serialcom.cpp

足球机器人功能demo

// SerialCom.cpp: implementation of the CSerialCom class.
// For Vorager 2.0
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "SerialCom.h"

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

//串口接收线程
UINT ComMonitor(LPVOID pParam)
{
	OVERLAPPED m_os={0};
	m_os.hEvent=NULL;
	CSerialCom * pCom=(CSerialCom *)pParam;
	DWORD dwMaskFlag;
	DWORD dwCommEvent;
	DWORD dwByteToRead;
	DWORD dwRes;
	BYTE rechar[1]={0xff};
	bool bWaitingOnStatusHandle = false;

	dwMaskFlag=EV_RXCHAR | EV_CTS;
	if (!SetCommMask(pCom->m_hCom,dwMaskFlag))
	{
		return 0;
	}
	m_os.hEvent=CreateEvent(NULL,true,false,NULL);
	if (m_os.hEvent==NULL)
		return 0;

	while (true)
	{
		
		if (!WaitCommEvent(pCom->m_hCom,&dwCommEvent,&m_os))
		{
			if (GetLastError() == ERROR_IO_PENDING)
			{
				bWaitingOnStatusHandle = true;
			}
            else
				break;
		}
		else
		{
			bWaitingOnStatusHandle=false;
		}
		if (bWaitingOnStatusHandle) 
		{
			dwRes = WaitForSingleObject(m_os.hEvent, INFINITE);
			GetCommMask(pCom->m_hCom,&dwCommEvent);
			if ((dwCommEvent & EV_RXCHAR)==EV_RXCHAR)
			{
				do
				{
					COMSTAT comstat;
					DWORD dwError = 0;

					ClearCommError(pCom->m_hCom,&dwError,&comstat);
					if (comstat.cbInQue==0)
						break;
					ReadFile(pCom->m_hCom,rechar,1,&dwByteToRead,&m_os);
					if (pCom->m_pCmd!=NULL)
						pCom->m_pCmd->Parse(rechar,1);
				}
				while (true);
			}
			if (dwRes==WAIT_OBJECT_0)
			{
				if (!GetOverlappedResult(pCom->m_hCom, &m_os, &dwByteToRead, false))
				{
					do
					{
						COMSTAT comstat;
						DWORD dwError = 0;
						
						ClearCommError(pCom->m_hCom,&dwError,&comstat);
						if (comstat.cbInQue==0)
							break;
						ReadFile(pCom->m_hCom,rechar,1,&dwByteToRead,&m_os);
						if (dwByteToRead>0)
						{
							if (pCom->m_pCmd!=NULL)
								pCom->m_pCmd->Parse(rechar,1);
						}
						else
						{
							CloseHandle(m_os.hEvent);
							return 0;
						}

					}
					while (true);
				}
			}
		}
	}
	CloseHandle(m_os.hEvent);
	return 0;
}

//串口发送线程
UINT SendingThread(LPVOID pParam)
{
	CSerialCom * pCom = (CSerialCom *) pParam;
	POSITION pos;
	UINT cnt = 0;    //延时计数

	while (pCom->IsRuning)
	{
		pos = pCom->m_cmdlist.GetHeadPosition();
		if (pos != NULL)
		{
			CMDBUF * pCbuf = (CMDBUF *)pCom->m_cmdlist.GetNext(pos);

			//如果发送回合未结束，则等待
			while (pCom->bSending == TRUE)
			{
				Sleep(10);
				cnt ++;
				if (cnt > 20)
					break;
			}
			cnt = 0;

			//发送缓冲列表里的指令
			pCom->ComSend(pCbuf->pCmdBuf,pCbuf->nLen);

			//释放缓冲列表里已发送指令占用的资源
			pCom->m_cmdlist.RemoveHead();
			delete []pCbuf->pCmdBuf;
			delete pCbuf;	
		}
		Sleep(5);
	}
	return 0L;
}


CSerialCom::CSerialCom()
{
	//默认串口属性
	m_baudrate=CBR_19200;
	m_bytesize=8;
	m_stopbits=ONESTOPBIT;
	m_parity=NOPARITY;
	
	bSending = FALSE;
}

CSerialCom::~CSerialCom()
{
	IsRuning = FALSE;

