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我想通过串行从Ubuntu 12.04到使用libserial ATxmega板进行通信。我遇到的问题是我的代码无法运行,除非我先运行cutecom。除非我先运行cutecom,否则我的程序会冻结而不输出任何内容。我尝试了几件事情,比如让我sudo访问ttyUSB0,将我的用户添加到对话组中。像su一样运行它。我也尝试添加VTime和VMin,但都没有运气。这里是我的代码,程序没有离开,它似乎永远不会进入while(ros :: ok())循环。我正在使用ros,但它在这里应该没有效果。我试图以二分之一的比例与董事会来回沟通。LibSerial C++代码不运行没有Cutecom
#include "ros/ros.h"
#include <SerialStream.h>
#include <iostream>
#include <math.h>
using namespace LibSerial;
SerialStream mySerial;
void processSonar(char read[]);
char motor[] = {'s','3','6','0','0'};
unsigned int writeServo = 3600;
int main(int argc, char ** argv)
{
ros::init(argc, argv, "mySerial");
ros::NodeHandle n;
std::string serial = "/dev/ttyUSB0";
mySerial.Open(serial);
mySerial.SetBaudRate(SerialStreamBuf::BAUD_57600);
mySerial.SetCharSize(SerialStreamBuf::CHAR_SIZE_8);
mySerial.SetNumOfStopBits(1);
mySerial.SetParity(SerialStreamBuf::PARITY_NONE);
mySerial.SetFlowControl(SerialStreamBuf::FLOW_CONTROL_NONE);
mySerial.SetVTime(1);
mySerial.SetVMin(60);
while(!mySerial.IsOpen()){
mySerial.Open(serial);
std::cout << "trying to open port" << std::endl;
usleep(100000);
}
// if(!mySerial.good()){
// std::cerr << "Serial not Good"
// << std::endl;
// exit(1);
// }
char read[12];
char* SerialP = read;
char* motorP = motor;
while(ros::ok())
{
mySerial.write(motorP, sizeof(motor));
if(mySerial.rdbuf()->in_avail() > 0)
{
mySerial.read(SerialP, sizeof(read));
std::cout << read << std::endl;
processSonar(read);
//std::cout << motor << writeServo << std::endl;
}
usleep(100000);
}
std::cout << "Communication Failure"<< std::endl;
return 0;
}