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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <errno.h>
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#include "SerialMsgHandler.hpp"
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SerialMsgHandler::SerialMsgHandler() {}
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SerialMsgHandler::~SerialMsgHandler()
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{
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ClosePort();
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}
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// 打开串口
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bool SerialMsgHandler::OpenPort(const std::string &port, const std::string &baudrate)
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{
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std::string tty = "/dev/" + port;
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int baund = B9600;
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ClosePort();
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fd = open(tty.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
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if (fd == -1)
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{
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perror("打开串口失败");
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return false;
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}
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// 恢复串口为阻塞状态
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if (fcntl(fd, F_SETFL, 0) < 0)
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{
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perror("设置阻塞模式失败");
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close(fd);
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fd = -1;
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return false;
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}
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// 检查是否是终端设备
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if (!isatty(fd))
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{
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fprintf(stderr, "%s 不是终端设备\n", tty.c_str());
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close(fd);
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fd = -1;
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return false;
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}
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if (baudrate == "115200")
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{
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baund = B115200;
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}
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else if (baudrate == "9600")
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{
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baund = B9600;
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}
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else if (baudrate == "19200")
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{
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baund = B19200;
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}
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else if (baudrate == "57600")
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{
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baund = B57600;
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}
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else
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{
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baund = B9600;
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}
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// ========== 新增：保存波特率 ==========
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baudrate_ = baund;
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return setPortAttributes(baund);
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}
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// 设置串口参数
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bool SerialMsgHandler::setPortAttributes(int baudrate)
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{
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struct termios options;
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// ========== 新增：调试打印配置前的状态 ==========
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std::cout << "[DEBUG] setPortAttributes: configuring port with baudrate=" << baudrate << std::endl;
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// 获取当前串口设置
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if (tcgetattr(fd, &options) != 0)
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{
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perror("获取串口属性失败");
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return false;
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}
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// 设置波特率
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cfsetispeed(&options, baudrate);
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cfsetospeed(&options, baudrate);
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// 设置数据位：8位数据位
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= CS8;
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// 设置校验位：无校验
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options.c_cflag &= ~PARENB;
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options.c_iflag &= ~(INPCK | INLCR | ICRNL | IGNCR);
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// 设置停止位：1位停止位
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options.c_cflag &= ~CSTOPB;
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// 设置流控制：无流控制
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options.c_cflag &= ~CRTSCTS;
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// 设置原始输入模式
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options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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// 设置原始输出模式
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options.c_oflag &= ~OPOST;
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// 设置最小字符数和等待时间
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options.c_cc[VMIN] = 0; // 读取的最小字符数
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options.c_cc[VTIME] = 10; // 读取超时时间（单位：0.1秒）
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// 清空输入输出缓冲区
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tcflush(fd, TCIOFLUSH);
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// 应用设置
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if (tcsetattr(fd, TCSANOW, &options) != 0)
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{
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perror("设置串口属性失败");
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return false;
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}
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return true;
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}
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// ========== 新增：刷新串口配置 ==========
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bool SerialMsgHandler::refreshPort()
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{
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if (fd == -1) {
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std::cout << "[DEBUG] refreshPort: fd is -1, skip" << std::endl;
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return false;
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}
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// ========== 调试打印 ==========
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std::cout << "[DEBUG] refreshPort: reconfiguring port, baudrate=" << baudrate_ << std::endl;
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return setPortAttributes(baudrate_);
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} |