test_cht10.cpp

#include <cht10_node/serial_func.hpp>
#include <cstdlib>
#include <string>

#include <iostream>
#include <stdint.h>
#define BUFSIZE 17

int main(void) {
  cht10_serial_func::Cht10Driver cht10driver_;

  std::string serialNumber_;
  serialNumber_ = "/dev/ttyUSB0";
  int baudRate_ = 115200;

  std::stringstream ostream;
  int fd, len, rcv_cnt;
  // bool success_flag=false;
  char buf[40], temp_buf[BUFSIZE], result_buf[BUFSIZE];
  unsigned int laser_data = 0;
  char data_buf[4];
  rcv_cnt = 0;
  // success_flag = false;
  memset(buf, 0xba, sizeof(buf));
  memset(temp_buf, 0xba, sizeof(temp_buf));
  memset(result_buf, 0xba, sizeof(result_buf));

  fd = open(serialNumber_.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
  if (fd < 0) {
    std::cout << "Open Serial: " << serialNumber_.c_str() << " Error!";
    exit(0);
  }

  cht10driver_.UART0_Init(fd, baudRate_, 0, 8, 1, 'N');
  while (1) {
    len = cht10driver_.UART0_Recv(fd, buf, 40);
    if (len > 0) {
      for (int i = 0; i < len; i++) {
        if (rcv_cnt <= BUFSIZE) {
          result_buf[rcv_cnt++] = buf[i];
          if (rcv_cnt == BUFSIZE) {
            // success_flag = true;
          }
        } // end if
        else {
/****
 *  checkout received data
 */
#if false
          std::cout<<"Received data, with :[";
          for(int j=0;j<BUFSIZE;j++){
            printf("%c ",(unsigned char) result_buf[j]);
          }
          printf("] \n");
         // success_flag = false;
#endif
          for (int count = 0; count < 4; count++) {
            data_buf[count] = result_buf[9 + count];
          }
          sscanf(data_buf, "%x", &laser_data);
          std::cout << "sensor data:" << laser_data
                    << ", Distance: " << (double)laser_data / 1000 << std::endl;
          /****
           *  data writing end
           */
          if ('~' == buf[i]) {
            rcv_cnt = 0;
            result_buf[rcv_cnt++] = buf[i];
          }
        } // end else
      }   // end for
    }
  }
}