIAL_H -#define ROBOCAR_RCSERIAL_H - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace RC { - int set_serial(int fd, int nSpeed, int nBits, char nEvent, int nStop); - - typedef std::map SERIAL_FLAGS; - typedef std::pair SERIAL_FLAG; - - class Serial { - public: - - int open_serial(const std::string& serial_device_path); - - int send(const std::string& str); - - int send(long comm); - - int recive(char *buffer, int size); - - bool is_opend(); - - int release(); - - static int data_encode(int data); - - static int data_encode(char data); - - static int data_encode(std::string data); - - private: - int device_point; - char *device; - }; -} -#endif //ROBOCAR_RCSERIAL_H diff --git a/robot_client/sources/rc_rtmp/rcrtmp.cpp b/robot_client/sources/rc_rtmp/rcrtmp.cpp deleted file mode 100644 index 6f6f60dc..00000000 --- a/robot_client/sources/rc_rtmp/rcrtmp.cpp +++ /dev/null @@ -1,4 +0,0 @@ -// -// Created by PulsarV on 18-5-14. -// - diff --git a/robot_client/sources/rc_serial/imu_device/JY901.c b/robot_client/sources/rc_serial/imu_device/JY901.c deleted file mode 100644 index ac980727..00000000 --- a/robot_client/sources/rc_serial/imu_device/JY901.c +++ /dev/null @@ -1,9 +0,0 @@ -// -// Created by PulsarV on 18-10-26. -// -void CharToLong(char Dest[],char Source[]){ - *Dest = Source[3]; - *(Dest+1) = Source[2]; - *(Dest+2) = Source[1]; - *(Dest+3) = Source[0]; -} diff --git a/robot_client/sources/rc_serial/rc_gyro_serial.cpp b/robot_client/sources/rc_serial/rc_gyro_serial.cpp deleted file mode 100644 index 7082697b..00000000 --- a/robot_client/sources/rc_serial/rc_gyro_serial.cpp +++ /dev/null @@ -1,64 +0,0 @@ -// -// Created by PulsarV on 18-5-15. -// -#include -#include -#include - -#ifdef __linux__ - -void RC::GyroDevice::setBackSpeed(int speed) { - switch (speed) { - case GYRO_0D1HZ: - this->send(GYRO_SERIAL_BACK_SPEED_0D1HZ); - break; - case GYRO_0D5HZ: - this->send(GYRO_SERIAL_BACK_SPEED_0D5HZ); - break; - case GYRO_1HZ: - this->send(GYRO_SERIAL_BACK_SPEED_1HZ); - break; - case GYRO_2HZ: - this->send(GYRO_SERIAL_BACK_SPEED_2HZ); - break; - case GYRO_5HZ: - this->send(GYRO_SERIAL_BACK_SPEED_5HZ); - break; - case GYRO_10HZ: - this->send(GYRO_SERIAL_BACK_SPEED_10HZ); - break; - case GYRO_20HZ: - this->send(GYRO_SERIAL_BACK_SPEED_20HZ); - break; - case GYRO_50HZ: - this->send(GYRO_SERIAL_BACK_SPEED_5HZ); - break; - case GYRO_100HZ: - this->send(GYRO_SERIAL_BACK_SPEED_100HZ); - break; - case GYRO_200HZ: - this->send(GYRO_SERIAL_BACK_SPEED_200HZ); - break; - case GYRO_ONCE: - this->send(GYRO_SERIAL_BACK_SPEED_ONCE); - break; - case GYRO_CLOSE: - this->send(GYRO_SERIAL_BACK_SPEED_CLOSE); - break; - default: - slog::info<send(GYRO_SERIAL_BACK_SPEED_ONCE); - this->recive(buffer, size); -} - -void RC::GyroDevice::setBackContent(char **arg) { - -} - -#endif // __linux__ - diff --git a/robot_client/sources/rc_serial/rcserial.cpp b/robot_client/sources/rc_serial/rcserial.cpp deleted file mode 100644 index 89450d02..00000000 --- a/robot_client/sources/rc_serial/rcserial.cpp +++ /dev/null @@ -1,164 +0,0 @@ - -// -// Created by norse on 17-4-19. -// -#include -#include -#include - - -int RC::Serial::recive(char *buffer, int size) { - if (this->is_opend()) { - int nread = read(this->device_point, buffer, sizeof(size)); - if (nread < 0) { - printf("read data error!!