	//清除缓冲列表里的数据
	POSITION pos = m_cmdlist.GetHeadPosition();
	while (pos != NULL)
	{
		m_pTempCmd = (CMDBUF *)m_cmdlist.GetNext(pos);
		delete []m_pTempCmd->pCmdBuf;
		delete m_pTempCmd;
	}
	m_cmdlist.RemoveAll();

	Sleep(50);
}

BOOL CSerialCom::Create(int inCom)
{
	if (TRUE == IsRuning)
	{
		if (inCom == m_com)
		{	//重复打开同一串口
			return FALSE;
		} 
		else
		{	//未关闭原来的串口
			CloseHandle(m_hCom);
		}		
	}
	m_com = inCom;

	//建立串口
	CString strCom;
	strCom.Format("COM%d",inCom);			//生成一个串口号字符串

	//用串口号字符串打开串口并返回打开的串口句柄
	m_hCom=CreateFile(strCom,GENERIC_READ | GENERIC_WRITE,0,NULL,OPEN_EXISTING,FILE_FLAG_OVERLAPPED,NULL);
	if (m_hCom==INVALID_HANDLE_VALUE)		//打开串口失败的处理
	{
		m_hCom=NULL;
		return false;
	}

	DCB dcb;					//设备配置对象，下面是对串口的一般配置

	COMMTIMEOUTS m_CommTimeouts;
	m_CommTimeouts.ReadIntervalTimeout = 1000;
	m_CommTimeouts.ReadTotalTimeoutMultiplier = 1000;
	m_CommTimeouts.ReadTotalTimeoutConstant = 1000;
	m_CommTimeouts.WriteTotalTimeoutMultiplier = 1000;
	m_CommTimeouts.WriteTotalTimeoutConstant = 1000;
	if (!SetCommTimeouts(m_hCom, &m_CommTimeouts))
	{
		CloseHandle(m_hCom);
		m_hCom=NULL;
		return false;
	}

	GetCommState(m_hCom,&dcb);			//将配置对象设置到打开的串口
	dcb.BaudRate=m_baudrate;				//设置串口波特率
	dcb.ByteSize=m_bytesize;						//设置传输的字节数
	dcb.StopBits=m_stopbits;			//设置停止位
	dcb.Parity=m_parity;				//设置校验方式

	//将配置对象设置到打开的串口，如果该失败，清除句柄关闭串口
	if (!SetCommState(m_hCom,&dcb))		
	{
		CloseHandle(m_hCom);
		m_hCom=NULL;
		return false;
	}

	IsRuning = TRUE;

	//开启串口接收线程
	AfxBeginThread(ComMonitor,(LPVOID)this,THREAD_PRIORITY_NORMAL);
	
	//开启串口发送线程
	AfxBeginThread(SendingThread,(LPVOID)this,THREAD_PRIORITY_NORMAL);

	return true;
}

void CSerialCom::Send(const void *pBuffer, const int iLength)
{
	m_pTempCmd = new CMDBUF;
	m_pTempCmd->pCmdBuf = new UCHAR[iLength];
	memcpy(m_pTempCmd->pCmdBuf,pBuffer,iLength);
	m_pTempCmd->nLen = iLength;

	m_cmdlist.AddTail(m_pTempCmd);
}

void CSerialCom::ComSend(const void *pBuffer, const int iLength)
{
	if (m_hCom==NULL)
		return;

	bSending = TRUE;

	OVERLAPPED m_os={0};
	DWORD dwByteWrite;

	if (!WriteFile(m_hCom,pBuffer,iLength,&dwByteWrite,&m_os))
		DWORD iErr=GetLastError();
	//Sleep(100);						//延时100ms

	DWORD dwNumberOfBytesTransferred;

	GetOverlappedResult(m_hCom,&m_os,&dwNumberOfBytesTransferred,TRUE);
	
	//bSending = FALSE;
}

void CSerialCom::Close()
{
	//关闭串口
	if (m_hCom!=NULL)
		CloseHandle(m_hCom);

	IsRuning = FALSE;
	m_hCom=NULL;
}

void CSerialCom::SetCmd(CVoyCmd *pCmd)
{
 	m_pCmd = pCmd;
	if (m_pCmd != NULL)
	{
		m_pCmd->m_pPhy = this;
	}
}

void CSerialCom::SetBaudRate(int inBaud)
{

}