\n"); - return -2; - } - } - return -1; -} - -int RC::Serial::send(const std::string& str) { - const char *commond = str.c_str(); - int wr_num = write(this->device_point, commond, str.length()); - if (wr_num)return 1; - return 0; - -} - -int RC::Serial::send(long comm) { - char *commond = (char *) comm; - int wr_num = write(this->device_point, &comm, sizeof(comm)); - if (wr_num)return 1; - return 0; -} - -int RC::Serial::data_encode(int data) { - - return 0; -} - -int RC::Serial::data_encode(char data) { - return 0; -} - -int RC::Serial::data_encode(std::string data) { - return 0; -} - -int RC::set_serial(int fd, int nSpeed, int nBits, char nEvent, int nStop) { - struct termios newttys1, oldttys1; /*保存原有串口配置*/ - if (tcgetattr(fd, &oldttys1) != 0) { - perror("Setupserial 1"); - return -1; - } - bzero(&newttys1, sizeof(newttys1)); - newttys1.c_cflag |= (CLOCAL | CREAD); /*CREAD 开启串行数据接收，CLOCAL并打开本地连接模式*/ - newttys1.c_cflag &= ~CSIZE;/*设置数据位*/ - /*数据位选择*/ - switch (nBits) { - case 7: - newttys1.c_cflag |= CS7; - break; - case 8: - newttys1.c_cflag |= CS8; - break; - } - /*设置奇偶校验位*/ - switch (nEvent) { - case '0': /*奇校验*/ - newttys1.c_cflag |= PARENB;/*开启奇偶校验*/ - newttys1.c_iflag |= (INPCK | ISTRIP);/*INPCK打开输入奇偶校验；ISTRIP去除字符的第八个比特 */ - newttys1.c_cflag |= PARODD;/*启用奇校验(默认为偶校验)*/ - break; - case 'E':/*偶校验*/ - newttys1.c_cflag |= PARENB; /*开启奇偶校验 */ - newttys1.c_iflag |= (INPCK | ISTRIP);/*打开输入奇偶校验并去除字符第八个比特*/ - newttys1.c_cflag &= ~PARODD;/*启用偶校验*/ break; - case 'N': /*无奇偶校验*/ - newttys1.c_cflag &= ~PARENB; - break; - } /*设置波特率*/ - switch (nSpeed) { - case 2400: - cfsetispeed(&newttys1, B2400); - cfsetospeed(&newttys1, B2400); - break; - case 4800: - cfsetispeed(&newttys1, B4800); - cfsetospeed(&newttys1, B4800); - break; - case 9600: - cfsetispeed(&newttys1, B9600); - cfsetospeed(&newttys1, B9600); - break; - case 115200: - cfsetispeed(&newttys1, B115200); - cfsetospeed(&newttys1, B115200); - break; - default: - cfsetispeed(&newttys1, B9600); - cfsetospeed(&newttys1, B9600); - break; - } /*设置停止位*/ - /*设置停止位；若停止位为1，则清除CSTOPB，若停止位为2，则激活CSTOPB*/ - if (nStop == 1) { - newttys1.c_cflag &= ~CSTOPB;/*默认为一位停止位； */ - } else if (nStop == 2) { - newttys1.c_cflag |= CSTOPB;/*CSTOPB表示送两位停止位*/ - } - /*设置最少字符和等待时间，对于接收字符和等待时间没有特别的要求时*/ - newttys1.c_cc[VTIME] = 0;/*非规范模式读取时的超时时间；*/ - newttys1.c_cc[VMIN] = 0; /*非规范模式读取时的最小字符数*/ - tcflush(fd, TCIFLUSH);/*tcflush清空终端未完成的输入/输出请求及数据；TCIFLUSH表示清空正收到的数据，且不读取出来 */ - /*激活配置使其生效*/ - if ((tcsetattr(fd, TCSANOW, &newttys1)) != 0) { - perror("com set error"); - return -1; - } - return 0; -} - -int jy901_data_analyse(char *buff, JY901DATA *gps_data) { - char *ptr = NULL; - if (gps_data == NULL) { - return -1; - } - if (strlen(buff) < 10) { - return -1; - } - /*如果buff字符串中包含字符"$GPRMC"则将$GPRMC的地址赋值给ptr*/ - if (NULL == (ptr = strstr(buff, "$GPRMC"))) { - return -1; - } -// sscanf(ptr, "$GPRMC,%d.000,%c,%f,N,%f,E,%f,%f,%d,,,%c*", &(gps_data->time), &(gps_data->pos_state), -// &(gps_data->latitude), &(gps_data->longitude), &(gps_data->speed), &(gps_data->direction), &(gps_data->date), -// &(gps_data->mode)); - /*sscanf函数为从字符串输入，上面这句话的意思是将ptr内存单元的值作为输入分别输入到后面的结构体成员*/ - return 0; -} - -bool RC::Serial::is_opend() { - return this->device_point != RC_SERIAL_ERROR; -} - - -int RC::Serial::open_serial(const std::string& serial_device_path) { - this->device_point = open(serial_device_path.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);//O_NDELAY - if (this->device_point < 0) { - slog::err<device_point, 9600, 8, 'O', 1); -} - -int RC::Serial::release() { - if (this->device_point) { - tcflush(this->device_point, TCIOFLUSH); - close(this->device_point); - } - return 0; -} - -